Cleaning systems and methods

Abstract

A system for cleaning one or more objects in a building interior. The system includes: • At least one robot equipped with a detritus collector; • At least one detritus measuring device; • At least one memory comprising program code instructions. The instructions: a) receiving a detritus amount value from the at least one detritus measuring device; b) comparing the received detritus amount value to a reference detritus value; c) executing a first set of cleaning instructions; wherein execution of said program code instructions results in sending the at least one robot to clean at least one of the one or more object according with the first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

Description

[0001] CLEANING SYSTEMS AND METHODS

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003]

[0001] This applications claims the benefit and / or priority from Israeli patent application 303361, titled "DRONES", and which is incorporated herein by reference in its entirety.

[0004] BACKGROUND

[0005]

[0002] For several years now there have been robotic vacuum cleaners limited to floor movements, which replace conventional brooms and vacuum cleaners for the purpose of picking up dust, relieving the user of this chore. Some of these floor robots use random movements and / or map the rooms of the house (for example using cameras).

[0006]

[0003] However, there is still immense room for improvement of their cleaning. For example, their cleaning may be coordinated with UAV robots to provide a much more thorough and comprehensive cleaning of a building interior. A drone or UAV (unmanned aerial vehicle) is an unmanned aircraft.

[0007]

[0004] The application of aerial drones to (domestic or industrial) cleaning remains relatively underdeveloped and unrealized. Scientific publications and patent literature address only in some limited respects, if at all, technical problems of cleaning surfaces and / or objects. In particular, the prior art has limited dealing with the treatment of non-horizontal and / or non-planar surfaces, or else surfaces located at height, i.e. surfaces other than floors and similar wide horizontal surfaces, even though these are exactly the surfaces that are hard for humans to reach and tend to get neglected. One can imagine the dust that accumulates over time on objects that are high up and might spill down at any time on humans or other objects, being both a hazard and unsightly.

[0008]

[0005] There is a domestic and industrial need for treatment, in particular efficient cleaning, methods and systems using robots such as drones. Such robots may be useful for other purposes as well, such as security, as an added benefit.

[0009] SUMMARY

[0010]

[0006] According to one aspect a system is provided for cleaning one or more objects in a building interior, the system comprising:

[0011] (i) at least one robot equipped with a detritus collector;

[0012] (ii) at least one detritus measuring device;

[0013] (iii) at least one memory comprising program code instructions which, when executed by the processor, result in the following: a) receiving a detritus amount value from the at least one detritus measuring device; b) comparing the received detritus amount value to a reference detritus value; c) executing a first set of cleaning instructions; wherein execution of said program code instructions results in performing: action A) sending the at least one robot to clean at least one of the one or more object according with the first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

[0014] In some embodiments, the at least one memory further comprises a first detritus threshold value, wherein the first set of cleaning instructions is performed when the the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

[0015] Alternatively, the at least one memory further comprises a first detritus threshold value, wherein the first set of cleaning instructions may be performed only when the received detritus amount value exceeds the reference detritus value by no more than the first detritus threshold value.

[0016] In some embodiments, the at least one memory further comprises a second set of cleaning instructions, wherein execution of said program code results in performing: action B) comprising sending the at least one robot to clean the one or more object according with the second set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

[0017] In some embodiments action B) further comprises storing the second set of instructions in the at least one memory as the first set of cleaning instructions.

[0018] In some embodiments the at least one memory further comprises a second detritus threshold value, wherein execution of said program code results in performing: action C) generating an alert when the received detritus amount value exceeds the reference detritus value by more than the second detritus threshold value.

[0019] In some embodiments the second detritus threshold value is larger than the first detritus threshold value.

[0020] In some embodiments the at least one memory further comprising a third detritus threshold value, wherein execution of said program code results in performing: action E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value by more than the third detritus threshold value.

[0021] Some embodiments further comprise heat-sensors, wherein execution of said program code results in performing: action F) heat scanning the building interior with the heat sensors; and one or both of: turning off any of scanned one or more object generating heat until after cleaning the one or more object, and generating an alert if a heat source is found during the scanning, that is not identified as any of the scanned one or more object.

[0022] In some embodiments at least one of the heat sensors is on and / or in the at least one robot.

[0023] In some embodiments the first set of cleaning instructions and second set of cleaning instructions each comprise one or more of the following parameters: lengths of times of cleaning each of the one or more object; period of time in between consecutive cleaning of the one or more object; order of cleaning specific one or more object of the one or more object, and assignment of each of the at least one robot to specific one or more object, and wherein at least one parameter in the first set of cleaning instructions also exists in the second set, but differs in value.

