Autonomous robot and method for cleaning sensors comprised in the autonomous robot

Abstract

An autonomous robot (100, 402) is disclosed, comprising a cleaning system (104, 200, 300, 404), a processing unit (106), and a sensor (108, 406), wherein the cleaning system comprises a fan (204, 302) configured to generate an airflow at a predetermined speed; an air duct (206, 304A, 304B, 304C) operatively coupled to the fan to direct the generated airflow to the sensor; and the processing unit operatively coupled to the fan and the sensor to receive sensor data from the sensor, wherein the sensor data is indicative of a presence of an object, and when the presence of the object is indicated, the fan is activated to clean the sensor.

Description

Technical Field

[0001] This disclosure relates to autonomous robots. Furthermore, this disclosure relates to methods for cleaning sensors included in autonomous robots. Background Technology

[0002] In the rapidly evolving field of robotics, the seamless operation of autonomous systems largely depends on the effectiveness of their sensors. Sensors play a crucial role in ensuring safe navigation and preventing collisions with objects. However, the ongoing technical challenge of dust, dirt, and other debris interfering with sensors has emerged, leading to safety hazards and operational interruptions. Therefore, when sensor functionality is impaired by external factors, the reliability of autonomous systems in various environments is affected.

[0003] Currently available autonomous systems require human intervention. In this regard, sensors are cleaned manually. However, manual cleaning has drawbacks, such as the potential to scratch surfaces and its impracticality in frequent applications. Alternatively, compressed air can be used to clean the sensors. However, using compressed air introduces high-energy-consuming components, posing a challenge for battery-powered autonomous systems.

[0004] Therefore, in light of the above discussion, there is a need to overcome the aforementioned shortcomings. Summary of the Invention

[0005] The purpose of this disclosure is to provide a cleaning system and method for autonomous robots to reduce downtime and maintain their requirements. This purpose is achieved by the autonomous robot and the method for cleaning the autonomous robot as defined in the appended independent claims, which are incorporated herein by reference. Advantageous features are set forth in the appended dependent claims.

[0006] Throughout the description and claims of this specification, the words “comprise,” “include,” “have,” and “contain,” as well as variations of these words (e.g., “comprising” and “comprises”), mean “including, but not limited to,” and do not exclude other components, items, integers, or steps that are not explicitly disclosed. Furthermore, unless the context requires otherwise, the singular encompasses the plural. In particular, where the indefinite article is used, unless the context requires otherwise, this specification should be understood to consider both the plural and the singular. Attached Figure Description

[0007] Figure 1 This is an illustration of an autonomous robot according to one embodiment of the present disclosure; Figure 2A , Figure 2B and Figure 2CThis is an illustration of a cross-sectional view of a cleaning system for an autonomous robot according to one embodiment of the present disclosure; Figure 3 This is a diagram of a cleaning system according to one embodiment of the present disclosure; Figure 4 This is an illustration of an autonomous robot including a cleaning system according to one embodiment of the present disclosure; and Figure 5 The description of one embodiment of this disclosure is for cleaning including... Figure 1 A flowchart illustrating the steps of a method for using at least one sensor in an autonomous robot. Detailed Implementation

[0008] The following detailed description illustrates embodiments of this disclosure and ways in which they can be implemented. While some modes of implementing this disclosure have been disclosed, those skilled in the art will recognize that other embodiments for implementing or practicing this disclosure are also possible.

[0009] In a first aspect, this disclosure provides an autonomous robot comprising a cleaning system, a processing unit, and at least one sensor, wherein the cleaning system includes a fan configured to generate airflow at a predetermined speed; at least one duct operatively coupled to the fan and configured to direct the generated airflow to at least one sensor; and a processing unit operatively coupled to the fan and at least one sensor and configured to receive sensor data from at least one sensor, wherein the sensor data indicates the presence of an object, and when the presence of an object is indicated, activates the fan to clean at least one sensor.

[0010] The disclosed autonomous robot includes a cleaning system for maintaining optimal performance of at least one sensor, thereby enhancing operational reliability and ensuring safe and efficient navigation of the autonomous robot under various environmental conditions. The cleaning system includes a fan that generates controlled airflow at a predetermined speed, which is then guided by at least one duct to efficiently clean at least one sensor without physical contact. Furthermore, the cleaning system includes a processing unit that enhances the system's functionality by enabling the monitoring of sensor data, facilitating automatic object detection, and triggering timely activation of the fan to clean at least one sensor.

[0011] In a second aspect, this disclosure provides a method for cleaning at least one sensor included in an autonomous robot, wherein the method includes receiving sensor data from at least one sensor, wherein the sensor data indicates the presence of an object, and when the presence of an object is indicated, activating a fan to generate airflow toward at least one sensor to clean at least one sensor.

[0012] The disclosed method enhances the operational efficiency of autonomous robots by maintaining the functionality of at least one sensor, reducing collision risk, and minimizing downtime due to sensor blockage. The method simplifies the steps of receiving and filtering intake air from the surrounding environment, subsequently generating airflow at a predetermined speed, thereby efficiently removing objects without human intervention. Furthermore, the method includes a step of directing the generated airflow to at least one sensor to ensure thorough cleaning. The steps of receiving sensor data and activating the fan enable proactive object detection and timely cleaning actions.

[0013] Throughout this disclosure, the term "autonomous robot" as used herein refers to an artificial intelligence machine configured to perform one or more tasks and operate autonomously (i.e., without external control or supervision) in a given environment. For example, an autonomous robot can be a stock transport robot, an automated guided vehicle (AGV), an autonomous cleaning robot, etc. Notably, the autonomous robot of this disclosure is described as a home autonomous robot with indoor navigation. Alternatively, the autonomous robot can be an autonomous vehicle, an aerial robot, other home robots, etc., without any limitation. Alternatively, both indoor and outdoor autonomous robots can be implemented interchangeably with all embodiments and combinations of embodiments of this disclosure.