[0024] In some embodiments the building interior comprises a ceiling, and assignment of each of the at least one robot to specific one or more of the one or more objects comprises one the following: instructing a specific robot of the at least one robot to go to an other specific one of the one or more objects that is unclean, and the other specific one is selected according to one of the following conditions: the other specific one is most proximal to a direct line back to the station; the other specific one is most proximal of unclean objects of the one or more objects to the ceiling, and the other specific one is most proximal of uncleaned objects of the one or more objects that has just been cleaned; wherein the second set of instructions differs from the first set of instructions, for at least one specific robot.

[0025] In some embodiments the at least one detritus measuring device comprises one or more devices, each selected from: scale, dust thickness measurement unit, and both.

[0026] In some embodiments the dust thickness measurement unit comprises laser reflection equipment.

[0027] In some embodiments the dust thickness measurement unit comprises a low power laser in-situ thickness measurement unit.

[0028] Some embodiments further comprise: a plurality of labels, at least one label of the plurality of labels associated with each of the one or more objects; each of the at least one label associated with cleaning instructions.

[0029] In some embodiments, the least one memory further comprises: a map of a layout of the at least one label; wherein execution of said program code results in performing: reading the map, and each of the at least one robot going proximal to one of the at least one label in accordance with the map; each of the at least one robot reading cleaning instructions on the one label; cleaning one of the one or more objects in accordance with the instructions on the label associated with one of the one or more objects.

[0030] In some embodiments at least one of the at least one robot comprising a plurality of cleaning arms. In some embodiments the arms are hollow, the system further comprising at least suction device functionally engaged with the arms and engagable with a storage bin comprising one of the at least one detritus measuring device. In some embodiments at least a portion of the plurality of cleaning arms are crawling arms.

[0031] In some embodiments each crawling arm comprises at least one suction pad.

[0032] In some embodiments at least a portion of the at least one robot is functionally attachable to a spool.

[0033] Some embodiments further comprise at least one hangar capable of hosting a charging / and or refueling station for the at least one robot, each of the at least one hangar comprising interior space to store at least one of the at least one robot between cleaning sessions.

[0034] In some embodiments each at least one hangar further comprises at least one of the following: a bin for storage of collected detritus; spool / s including tubing connecting the bin with the at least one robot; a scale, and a motor or pump to create sub-pressure for the suction of the detritus.

[0035] According to another aspect, a method is provided for cleaning of a one or more objects in a building interior, the method comprising:

[0036] (i) providing at least one robot equipped with a detritus collector;

[0037] (ii) receiving a detritus amount value from at least one detritus measuring device;

[0038] (iii) comparing the received detritus amount value to a reference detritus value, and

[0039] (iv) action A) sending the at least one robot to clean the one or more objects according with a first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

[0040] In some embodiments the first set of cleaning instructions is performed when the received detritus amount value exceeds the reference detritus value by more than a first detritus threshold value.

[0041] In some embodiments the first set of cleaning instructions is performed only when the received detritus amount value exceeds the reference detritus value by no more than a first detritus threshold value. Some embodiments further comprise: action B) comprising sending the at least one robot to clean the one or more objects according with a second set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

[0042] Some embodiments further comprising action C) generating an alert when the received detritus amount value exceeds the reference detritus value by more than a second detritus threshold value.

[0043] In some embodiments the second detritus threshold value is larger than the first detritus threshold value.

[0044] Some embodiments further comprise action D) generating an alert when the reference detritus value exceeds the received detritus amount value by more than a third detritus threshold value.

[0045] Some embodiments further comprise action E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value by more than a third detritus threshold value.

[0046] Some embodiments further comprise providing heat-sensors, and performing action F) heat scanning the building interior with the heat sensors; and one or both of: turning off any of scanned one or more f objects generating heat until after cleaning the one or more objects, and generating an alert if a heat source is found during the scanning, that is not identified as any of the scanned one or more f objects.

[0047] In some embodiments, ++ one or more of objects is charged with static charge. BRIEF DESCRIPTION OF THE DRAWINGS

[0048]

[0007] The present disclosed subject matter will be understood and appreciated more fully from the following detailed description taken in conjunction with the drawings in which corresponding or like numerals or characters indicate corresponding or like components. Unless indicated otherwise, the drawings provide help in understanding the disclosure and embodiments as a whole, and do not limit the scope of the disclosure. In the drawings:

[0049]

[0008] Figure 1 schematically shows a block diagram of an environment of cleaning objects with flying vehicles;

[0050]

[0009] Figure 2 schematically shows a block diagram of a system for cleaning objects with flying vehicles;

[0051]

[0010] Figure 3 schematically shows a flowchart diagram of a method for controlling and monitoring the cleaning mission; and

[0052] [Oil] Figure 4 schematically shows a flowchart diagram of a method of operating the flying vehicles.

[0012] Figure 5 schematically depicts a system for cleaning of a group of objects in a building interior.

[0053] DETAILED DESCRIPTION

[0054]

[0013] Fig. 1 schematically shows a block diagram of an environment for cleaning objects with a robot exemplified with a flying vehicle. An environment or scene for cleaning by the system 100 includes at least one object or a plurality of objects 101 to be cleaned, a control system 103, and one or more aircrafts 104.

[0055]

[0014] It will be appreciated that separate hardware components such as processors and / or memories may be allocated to each component and / or module of the system. However, for simplicity and without to be construed in a limiting manner, the description and claims may refer to a single module and / or component. For example, although a processor may be implemented by several processors, the following description will refer to a single processor as the component that conducts all the necessary processing functions of the system.

[0056]

[0015] The plurality of objects 101 are cleaned by the plurality of flying vehicles 104. The plurality of objects 101 may be located in a building interior and may be grouped into one or more groups. The objects 101 can include articles in a building that are hard to reach and / or manually clean, such as, for example, lamp shades, large and valuable pictures in museums and art galleries, very large sculptures, tall glass windows, high eaves, books in libraries, air conditioning units installed proximal to ceilings, curtains, and ornamental objects perched on high shelves.

[0057]

[0016] Although embodiments for identifying objects to be cleaned are herein disclosed with respect to "labels", this should by no means be construed in a limiting manner. Accordingly, in some embodiments, the system may be configured to identify objects or surfaces of objects to be cleaned based on image data of the objects. Image data of the objects may be acquired by the vehicles / robots and / or by image sensors installed in the environment configured to communicate with the vehicle(s).

[0017] The plurality of labels 102 are configured for being attached to the plurality of objects 101. The plurality of labels 102 may include data that is used for guiding the plurality of flying vehicles 104 to the plurality of objects 101. The plurality of labels 102 may be passive, i.e., non-emitting; in such a case the flying vehicles 104 may have means to emit at least one first signal and to read at least one second signal resulting from interaction between the first signal and the label such as reflection.

[0058]

[0018] The signal may comprise information specific to the object's location or simply guide the flying vehicle in respect of a label being at a certain three-dimensional distance from the vehicle, which the system can use to determine from which object on the map is the second signal received. In some embodiments the labels 102 have no location and / or object-specific information and may allow using them after moving the object to another location in the building. In some other embodiments at least some of the labels 102 comprise a bar code / s and / or QR code / s specific to the object.

[0019] The central computing device 103 may include an "application" for enabling a user to guide the plurality of flying vehicles 104 to the plurality of objects 101. A method for controlling and monitoring the cleaning mission is explained in greater detail in figure 3.

[0059]

[0020] The plurality of flying vehicles 104 are configured for cleaning the plurality of objects 101. The plurality of flying vehicles 104 include a drone, unmanned aerial vehicle, an airship, a hot air balloon, a manned light aircraft, or a helicopter. The plurality of flying vehicles 104 are configured for reading a map and flying to each at least one label in accordance with the map. In some embodiments each flying vehicle comprises a plurality of cleaning arms. In some embodiments at least a portion of the flying vehicles 104 comprise crawling arms. In some embodiments each crawling arm comprises at least one suction pad.

[0060]

[0021] In some embodiments at least a portion of the flying vehicles 104 comprise a spool. In some embodiments each of the flying vehicles 104 comprise at least one of the following group of sensors: LIDAR sensor, ultrasonic distance sensor, and digital camera. In some embodiments at least a portion of the flying vehicles 104 comprise spraying means.

[0061]

[0022] In some embodiments the arms of the flying vehicles 104 are hollow and each flying vehicle comprises a suction device functionally engaged with the arms and engageable with a detritus storage bin. In some embodiments at least a portion of the cleaning arms comprise rotors. In some embodiments at least a portion of the flying vehicles comprise a spool.

[0062]

[0023] The plurality of flying vehicle computing devices 105 are configured for operating the flying vehicles 104. Each of a second computing device 105 may be located in a flying vehicle 104. The method for operating the flying vehicles 104 is explained in greater details in figure 4.

[0063]

[0024] It should be noted that the number of objects 101, labels 102, computing devices 105 and flying vehicles 104 is exemplary in nature, and more or fewer number of devices or network services may be present.

[0064]

[0025] Fig. 2 shows a block diagram of a system for cleaning objects with a drone, in accordance with some exemplary embodiments of the disclosed subject matter.

[0065]

[0026] System 200 is configured for cleaning a plurality of objects by utilizing a plurality of flying vehicles.

[0066]

[0027] System 200 includes a central module 201 for controlling and monitoring the cleaning mission, the label 102, a flying vehicle module 202 for operating the flying vehicle, a central data repository 203, a flying vehicle data repository 204 and an application for cleaning flying objects 206.

[0028] Central module 201 for controlling the plurality of flying vehicles is installed in a central computing device (not shown in the figure). Central module 201 communicates with the flying vehicle module 202. The central module updates data of the central data repository 204 and receives data from the central data repository 204. The data is associated with a certain flying mission. The operation of central module 201 is explained in greater detail in figure 3.