[0014] In other words, an autonomous robot refers to an autonomous driving system equipped with at least one sensor and designed to perform specific tasks or applications (such as indoor navigation and operation). Typically, autonomous robots operate independently without human intervention, utilizing at least one sensor, algorithms, and onboard processing capabilities to perceive their environment, navigate, complete assigned tasks, and respond to changing conditions. Optionally, an autonomous robot may include six wheels and two safety sensors, specifically designed for indoor operation, demonstrating its ability to autonomously navigate and perform tasks in indoor environments without external guidance or control.

[0015] As used herein, the term "sensor" refers to a device or component capable of detecting and measuring physical properties or environmental conditions. In this regard, autonomous robots include one or more sensors for a variety of applications. In one example, at least one sensor includes a safety sensor for monitoring the surrounding environment and facilitating navigation or object detection. Optionally, at least one sensor is selected from: navigation sensors, imaging sensors, or combinations thereof. As used herein, the term "navigation sensor" refers to a sensor used to collect information about the autonomous robot's surrounding environment and navigate within that environment. Examples of navigation sensors include, but are not limited to, radar and ultrasonic sensors, which provide data about objects, terrain, and other relevant features to assist in path planning and object avoidance. The technical effect of using navigation sensors in autonomous robots is enhanced spatial awareness and navigation capabilities, enabling the robot to move safely and efficiently in its environment. Navigation sensors provide real-time data about object and terrain features, enabling autonomous robots to plan optimal paths and avoid collisions.

[0016] As used herein, the term "imaging sensor" refers to a sensor that captures visual information from the environment of an autonomous robot using a camera or other optical device. Imaging sensors provide visual data that can be used for tasks such as object recognition, localization, and mapping. Examples of imaging sensors include, but are not limited to, RGB (red, green, blue) cameras, depth cameras, and infrared sensors, which capture images or depth information to aid navigation and perception tasks. The technical effect of employing imaging sensors in autonomous robots is to enhance their perception and recognition capabilities, enabling them to interpret and understand their surroundings more effectively. Optionally, autonomous robots may incorporate a combination of navigation sensors and imaging sensors, allowing them to utilize both types of data simultaneously for more robust and accurate navigation and perception capabilities.

[0017] Optionally, the at least one sensor is a LiDAR sensor with a field of view (FOV) exceeding 180 degrees. In this regard, to enable the autonomous robot to safely maneuver to a desired or anticipated location, the LiDAR sensor is configured to remotely sense nearby environmental conditions by applying a laser to the intended target (or location), thereby enabling it to detect nearby objects, calculate the distance to such objects, and determine the orientation of such objects. Furthermore, it can identify available paths for movement, surface conditions of the work area, etc. For example, the LiDAR sensor can be a 2D LiDAR scanner or a 3D LiDAR scanner. Optionally, the LiDAR sensor has a field of view (FOV) exceeding 180 degrees. Advantageously, this implementation of the LiDAR sensor enables the autonomous robot to detect markers and / or charging stations not located in front of the autonomous robot, i.e., markers and / or charging stations located on either side of the autonomous robot. Furthermore, this implementation reduces the amount of data processed in a given time (compared to a 360-degree field of view), thereby increasing the computational speed of the processing unit. Optionally, the LiDAR sensor has a 360-degree field of view (FOV). This implementation of the LiDAR sensor enables complete detection and scanning of the environment, ensuring that the autonomous robot can scan for every available marker while monitoring nearby environmental conditions.

[0018] The term "cleaning system" refers to the component in an autonomous robot responsible for protecting it from obstacles or contaminants. As used herein, the term "fan" refers to a mechanical device that generates airflow by rotating its blades. Examples of fans include, but are not limited to, axial fans, centrifugal fans, etc. In this respect, a fan utilizes air drawn in from the surroundings. Once inside the fan, the rotating blades transfer kinetic energy to the inhaled air, causing it to move in a specific direction. Furthermore, as the blades rotate, the fan accelerates the airflow, generating a continuous stream of air that is then expelled from the fan.

[0019] The term "predetermined speed" in this document refers to the rate at which the fan generates airflow. In this regard, the predetermined speed is determined and set in advance according to the requirements of the autonomous robot, taking into account factors such as the size of the autonomous robot, the sensitivity of the at least one sensor, and the desired cleaning effect. The technical advantage of using a fan is the generation of controlled and consistent airflow, which is crucial for effectively cleaning the at least one sensor of the autonomous robot. Furthermore, the use of a fan allows for precise control of airflow direction and speed, optimizing cleaning performance and maintaining the overall functionality and reliability of the autonomous robot.

[0020] Optionally, the predetermined speed ranges from 40 km / h to 90 km / h. Alternatively, the predetermined speed ranges from 40 km / h, 45 km / h, 50 km / h, 55 km / h, 60 km / h, 62 km / h, 64 km / h, 66 km / h, 68 km / h, 69 km / h, 75 km / h, 80 km / h, or 85 km / h up to 62 km / h, 64 km / h, 66 km / h, 68 km / h, 70 km / h, 75 km / h, 80 km / h, 85 km / h, or 90 km / h. Optionally, at the lower end of the above range, the airflow is gentler, more suitable for precision sensor components, and can provide thorough cleaning without damaging the operation of the at least one sensor or causing interference. Optionally, at the upper end of the above range, the airflow is strong, capable of removing stubborn contaminants or debris from or toward the at least one sensor. It should be understood that the aforementioned predetermined speed range optimizes the cleaning efficiency and effectiveness of the cleaning system, while allowing for flexible adaptation to different environmental conditions and the requirements of the at least one sensor.