[0067]

[0029] The label 102 is configured for being attached to the object 101. The label 102 includes data that is used for guiding the flying vehicles 104 to the plurality of objects.

[0068]

[0030] The flying vehicle module 202 is configured for collecting and transmitting data from the flying vehicle and for operating the flying vehicle 104 according to instructions from the central computing device and according to data received from the sensors of the flying vehicles. The flying vehicle module 202 is installed in a flying vehicle computing device (not shown in the figure). The flying vehicle module 202 communicates with the central module 201. The flying vehicle module 202 reads data associated with the cleaning mission from the flying vehicle data repository 205. The flying vehicle module 202 updates data associated with the cleaning mission in flying vehicle data repository 205. The operation of the flying vehicle module is explained in greater detail in figure 4.

[0069]

[0031] Central data repository 203 includes a map 209. The map includes a layout of at least one label and a location of each of the at least one label. The map may include a first primary location, wherein each of secondary locations is mapped relative to the first primary location. The central data repository 203 is associated with central computing device 103.

[0070]

[0032] The flying vehicle data repository 204 includes data such as amount of spent fuel and / or charge, and / or collected dust, for a cleaning, and associated weights for the current cleaning operation. The flying device data repository is typically located at the flying vehicle.

[0071]

[0033] The application for cleaning flying objects 206 is configured for enabling a user to control and monitor a cleaning mission. The application for cleaning flying objects communicates with the central module 201.

[0072]

[0034] Fig. 3 shows a flowchart diagram of controlling and monitoring the cleaning mission, in accordance with some exemplary embodiments of the disclosed subject matter.

[0073]

[0035] At block 300 the user operates the application for cleaning objects.

[0074]

[0036] At block 305 the central computing device instructs the first group of flying vehicles to fly and clean one or more objects.

[0075]

[0037] At block 310 each of the flying vehicles flies to the object that it is instructed to clean.

[0076]

[0038] At block 315 each of the flying vehicle reports the status of the cleaning operation and the status of the charge and fuel to the central computing device.

[0077]

[0039] At block 320 the central computing device updates the central data repository and flags on the map the cleaned objects.

[0078]

[0040] At block 325 the central computing device instructs the flying vehicles that have a predetermined low charge and / or fuel status to cease cleaning and go to recharge.

[0041] At block 330 the central computing device instructs another group of flying vehicles to clean the vehicles that have not been cleaned due to malfunction of the flying vehicle or due to lack of fuel during the cleaning process. In some cases, the central computing device instructs a flying object that has completed its mission to clean a nearby object.

[0079]

[0042] At block 335 the central computing device updates weights that are associated with the cleaning program.

[0080]

[0043] Fig. 4 shows a flowchart diagram of a method of operating the the flying vehicles, in accordance with some exemplary embodiments of the disclosed subject matter.

[0081]

[0044] At block 400 the computing device of the flying vehicle receives instructions to clean one or more objects,

[0082]

[0045] At block 405 the computing device of the flying vehicle guides the flying vehicle to the destination of the object according to a map and according to data received from the sensors.

[0083]

[0046] At block 410 the computing device of the flying vehicle operates the cleaning means (e.g. spraying and crawling arm) as a result of instruction and data received from the central computing device, and according to data received from the sensors. The data received from the central computing device can be, for example, location of the object, rating of fragility. The data received from the sensors can be, for example, distance from the object and contour.

[0084]

[0047] At block 415 the computing device of the flying vehicle instructs the flying vehicle to fly back after completing the mission or to fly to another cleaning object or to fly to a powering device such as a fueling station.

[0085]

[0048] The instructions are according to messages that are received from the central computing device.

[0086]

[0049] System may be configured to determine whether a surface of an object requires cleaning, e.g., by remote sensing by a robot and / or by a static device, and / or by operably engaging a sampler / sensor with the surface, e.g., for taking a sample from the surface and for analyzing the sample.

[0087]

[0050] If the system determines that the object surface requires cleaning, a surface cleaning process is initiated, e.g., implemented by causing a robot to operably engage with the surface to be cleaned.

[0051] In some examples, the system determines based on sensor data provided by at least one sensor of the system, when the object surface meets a cleaning criterion. Whether a cleaning criterion is met may be determined based on image data of the object surface, based on an additional sample taken from the object surface, and / or the like. Image data may be passively and / or actively acquired image data. "Passively" acquired image data may pertain to images of objects illuminated solely by ambient light. "Actively" acquired image data may pertain to images of objects actively illuminated by an illumination source of the robot such as, for example, infrared light, laser light.

[0052] system can receive information about the environment (e.g., different geographic locations) and adapt cleaning procedures accordingly

[0088]

[0053] In reference to Figure 5: According to one aspect, a system 500 is provided for cleaning of at least one or a group of objects 12 in a building interior 10, the system 500 comprising:

[0089] (i) at least one robot 510 equipped with a detritus collector 512;

[0090] (ii) at least one detritus measuring device 520;

[0091] (iii) at least one processor 540;

[0092] (iv) at least one memory 530 comprising, for example, data of a reference (e.g., a predetermined) detritus value 532, and comprising program code instructions 534 which, when executed by the processor, result in the following: : a) receiving a detritus amount value from the at least one detritus measuring device; b) optionally, comparing the received detritus amount value to the reference detritus value; c) a first set of cleaning instructions; wherein execution of said program code results in performing: action A) sending the at least one robot to clean the at least one or the group of objects [hereinbelow referred to as "group of objects"] according with the first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

[0093] The reference detritus value can be adaptive or predetermined, e.g., determined before receiving the measured detritus amount value.

[0094] Optionally, the at least one robot is activated to clean the group of objects only when the received detritus amount value exceeds the reference detritus value by a threshold value. The threshold value may be zero [0], For simplicity, we can refer to the reference value, which may be a previously measured value or previous value of weight of collected detritus, as a predetrmined value.

[0054] There are several motives and concepts behind the system in the paragraph immediately above. The cleaning of objects in a building interior can be performed at various levels of thoroughness and cleanliness. A certain level of cleanliness can be expressed as a reference detritus value which is associated for example with previously measured amount of detritus on an object before a previous cleaning. Measurement of detritus on or from one or more of the objects before an imminent cleaning, can be compared to the reference detritus value [expressed in the same units of amount], A cleaning can be commenced if the measured detritus amount is higher than the reference detritus value.

[0055] If the result of the comparison is that the currently measured detritus is not higher than the reference value, cleaning may be delayed, which may provide a great saving of energy and other resources. In this case the reference detritus value may be a value that indicates the objects are essentially clean. This checking and deciding whether to clean or not can be repeated indefinitely, thus saving increased amounts of resources over time.

[0095]

[0056] In some embodiments the at least one memory further comprises a first detritus threshold value, wherein the first set of cleaning instructions is performed only when the received detritus amount value exceeds the reference detritus value by no more than the first detritus threshold value.

[0057] In the embodiments defined in the paragraph immediately above, cleaning according to the first set of cleaning instructions is performed only if the received detritus amount is not excessively higher than expected [predetermined]. An excessive amount of received detritus amount indicates a problem that needs to be resolved by doing other operations than cleaning according to the first set of instructions, or the objects might not be adequately cleaned.

[0096]

[0058] In some embodiments, the at least one memory further comprises a second set of cleaning instructions, wherein execution of said program code results in performing:

[0097]

[0059] action B) comprising sending the at least one robot to clean the group of objects according with the second set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

[0098]

[0060] In the embodiments defined in the paragraph immediately above, the corrective action to deal with the apparently excessive dirtiness is to change the cleaning instructions from the first set to a second set of instructions.

[0099]

[0061] In some embodiments, action B) further comprises storing the second set of instructions in the at least one memory as the first set of cleaning instructions.

[0100]

[0062] In the embodiments defined in the paragraph immediately above, future cleanings will also be carried out in accordance with the second set of instructions, out of the assumption, for example, that the first set of cleaning instructions is inadequate. Similarly, a third set of instructions may replace the second set of instructions if the second set of instructions is also found to unsatisfactory, and so forth until a good cleaning regime is established. One or more of the sets of instructions may be manually entered or adjusted, or the system may generate them based on learning from previous cleanings of the group of objects and / or of other groups of objects, and / or on trial and error.

[0101]

[0063] In some embodiments, the at least one memory further comprises a second detritus threshold value, wherein execution of said program code results in performing: action C) generating an alert when the received detritus amount value exceeds the reference detritus value by more than the second detritus threshold value.

[0064] In the embodiments defined in the paragraph immediately above, the amount of measured detritus is so high that the system generates an alert, for example sends a signal to a technician's smartphone that there is a problem that needs to be investigated, for example a break-in or a collapse in the building leading to highly excessive dust.

[0102]

[0065] In some embodiments, the second detritus threshold value is larger than the first detritus threshold value.

[0103]

[0066] In the embodiments defined in the paragraph immediately above, it is assumed that when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value but not more than the second detritus threshold value, the system can independently bring the group of objects into a general state of cleanliness and there is no need to send out an alert.

[0104]

[0067] In some embodiments the at least one memory further comprises a third detritus threshold value, wherein execution of said program code results in performing: action D) generating an alert when the reference detritus value exceeds the received detritus amount value by more than the third detritus threshold value.

[0105]

[0068] In the embodiments defined in the paragraph immediately above, it is assumed that in some situations the amount of measured detritus is actually significantly less than expected. This situation can arise for example when there are burst water pipes that remove dust from objects, or mistral winds blow off dust from the objects but can also cause damage to them.