[0021] As used herein, the term "duct" refers to a conduit or channel designed to guide airflow from one location to another within an autonomous robot. In this regard, the cleaning system of an autonomous robot includes one or more ducts for directing airflow generated by a fan to the at least one sensor. Examples of the at least one duct include, but are not limited to, flexible or rigid pipes, channels, or conduits integrated into the cleaning system design. Optionally, the at least one duct is designed to be close to the at least one sensor. Optionally, the at least one duct is integrated into the chassis of the autonomous robot to ensure efficient and precise airflow delivery. Optionally, the at least one duct is positioned near the at least one sensor, or directs airflow through channels or openings in the autonomous robot structure to ensure optimal coverage of the surface of the at least one sensor.

[0022] Optionally, the at least one air duct is an adjustable air duct. Here, an adjustable air duct refers to a pipe or conduit that can be modified or configured to clean different sensor configurations or environmental conditions. Optionally, the adjustable air duct may include features such as telescopic sections, adjustable angles, or interchangeable components, thereby enabling customization of the size, shape, or orientation of the at least one air duct.

[0023] Advantageously, adjustable air ducts enhance the versatility and adaptability of the cleaning system by effectively accommodating a wider range of sensor types, sizes, and locations, ensuring thorough and efficient cleaning performance across different robotic platforms or applications. Furthermore, the ability to adjust at least one air duct allows for optimized airflow distribution and coverage, ensuring that at least one sensor receives adequate cleaning and maintenance.

[0024] As used herein, the term "processing unit" refers to an application, program, or device that responds to requests for information or services from another application, program, process, or device (e.g., an external device) via a network interface. Optionally, the processing unit also includes software that enables the provision of information services. It should be understood that, optionally, the processing unit includes, but is not limited to, microprocessors, microcontrollers, complex instruction set computing (CISC) microprocessors, reduced instruction set computer (RISC) microprocessors, very long instruction word (VLIW) microprocessors, or any other type of processing circuitry. Advantageously, the processing unit can execute algorithms, manipulate data, make decisions, control hardware components, and manage the overall operation of an autonomous robot.

[0025] The autonomous robot includes a processing unit operatively coupled to a fan and the at least one sensor. In this regard, the processing unit is responsible for managing and coordinating the operation of the fan and the at least one sensor associated with the autonomous robot. The processing unit processes sensor data and issues commands to activate the fan. Optionally, the processing unit can deactivate the fan based on predetermined criteria.

[0026] In this document, the term "sensor data" refers to information collected by the at least one sensor, providing feedback on the environmental or internal state of the autonomous robot. Sensor data typically includes measurements or observations related to the operation of the autonomous robot, such as the presence of an object, distance to nearby objects, or changes in environmental conditions. In this document, the term "object" refers to any entity that obstructs the movement or operation of the autonomous robot. Optionally, an object includes physical objects in the autonomous robot's path, as well as environmental conditions or hazards that pose a risk to the safety or function of the autonomous robot. The presence of an object is detected by the at least one sensor and provided to the processing unit via sensor data, prompting the processing unit to take appropriate action to clean up, avoid, or mitigate the object.

[0027] Optionally, the object is selected from at least one of the following: particulate matter, debris, biological material, liquid spills, environmental pollutants, foreign matter, and dust. Here, particulate matter refers to tiny solid particles or droplets suspended in the air. Optionally, the size and composition of the particulate matter can vary, ranging from dust, pollen, and soot to aerosols and fumes. Examples of particulate matter include, but are not limited to, dust from construction sites, pollen from plants, and fumes. Particulate matter can accumulate on surfaces, including at least one sensor, potentially causing interference or malfunction.

[0028] Here, the term "debris" encompasses any scattered fragments or remnants of material, typically resulting from the breakdown, destruction, or removal of an object. Examples of debris include broken glass, wood chips or metal scraps, gravel from construction sites, and discarded packaging materials. Debris can pose a physical obstacle or hazard to the operation of an autonomous robot, and if it accumulates on at least one sensor, it can impair its function and accuracy.

[0029] Here, biological material refers to organic matter derived from living organisms, plant material, or bodily fluids. Examples of biological material include, but are not limited to, bacteria, fungi, pollen grains, plant debris, and animal excrement. Optionally, biological material may contaminate surfaces and the environment, potentially affecting the performance of at least one sensor. Here, the term "liquid spill" refers to the accidental or intentional release of liquid material onto a surface or into the environment. Examples of liquid spills include water spills from leaking pipes or containers, oil spills from machinery or vehicles, and chemical spills from industrial processes. Optionally, liquid spills may cause damage, contamination, or safety hazards, particularly if the liquid spill comes into contact with at least one sensor.

[0030] Here, the term "environmental contaminant" refers to any substance or factor that pollutes or alters the natural environment, posing a risk to human health, wildlife, ecosystems, or resources. Environmental contaminants can include pollutants such as chemicals, heavy metals, pesticides, or radioactive materials, as well as biological agents such as pathogens or toxins. Environmental contaminants can accumulate on surfaces (including sensors), potentially affecting their function or reliability. Here, the term "foreign object" refers to any object or substance that is not normally present in a particular environment or cleaning system or that appears unexpectedly. Examples of foreign objects include misplaced tools or equipment, stray items from nearby construction or manufacturing activities, intrusions by wild animals or pests, or unintentionally introduced materials. Foreign objects may interfere with the operation of autonomous robots and may require removal or cleaning to maintain their optimal performance and safety. It should be understood that the cleaning system is versatile and adaptable to a variety of operating environments and conditions.

[0031] The processing unit is configured to receive sensor data from at least one sensor by establishing a communication channel or interface between at least one sensor and the processing unit. This allows the processing unit to continuously monitor the sensor data stream and interpret the sensor data to identify the presence of an object or other relevant event. When the sensor data indicates the presence of an object, the processing unit activates a fan for a predetermined period of time by sending a control signal to the fan's motor or power supply. Furthermore, the above steps initiate a cleaning process, wherein the fan generates airflow to remove dust, dirt, or debris from at least one sensor.