[0106]

[0069] In some embodiments, the at least one memory further comprises a third detritus threshold value, wherein execution of said program code results in performing: action E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value by more than the third detritus threshold value.

[0107]

[0070] In the embodiments defined in the paragraph immediately above, it is assumed that in some situations the amount of measured detritus is repeatedly significantly less than expected, for example in measurements before planned consecutive cleaning sessions.

[0108]

[0071] It is assumed that in some situations, despite raising an alert that there is a problem to be addressed, and the problem being addressed, the problem persists after a previous cleaning. Thus, an alert can indicate that the problems are consistent and persistent. The alert can be different from the alert generated for one event of discovering a problem. Other controls will occur to skilled in the art of process control, such as various schemes working with control charts.

[0109]

[0072] Some embodiments further comprise heat-sensors 514, wherein execution of said program code results in performing: action F) heat scanning the building interior with the heat sensors; and one or both of: turning off any of the scanned group of objects generating heat until after cleaning the group of objects, and generating an alert if a heat source is found during the scanning, that is not identified as any of the scanned group of objects.

[0110]

[0073] In the embodiments defined in the paragraph immediately above, attention is given to the common situation that some of the objects generate heat, such as halide lights, that can damage the robots and / or the objects. Therefore, the system, for example, the robot approaching the object designate to it, may detect the head, e.g., with thermal scanners, and turn off the object or cause it to be turned off. In addition, the thermal scanners may indicate another source of heat that is not identified with the objects [and cannot be turned off], indicating a problem that needs to be investigated such as malfunctioning equipment or a fire. Therefore, the invention both makes the cleaning efficient and thorough, and may serve as a security system.

[0111]

[0074] According to one example, at least one of the heat sensors is on and / or in the at least one robot.

[0112]

[0075] In some embodiments, the first set of cleaning instructions and second set of cleaning instructions each comprise one or more of the following parameters:

[0113]

[0076] lengths of times of cleaning each of the group of objects;

[0114]

[0077] period of time in between consecutive cleaning of the group of objects;

[0115]

[0078] order of cleaning specific one or more object of the group of objects, and

[0116]

[0079] assignment of each of the at least one robot to specific one or more object of the group of objects,

[0117]

[0080] and wherein a parameter in the first set of cleaning instructions also exists in the second set but differs in value.

[0118]

[0081] In the embodiments defined in the paragraph immediately above, changes to the cleaning of the objects can include one or more means for improving the cleaning. Some of the means clearly improve the cleaning, for example increasing the frequency of the cleaning, but some others, such as changing the order of cleaning, are much less intuitive, but may nevertheless be very significant in their effect.

[0119]

[0082] In some embodiments, the building interior comprises a ceiling 11, and assignment of each of the at least one robot to specific one or more object of the group of objects comprises one the following:

[0120]

[0083] instructing a specific robot of the at least one robot to go to an other specific one of the group of objects that is unclean, and the other specific one is selected according to one of the following conditions:

[0121]

[0084] the other specific one is most proximal to a direct line back to the station;

[0085] the other specific one is most proximal of unclean objects of the group of objects to the ceiling, and

[0122]

[0086] the other specific one is most proximal of uncleaned objects of the group of objects to the one of the group of objects that has just been cleaned;

[0123]

[0087] wherein the second set of instructions differs from the first set of instructions, for at least one specific robot.

[0124]

[0088] In the embodiments defined in the paragraph immediately above, we assume that the robot is not too small relative to the size of the object to be cleaned, and then the robot may have sufficient charge and / or fuel to at least start cleaning another object. Which unclean object the robot goes after one object is cleaned can significantly affect the efficiency of the cleaning of the objects and even affect the end results of cleanliness. For example, cleaning top-down from the objects closest to a ceiling down to those near or on the floor minimizes the fall of dust on objects during the cleaning, whereas cleaning otherwise might cause objects just cleaned to become dirty again. However, if for example another object immediately below is actually farther away from a refuelling station and / or charging station, cleaning top / down is inefficient. The system may perform a series of cleanings with change of one or more parameters between consecutive cleaning sessions, until reaching a steady state.

[0125]

[0089] In some embodiments the at least one detritus measuring device 520 comprises one or more devices, each selected from:

[0126]

[0090] scale, dust thickness measurement unit, and both.

[0127]

[0091] In the embodiments defined in the paragraph immediately above, two kind of detritus measuring devices are referred to. The scale is a well-known device upon which detritus is loaded to determine the weight of collected detritus. In some embodiments a sample may be collected from one of the objects for the measurement and that can serve to determine whether or not to clean all of the objects, whether or not to change how they are cleaned, whether or not to alert on a problem and so forth. Some dust thickness measurement units allow remote sensing and may allow measurements to be performed without any need for samples.

[0128]

[0092] In some embodiments the dust thickness measurement unit comprises laser reflection equipment.