[0032] Optionally, the processing unit is further configured to set a predetermined fan speed based on the characteristics of the object. Here, the characteristics of the object refer to any identifiable attribute or feature of the object that can affect the cleaning process. It should be understood that the cleaning system optimizes its performance by dynamically adjusting or setting the fan speed based on the specific characteristics of the object to effectively remove different types of objects, thereby achieving more thorough and reliable cleaning of at least one sensor.

[0033] Optionally, the characteristics of the object include size and type. Here, size refers to the physical dimensions of the object, such as its length, width, and height. For example, a large piece of debris may require a higher fan speed to be effectively loosened. Here, the type of the object refers to its classification or category, such as dust, liquid spills, or biological material. In one example, each type may require a different fan speed to optimally remove the object. Optionally, the autonomous robot includes various sensors capable of determining the size and type of the object. It should be understood that such sensors may provide the processing unit with sensor data related to the size and type of the object for use by at least one sensor of the cleaning autonomous robot. The characteristics of the object may include texture, weight, etc. Here, texture refers to the surface quality of the object. In this respect, texture includes the roughness, smoothness, or unevenness of the object. For example, a rough-textured object may require more vigorous cleaning compared to a smooth object. Here, weight indicates the mass or weight of the object. For example, a heavier object may require a stronger airflow to remove. It should be understood that, in this respect, the autonomous robot may include sensors capable of determining the texture and weight of the object to transmit the corresponding sensor data to the processing unit for use by at least one sensor of the cleaning autonomous robot.

[0034] Optionally, the autonomous robot also includes a filtering unit configured to receive and filter the intake air. As used herein, the term "filtering unit" refers to a mechanical component used in conjunction with a fan and blower to remove any dust or small particles from the fan's airflow. The filtering unit allows air to move freely and also protects the fan from any internal damage. Typically, a filtering unit includes a housing or frame, a filter pad, a mesh screen, etc. Optionally, the filtering unit can have various shapes, styles, sizes, and materials.

[0035] Alternatively, the choice of filter unit depends on the size and type of fan and the surrounding environment in which it will be used.

[0036] As used herein, the term "inhaled air" refers to air drawn from the surrounding environment into a cleaning system for use by an autonomous robot to clean at least one sensor. Inhaled air may include dust, dirt, debris, or a combination thereof. Here, the term "dust" refers to fine particulate matter suspended in the air, typically of organic or inorganic origin. The size, composition, and density of dust particles can vary and may include substances such as pollen, skin cells, textile fibers, or mineral particles.

[0037] Here, the term "dirt" refers to loose soil or earth, typically containing organic matter, minerals, and other impurities. Dirt can also include other forms of surface contaminants, such as mud, clay, or grease, which may become airborne or play a role in the accumulation of particulate matter. Here, the term "debris" refers to loose fragments or pieces of material that may be generated by the breaking, disintegration, or disturbance of larger objects or substances. Debris can include at least wood, metal, plastic, glass, or building materials. Inhaled air can include a combination of the aforementioned substances. It should be understood that cleaning systems are capable of handling different types of contaminants potentially present in the operating environment of autonomous robots.

[0038] Advantageously, the filtration unit ensures that the cleaning system uses only clean air for cleaning, thereby maximizing the effectiveness of the cleaning process.

[0039] Optionally, the autonomous robot also includes a vibration mechanism configured to vibrate at least one sensor when an indicating object is present. As used herein, the term "vibration mechanism" refers to a component integrated into the cleaning system that is designed to induce mechanical oscillations or movement in at least one sensor when an indicating object is present. Optionally, the vibration mechanism is associated with the cleaning system, complementing the functions of a fan, filter unit, and at least one air duct. Optionally, the vibration mechanism is configured with a motor, actuator, or similar device capable of generating controlled vibrations. Optionally, the vibration is directed toward at least one sensor, causing it to shake or agitate. The vibrational motion loosens and removes accumulated dust or debris from the surface of at least one sensor, thereby enhancing effectiveness and ensuring accurate detection and operation of the autonomous robot.

[0040] Optionally, the autonomous robot also includes a mechanical wiper with a microfiber cloth configured to wipe at least one sensor. As used herein, the term "mechanical wiper" refers to a component integrated into the autonomous robot and designed to physically wipe or clean the surface of at least one sensor. Optionally, the mechanical wiper includes a mechanism equipped with a microfiber cloth, a soft and delicate fabric known for its ability to effectively capture and remove objects around at least one sensor. Optionally, the mechanical wiper is associated with a cleaning system for removing stubborn contaminants, such as cobwebs or debris, which may not be easily removed by airflow or vibration alone. Examples of mechanical wipers include robotic arms or brushes equipped with microfiber pads, which can be programmed to move in a controlled manner around and across the sensor surface.

[0041] Optionally, the processing unit is also configured to activate the fan for a predetermined time period, or maintain airflow toward at least one sensor until sensor data no longer indicates the presence of an object. As used herein, the term "predetermined time period" refers to a specific duration preset by the processing unit for activating the fan to clean at least one sensor associated with the autonomous robot. The predetermined time period is selected based on factors such as the expected frequency of sensor contamination, the effectiveness of the cleaning operation, and the desired balance between cleaning efficiency and energy consumption. In this respect, whenever the presence of an object is detected and cleaning is required, the processing unit triggers the fan to operate for the predetermined time period.

[0042] Optionally, the predetermined time period is within the range of 5 to 15 seconds. Alternatively, the predetermined time period can be within the range of 5, 6, 7, 8, 9, 10, 11, 12, 13, or 14 seconds, up to 6, 7, 8, 9, 10, 11, 12, 13, 14, or 15 seconds. The aforementioned range ensures that the cleaning system reaches its maximum function within approximately 5 seconds, allowing sufficient time for the fan to generate the required airflow and for at least one duct to effectively direct the airflow to at least one sensor. Furthermore, extending the activation time period to 10 seconds provides ample time for the cleaning system to thoroughly clean at least one sensor. Moreover, the flexibility to change the activation duration within the predetermined time period allows for adaptation to different scenarios and requirements, such as shorter intervals for routine maintenance or longer durations for more intensive cleaning tasks. Optionally, the user can select one or more time intervals, which define the frequency at which the fan should be activated.

[0043] In this regard, the processing unit monitors any changes in sensor data. Once the sensor data indicates that no object is detected (i.e., the path is clear), the processing unit stops or disables the fan. This action ensures that at least one sensor is cleaned only for the necessary time to clear the detected obstacle. In this respect, the processing unit enables the autonomous robot to operate precisely when needed, optimizing the use of resources such as electricity.

[0044] Optionally, when the autonomous robot is in a docked state, the processing unit is also configured to activate the fan for a predetermined period of time. As used herein, "docked state" refers to the state in which the autonomous robot is physically connected or positioned at a charging station. In a docked state, the autonomous robot is stationary. Optionally, in a docked state, the autonomous robot is in a charging state. A charging state refers to the state in which the autonomous robot is actively receiving charging current from the charging station to replenish its battery power. Optionally, a charging state means that the autonomous robot is in the process of recharging one or more of its batteries. In this regard, the processing unit monitors the state of the autonomous robot to determine whether it is in a docked state. Optionally, the processing unit can use at least one sensor or a signal from the charging connector to monitor this state. When the processing unit detects that the autonomous robot is in a docked state, the processing unit activates the fan for a predetermined period of time. Periodically activating the fan in a docked state helps maintain the cleanliness and functionality of at least one sensor.

[0045] Optionally, the autonomous robot also includes a propulsion system, multiple charging connectors, and a processing unit. The propulsion system includes multiple wheels, one or more motors (arranged to drive at least one of the multiple wheels), and one or more batteries (arranged to supply charging current to the one or more motors). The multiple charging connectors are connected to the one or more batteries to provide charging current to the one or more batteries when the autonomous robot docks at a charging station. The processing unit is also configured to determine the identity of the charging station, determine whether the charging station is an approved charging station based on the determined identity, and if so, control the propulsion system to connect the multiple charging connectors to the multiple charging connectors of the charging station.

[0046] As used herein, the term "propulsion system" refers to a combination of at least one of the hardware, software, and firmware components configured to propel or move an autonomous robot. Specifically, a propulsion system includes multiple wheels, one or more motors (arranged to drive at least one of the wheels), and one or more batteries (arranged to supply current to the one or more motors). The propulsion system includes a variety of components, which may include any combination of motors, controllers, regulators, wheels, drive shafts, or gear arrangements, as well as other propulsion components desired based on the cost constraints or intended application of the autonomous robot, all of which are well known in the art.

[0047] Here, the propulsion system is configured to drive at least one of a plurality of wheels via at least one or more motors using power supplied from one or more batteries. Specifically, at least one or more motors are mechanically coupled to at least one of the plurality of wheels, and when current is supplied from the one or more batteries, and at least one of the plurality of wheels is operating normally, for example, during turning, a single wheel among the plurality of wheels is rotated only by one of the one or more motors to change the orientation of the autonomous robot, while during translation, at least two wheels are rotated simultaneously to move the autonomous robot in a preferred direction via the one or more motors. It should be understood that although the propulsion system of the indoor autonomous robot described herein includes an electric power supply, the one or more batteries of the electric propulsion system can be replaced by a hydraulic propulsion system or a pneumatic propulsion system without causing any limitation to this disclosure.

[0048] In one embodiment, the autonomous robot's wheels comprise two sets of two wheels each, located on opposite sides of the autonomous robot's chassis. The chassis of the autonomous robot is formed and manufactured using conventional materials such as metal, alloy, or plastic, and is not described herein for the sake of simplicity. Those skilled in the art will understand that the number and size of the autonomous robot's wheels can vary depending on the implementation without limiting the scope of this disclosure. Furthermore, in some embodiments, the wheels may be circular or elliptical. Alternatively, the wheels may be small spherical protrusions extending from the bottom of the autonomous robot. Or, the wheels may be robot legs configured to facilitate movement of the autonomous robot. Thus, the wheels can have any desired structure required based on the implementation to allow the autonomous robot to move in a desired / indicated direction. Moreover, although two sets of wheels are shown in the exemplary embodiment, more than two sets of wheels are possible in other embodiments, such as three, four, five, six, seven, eight, etc.

[0049] The propulsion system of the autonomous robot also includes one or more motors arranged to drive at least one of a plurality of wheels. The type of motor used herein may be selected from, but is not limited to, at least one of servo motors, DC motors, linear motors, stepper motors, and spindle motors, wherein each of the one or more motors may be used to drive at least one of the plurality of wheels of the autonomous robot. Optionally, the propulsion system includes one or more left-wheel motor controllers, one or more right-wheel motor controllers, one or more left-wheel motors, and one or more right-wheel motors. The one or more controllers and motors mentioned above, together with the plurality of wheels, facilitate the movement of the autonomous robot after current is supplied from a power source. As described above, the propulsion system is operatively coupled to a processing unit and, in particular, controls the movement of the autonomous robot.