[0129]

[0093] In some embodiments the dust thickness measurement unit comprises a low power laser in- situ thickness measurement unit [not shown],

[0130]

[0094] The reader is referred to Cleaner Engineering and Technology Volume 5, December 2021, 100332, for further information about this technology.

[0131]

[0095] In some embodiments, the system further comprises:

[0096] a plurality of labels, at least one label of the plurality of labels 13 associated with each one of the group of objects; each of the at least one label associated with cleaning instructions.

[0132]

[0097] In some embodiments, the least one memory further comprises: a map of a layout of the at least one label;

[0133]

[0098] wherein execution of said program code results in performing:

[0134]

[0099] reading the map, and each of the at least one robot going proximal to one of the at least one label in accordance with the map;

[0135]

[0100] each of the at least one robot reading cleaning instructions on the one label;

[0136]

[0101] cleaning one of the group of objects in accordance with the instructions on the one of the group of objects.

[0137]

[0102] In some embodiments, at least one of the at least one robot 510 comprises a plurality of cleaning arms 516.

[0138]

[0103] In some embodiments, the arms are hollow, the system further comprising at least suction device 540 functionally engaged or engageable with the arms and engageable with a storage bin 550 comprising one of the at least one detritus measuring device.

[0139]

[0104] In some embodiments, at least a portion of the plurality of cleaning arms are crawling arms 518.

[0140]

[0105] In the embodiments defined in the paragraph immediately above, these

[0141]

[0106] Crawling arms may be suitable for crawling over the object. For UAVs in particular, such arms may save a considerable amount of energy and be much more efficient in cleaning, since flying UAVs need to keep a safe distance from the objects, particularly if the objects are fragile or easily moved by the UAV's flight, e.g., curtains.

[0142]

[0107] In some embodiments, each crawling arm comprises at least one suction pad [not shown],

[0143]

[0108] In the embodiments defined in the paragraph immediately above, at least a portion of the at least one robot is functionally attachable to a spool 519.

[0144]

[0109] In the embodiments defined in the paragraph immediately above, the robots are more efficient if they are connected to a pipeline through which the detritus flows, rather than accumulating the debris in between the charging / refuel ling times. The spools help keep the pipelines tidy and avoid tangles of pipes.

[0145]

[0110] The measured objects may be one or more of the objects intended to be cleaned, or one or more "dummy objects" [dummies] that are strategically positioned for the purpose of measuring. For example, these dummies 12' may be made of a particular shape and material to maximize accumulation of static charge, that attracts dust. A voltage may be applied across the dummies / objects to help build up their electrostatic charge. The dummies in themselves may help keep a building interior clean. When UAVs are used the dummies can be placed above the floor, for example on shelves.

[0146]

[0111] In some embodiments only a part of a dummy is measured. If following a detritus measurement a general cleaning of all the at least one object is initiated, then the dummies may also be cleaned. Thus, for a subsequent measurement, the dummies will properly represent the level of cleanliness of all the at least one object. If following a measurement that involves a sampling of an area of the dummy a general cleaning is not initiated, then for a subsequent measurement a different area of the dummy may be sampled.

[0147]

[0112] Alternatively, there are a plurality of dummies and only some [one or more] are sampled. In this alternative setup other dummies may be sampled for the subsequent measurement / s, if there is no cleaning initiation, until a general cleaning is initiated, when all of the dummies may be cleaned together with the other at least one object.

[0148]

[0113] When a system with dummies is used for measuring detritus, the measured detritus amount values may be based solely on the measurement of the detritus on part of one dummy, on one dummy, on part of the dummies or on all of the dummies. Reference detritus amount values will be set respectively to the same dummy / ies or part / s thereof.

[0149]

[0114] In some embodiments the detritus reference value may be updated. For example, a user or an authorized technician may set an initial reference value when the system is first set up in the building interior. In other embodiments the system is provided with one or more dummies and default reference values are provided for one or more of the dummies. The default reference values may initially at least be identical for all of the dummies. The default values may represent essentially clean objects, or may represent dirty, perhaps slightly dirty, objects. In some embodiments the user may be able to set which according to their preferences. Alternatively, the default reference values may represent clean objects, e.g., essentially zero dust, and one or more threshold values, added to the reference values, represent dirty objects that need to be cleaned.

[0150]

[0115] In some embodiments the system is introduced or installed in a building interior that already has objects in a state needing cleaning, but not considered by the user as particularly dirty. A first sampling may immediately be performed to establish the reference value, and optionally one or more threshold values. In other embodiments the system is installed into a building interior occupied by objects that are considered by the user to be clean, e.g., they were very recently cleaned, and the user or a technician will wait for several days or weeks until commencing a sampling.