[0050] The autonomous robot disclosed herein also includes one or more batteries, which may be rechargeable power sources, such as 9-volt (V) or 12-V automotive batteries, arranged to supply current to one or more motors. In other words, one or more batteries are used to supply power to the autonomous robot and its components, particularly one or more motors of the propulsion system. Optionally, the autonomous robot may include a power board connected to one or more batteries and configured to provide the required current to individual components within the autonomous robot. Those skilled in the art will understand that the autonomous robot may include a variety of other components not described herein, as they are not related to this disclosure and are well known in the art. In one embodiment, one or more batteries include 24V batteries. In another embodiment, one or more batteries include 48V batteries. Specifically, one or more batteries are configured to provide power to the regulator and the motor controller of the propulsion system, the processing unit, and any other components of the autonomous robot discussed herein for facilitating charging of the autonomous robot. However, the invention is not so limited in all embodiments, and the batteries (or power sources) may be any other type of battery, or may be solar-powered, AC-powered, etc.

[0051] The autonomous robot disclosed herein also includes multiple charging connectors connected to one or more batteries for providing charging current to the one or more batteries when the autonomous robot docks at a charging station. As used herein, the term "charging connector" refers to an electrical contact or element configured to connect to an energy source (e.g., a charging station) to enable a charging operation. For example, multiple charging connectors include electrical contacts such as circular connectors, push-pull connectors, flange connectors, etc., and electrical elements such as induction coils, transformers, etc. Typically, the use of an autonomous robot results in power consumption, thus causing a reduction in the power level associated with one or more batteries, which can be determined by one or more battery level sensors operable to determine the state of charge (SOC) of one or more batteries. Because the battery level of one or more batteries is so reduced, the autonomous robot needs to charge from an energy source, for which multiple charging connectors provide the necessary interface for charging. However, conventional charging systems suffer from inaccuracies during autonomous robot docking, resulting in significant inefficiencies during charging operations. Typically, to overcome the above problems, the autonomous robot of this disclosure is configured with custom charging connectors (or electrical contacts) that provide electrical connection to corresponding electrical contacts on the charging station when the autonomous robot docks at the charging station.

[0052] Optionally, multiple charging connectors are arranged for wireless charging, wherein the multiple charging connectors of the autonomous robot are induction coils similar to those of the charging station. Wireless charging operation is initiated when the multiple charging connectors of the autonomous robot come into contact with or are in close proximity to the multiple charging connectors of the charging station. In this document, the distance between the multiple charging connectors, i.e., the induction coils, can vary within a predefined range of 15 mm to 40 mm depending on the implementation to enable optimal charging operation, where displacement up to 40 mm (from the midpoint of the respective coil) is permitted. Charging operation can also be enabled at other distances; however, the given predefined range is used to achieve optimal charging operation of the autonomous robot with maximum charging current. Advantageously, such an implementation achieves optimal charging operation even if the docking of the autonomous robot relative to the charging station is not perfectly aligned (as required by conventional systems and devices).

[0053] In this regard, the processing unit is further configured to determine the identity of the charging station. Typically, based on a scanned mark containing machine-readable code associated with the charging station, the processing unit is further configured to determine whether the charging station is an approved charging station based on the determined identity, and if so, to control the propulsion system to connect multiple charging connectors to multiple charging connectors of the charging station. In an exemplary working scenario of a manufacturing complex, where multiple charging stations and autonomous robots are used, each charging station is designated with a mark arranged thereon, and when a given autonomous robot needs charging, the processing unit is configured via at least one sensor to scan the mark arranged on the charging station to identify whether the scanned mark corresponds to an approved (or associated) charging station for the given autonomous robot. Furthermore, in response to a positive detection of an associated charging station, the processing unit is further configured to control the propulsion system by transmitting command signals to maneuver the autonomous robot to the approved charging station, such that multiple charging connectors connect to multiple charging connectors of the associated charging station. Advantageously, such an implementation prevents autonomous robots from docking at unauthorized or unassociated charging stations that may not be configured to accommodate a given autonomous robot, thereby preventing any accidents due to compatibility issues.

[0054] Optionally, the processing unit is configured to scan the markers arranged on the charging station to detect the charging station, and in response to determine the relative position of the charging station with respect to the autonomous robot, and control the propulsion system to drive the autonomous robot to the charging station.

[0055] In operation, the processing unit is configured to transmit a command signal to at least one sensor to scan a marker arranged on a charging station for detecting an associated charging station (i.e., a charging station specifically configured for a given autonomous robot), as described above. Specifically, upon receiving the command signal, the autonomous robot illuminates the target represented by the marker or charging station using a laser or any secondary lighting device (e.g., a light-emitting diode), and thereby scans the target via at least one sensor. Preferably, to optimize detection and accuracy, the autonomous robot is configured to scan the marker from a distance of 3 meters (m) or less. However, it should be understood that the autonomous robot can be operated to scan the marker from longer distances (e.g., 5m, 10m, 20m, etc.) without any limitation.

[0056] As used herein, the term "marker" refers to a LiDAR-based reference mark formed using bit sequences, where each bit may contain multiple laser beams of high or low intensity. This mark is operable as an identifier for a charging station, and machine-readable codes can be encoded on the charging station for scanning by an autonomous robot. Such marks, with known geometry and orientation, provide a means of estimating LiDAR location data and enable accurate and efficient mapping of the work environment. The mark is used to identify the charging station, while the encoded machine-readable data enables the autonomous robot to determine the location of the charging station and the positions of multiple charging connectors disposed thereon. Optionally, the encoded data includes the location of the charging station, the identity of the charging station, the positions and alignments of the multiple charging connectors disposed thereon, etc. The mark can be formed using reflective strips, non-reflective strips, or a combination of both, and information can be encoded thereon as machine-readable codes (e.g., Quick Response (QR) codes, April tags, etc.). Implementing the marker on the charging station in this way enables the autonomous robot to accurately identify and locate associated charging stations, and to determine the positions and alignments of multiple charging connectors, allowing the autonomous robot to dock accurately.

[0057] Optionally, the processing unit is further configured to control the propulsion system to drive the autonomous robot to the charging station. Utilizing the component assembly of the autonomous robot (i.e., LiDAR sensors, processing unit, propulsion system) along with markings arranged on the charging station, the processing unit is configured to control the propulsion system to automatically drive the autonomous robot to the charging station for docking, thereby enabling efficient charging operations, when determining the position and orientation of the charging station relative to the autonomous robot or relative to a boundary (i.e., the outer perimeter or predefined boundary as described above).

[0058] Optionally, the processing unit is configured to receive sensor data from the at least one sensor, wherein the sensor data relates to: an item stored in the warehouse, the horizontal position of the item in the warehouse, the vertical position of the item in the warehouse, and environmental data scanned at the horizontal and vertical positions of the item.

[0059] As used herein, the term "item" refers to any object or item stored in a warehouse. Optionally, the sensor data pertains to items stored in the warehouse to allow for efficient tracking and monitoring. Optionally, an item is part of an item package. Furthermore, the sensor data pertains to the horizontal position (P1, P2) of the item within the warehouse. In this respect, the sensor data collected by the at least one sensor includes detailed information about the horizontal position of the item within the warehouse. Optionally, the horizontal position of an item refers to a specific location of the item along the width or breadth direction of a shelf in the warehouse. Optionally, the horizontal position can be defined using a coordinate system within the shelf. Typically, the coordinate system divides the horizontal plane of the shelf into multiple segments, rows, or compartments, each with a unique identifier. For example, letters or numbers can be used to label rows and shelves within the shelf. Optionally, the horizontal position of an item can then be represented as a combination of these identifiers, such as "Row B, Shelf 3". Optionally, the horizontal position pertains to storage compartments within the warehouse. The sensor data pertains to the vertical position of the item within the warehouse. In this respect, the at least one sensor can scan the position of a specific shelf or shelf within the warehouse. For example, if an item's vertical position is labeled L2, it means that the autonomous warehouse monitoring robot knows the item is stored on the second shelf from the bottom in a shelf or shelf unit. Advantageously, such information is extremely valuable for the efficient retrieval and organization of items in the warehouse.

[0060] Optionally, the sensor data involves environmental data scanned at both horizontal and vertical positions of the item. As used herein, the term "environmental data" refers to information relating to the environmental conditions surrounding items stored in the warehouse, particularly at a granular level. Optionally, environmental data encompasses factors such as temperature, humidity, light levels, air pressure, sound levels, and volatile organic compounds (VOCs). In this regard, the at least one sensor is used to scan and collect environmental data at specific horizontal and vertical positions within the warehouse. Advantageously, the granular level of environmental data allows for precise tracking of the unique environmental conditions surrounding each item, including its humidity level and temperature, etc. Furthermore, by scanning and utilizing environmental data, the autonomous warehouse monitoring robot can potentially achieve energy savings through targeted climate control of key areas of the warehouse, thereby reducing the need to heat or cool the entire warehouse space.

[0061] This disclosure also relates to a method for cleaning autonomous robots as described above. The various embodiments and variations disclosed above regarding autonomous robots are equally applicable to the method for cleaning autonomous robots, with necessary modifications.

[0062] Detailed description of the attached figures

[0063] Reference Figure 1The illustration shows an autonomous robot 100 according to one embodiment of the present disclosure. The autonomous robot 100 includes a cleaning system 104, a processing unit 106, and at least one sensor 108. Furthermore, the cleaning system 104 includes a fan and at least one air duct, the fan being configured to generate airflow at a predetermined speed; the at least one air duct is operatively coupled to the fan and configured to direct the generated airflow toward the at least one sensor 108. Furthermore, the processing unit 106 is operatively coupled to the fan and the at least one sensor, configured to receive sensor data from the at least one sensor 108, wherein the sensor data indicates the presence of an object, and to activate the fan to clean the at least one sensor 108 when the presence of an object is indicated.

[0064] Optionally, the autonomous robot 100 includes a propulsion system and a plurality of charging connectors 109. Optionally, the propulsion system includes a plurality of wheels 110, one or more motors 112 arranged to drive at least one of the plurality of wheels 110, and one or more batteries 114 arranged to supply charging current to the one or more motors 112, the plurality of charging connectors 109 being connected to the one or more batteries 114 to provide charging current to the one or more batteries 114 when the autonomous robot 100 is docked in a charging station 120.

[0065] A processing unit 106 is also shown, configured to scan the marker 122 arranged on the charging station 120 to detect the charging station 120, and in response to determine the relative position of the charging station 120 with respect to the autonomous robot 100, and control the propulsion system to drive the autonomous robot 100 to the charging station 120. The marker 122 arranged on the charging station 120 is also shown.

[0066] Reference Figure 2A , Figure 2B and Figure 2C The illustration shows a cross-sectional view of a cleaning system 200 for an autonomous robot according to one embodiment of the present disclosure. The cleaning system 200 includes a fan 204 and at least one air duct 206. The fan 204 is configured to generate airflow at a predetermined speed. The at least one air duct 206 is operatively coupled to the fan 204 and configured to direct the generated airflow toward the at least one sensor. A filter unit 208 configured to receive and filter intake air is also shown. Figure 2A As shown, this is a front cross-sectional view of the cleaning system 200. Figure 2B As shown, this is a side view of the cleaning system 200. Figure 2C As shown, this is a perspective view of the cleaning system 200.

[0067] Reference Figure 3The figure illustrates a cleaning system 300 according to one embodiment of the present disclosure. As shown, the cleaning system 300 includes a fan 302 and at least one air duct, such as 304A, 304B, and 304C. A filter unit 306 operatively coupled to the fan 302 and the at least one air duct 304A, 304B, and 304C is also shown.

[0068] Reference Figure 4 The illustration shows an autonomous robot 402 including a cleaning system 404 according to one embodiment of the present disclosure. The cleaning system 404 is shown disposed on the bottom portion of the autonomous robot 402. Furthermore, the cleaning system 404 disposed or installed inside the autonomous robot 402 is shown. Additionally, at least one sensor 406 in the autonomous robot 402 that needs to be cleaned is shown.

[0069] Figure 1 , Figure 2A , Figure 2B , Figure 2C , Figure 3 and Figure 4 This is merely an example and should not unduly limit the scope of the claims herein. Those skilled in the art will recognize many variations, alternatives, and modifications to the embodiments disclosed herein.

[0070] Reference Figure 5 The illustration depicts a cleaning device according to one embodiment of the present disclosure. Figure 1 The flowchart illustrates the steps of a method for an autonomous robot. At step 502, sensor data is received from at least one sensor, where the sensor data indicates the presence of an object. At step 504, when the presence of an object is indicated, a fan is activated to generate an airflow toward the at least one sensor to clean it.

[0071] The steps described above are illustrative only, and other alternatives may be provided, wherein one or more steps may be added, one or more steps may be removed, or one or more steps may be provided in a different order without departing from the scope of the claims herein.

Claims

1. An autonomous robot (100, 402) comprising a cleaning system (104, 200, 300, 404), a processing unit (106), and at least one sensor (108, 406), wherein, The cleaning system includes: Fans (204, 302) are configured to generate airflow at a predetermined speed; At least one air duct (206, 304A, 304B, 304C) is operatively coupled to the fan and configured to direct generated airflow toward the at least one sensor (108, 406); and The processing unit, operatively coupled to the fan and the at least one sensor, is configured as follows: Sensor data is received from the at least one sensor, wherein the sensor data indicates the presence of an object, and When the presence of an indicated object is detected, the fan is activated to clean the at least one sensor.

2. The autonomous robot (100, 402) according to claim 1 further includes a filter unit (208) configured to receive and filter inhaled air.

3. The autonomous robot (100, 402) according to claim 1, wherein, The processing unit (106) is also configured to activate the fan (204, 302) and maintain the airflow directed toward the at least one sensor (108, 406) for a predetermined period of time or until the sensor data no longer indicates the presence of an object.

4. The autonomous robot (100, 402) according to claim 1, wherein, The predetermined speed is in the range of 40 km / h to 90 km / h.

5. The autonomous robot (100, 402) according to claim 1, wherein, The at least one air duct (206, 304A, 304B, 304C) is an adjustable air duct.

6. The autonomous robot (100, 402) according to claim 1, wherein, The at least one sensor (108, 406) is selected from: a navigation sensor, an imaging sensor, or a combination thereof.

7. The autonomous robot (100, 402) according to claim 1, wherein, The object is selected from at least one of the following: particulate matter, debris, biological material, liquid spills, environmental pollutants, foreign matter, and dust.

8. The autonomous robot (100, 402) according to claim 3, wherein, The predetermined time period is in the range of 5 to 15 seconds.

9. The autonomous robot (100, 402) according to claim 1, wherein, The processing unit (106) is also configured to set a predetermined speed of the fan (204, 302) based on the characteristics of the object.

10. The autonomous robot (100, 402) according to claim 9, wherein, The characteristics of the object include its size and / or type.

11. The autonomous robot (100, 402) according to claim 3, wherein, When the autonomous robot is in a docked state, the processing unit is also configured to activate the fan within a predetermined time period.

12. The autonomous robot (100, 402) according to claim 1 further includes a vibration mechanism configured to vibrate the at least one sensor (108, 406) when an indicated object is present.

13. The autonomous robot (100, 402) according to claim 1 further includes a mechanical wiper with a microfiber cloth, the mechanical wiper being configured to wipe the at least one sensor (108, 406).

14. The autonomous robot (100, 402) according to any of the preceding claims further includes a propulsion system and a plurality of charging connectors (109), wherein, The propulsion system includes: a plurality of wheels (110); one or more motors (112) arranged to drive at least one of the plurality of wheels; and one or more batteries (114) arranged to supply charging current to the one or more motors. The plurality of charging connectors (109) are connected to the one or more batteries for providing charging current to the one or more batteries when the autonomous robot is docked at the charging station (120). The processing unit (106) is further configured to: The identity of the charging station (120) is determined. Based on the identified identity of the charging station, determine whether the charging station is an approved charging station, and if so, The propulsion system is controlled to connect the plurality of charging connectors to the plurality of charging connectors of the charging station.

15. The autonomous robot (100, 402) according to any one of the preceding claims, wherein, The at least one sensor is a LiDAR sensor with a field of view (FOV) of more than 180 degrees.

16. The autonomous robot (100, 402) according to claim 15, wherein, The LiDAR sensor has a 360-degree field of view (FOV).

17. The autonomous robot (100, 402) according to any one of the preceding claims, wherein, The processing unit (106) is configured as follows: The charging station is detected by scanning the marker (122) arranged on the charging station (120), and in response, the relative position of the charging station with respect to the autonomous robot is determined. Control the propulsion system to drive the autonomous robot to the charging station.

18. The autonomous robot (100, 402) according to any one of the preceding claims, wherein, The plurality of charging connectors (109) are arranged for wireless charging.

19. The autonomous robot (100, 402) according to claim 1, wherein, The processing unit (106) is configured as follows: Receive sensor data from the at least one sensor (108, 406), wherein the sensor data relates to: Items stored in the warehouse, The horizontal position of the item in the warehouse The vertical position of the item in the warehouse, and Environmental data scanned at the horizontal and vertical positions of the item.

20. A method for cleaning at least one sensor included in an autonomous robot (100, 402), wherein, The method includes: Receive sensor data from the at least one sensor, wherein the sensor data indicates the presence of an object, and When the presence of an indicated object is detected, a fan is activated to generate an airflow toward the at least one sensor to clean it.

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