[0151]

[0116] In some embodiments all of the objects are cleaned, and the collected detritus is weighed. The total weight from the first cleaning may then serve as the reference value. Adding or removing objects may then require establishing a new reference value in accordance with the expected change in collected detritus.

[0152]

[0117] Remote sensing of detritus may have an advantage of saving a usage of the robot / s if the sensed detritus level is low, and a more continuous measurement. In some embodiments a dedicated device may be positioned adjacent to an object or dummy. In some embodiments one of the robots can carry out the sensing. The robot can be sent from a charging station or may be positioned closer to the object / dummy for measurements, periodically going to the charging station to recharge and then returning to the measurement position.

[0153]

[0118] Alternatively, a system managing one or more robots can send robots to collect detritus such as dust from one or more of the objects in the building.

[0154]

[0119] The collected detritus can then be weighed on a suitable scale.

[0155]

[0120] The value of the amount, such as weight or thickness of a layer of dust, can be compared to a reference detritus amount value in same units of measurement. In some embodiments the collected detritus amount needs to be higher than the reference detritus amount value by a predetermined difference amount, in order to confirm to the system that cleaning should be continued beyond the sampling.

[0156]

[0121] In some embodiments an alert signal is emitted by the system when the cleaning is continued.

[0157]

[0122] In some embodiments a different alert signal is emitted by the system when the predetermined difference amount is high, for example over twice the difference that triggers the cleaning / continuation of cleaning. Such alert signal can be an alarm indicating some problem requiring immediate intervention, such as damage to the building, or a break-in by people or weather conditions such as a dust storm.

[0158]

[0123] Similarly, if the reference detritus amount value is higher than the collected detritus amount by a predetermined difference amount, this result can also indicate a problem requiring intervention and the system may generate an alarm. Such measurement may indicate problems such as replacement of valuable objects by fake copies performed by thieves, flooding or exposure of a building interior to a mistral. The predetermined difference amount for high measured amounts of detritus may be different from that associated with low measured amounts. In other embodiments they are the same values.

[0159]

[0124] The alarms may also be different in some embodiments and the same in others. The alarms may explicitly indicate whether the measurement is higher than anticipated [for normal accumulation of dust] or lower than expected.

[0125] In some embodiments a sample of detritus is collected from a portion of an object. In some embodiments the detritus is collected by a single robot out of a plurality of robots. Such sampling may save performing an entire cleaning operation which may not be essential, i.e., the building interior is fairly clean. On the other hand, in some arrangements, such as a sparsely furnished building, cleaning the entire interior may be easier and simpler. In some embodiments such as public buildings, for example museums, a regular cleaning is required regardless of the state of cleanliness. In some embodiments the system is programmable to select the mode of cleaning.

[0160]

[0126] The robots may be uniform in size and / or structure. In some embodiments the floor-cleaning robots are all identical, and / or the UAVs are all identical to each other. Such robots may be used as a swarm, and coordination between the robots in respect of the cleaning would be advantageous. However, having a system with robots that are of different sizes and / or structures is generally advantageous, especially if they are well coordinated as well with each other's operations.

[0161]

[0127] For example, large robots could clean larger objects and smaller robots clean smaller objects. Having a robot clean an entire object may be advantageous over a plurality of robots cleaning the same object, because in the latter situation there is a need to coordinate which part of the object is cleaned by each robot. However, in some arrangements, a robot may have enough charge and / or fuel to clean one large or highly featured object yet have insufficient fuel / charge left over for cleaning another object in between recha rging / refueling actions. That robot cleaning more than one, smaller or plainer objects between charging could be overall more efficient in cleaning all the objects.

[0162]

[0128] There are several additional parameters that can affect the efficiency of the collection of detritus:

[0163]

[0129] The proximity of the objects to the ceiling / s of the building: During the cleaning some dust may fall rather than being collected as intended. Therefore, starting cleaning from close to a ceiling can help minimize the energy and time required to clean and give better cleaning results.

[0164]

[0130] The proximity of objects to each other: In some arrangements of objects and for some objects, and for some robots, the robots can clean more than one object in between recha rging / refueling events. In some cases, one object is close to a ceiling, and there is another adjacent object that is situated below it. A third object is situated closer to the ceiling than the second object but is much farther away from the first object, and / or is farther away from a recha rging / refueling station. In such case the robot going to clean the second object rather than the third object may be more efficient.

[0165]

[0131] The interaction between the robot and the object: If the object is fragile then the robot needs to maintain a longer distance from the object to ensure that the object remains safe. However, the longer distance may reduce the efficiency of the cleaning, for example by exposing the robot to air draughts and turbulence, rather than laminar flow of air closer to the object's surfaces.

[0166]

[0132] Time of cleaning: The time each object is cleaned may be customized to each specific object according to cleaning instructions.

[0167]

[0133] Cleaning accessories. In some embodiments at least some of the robots comprise arms that are hollow and allow suction of detritus thereto. Some of the cleaning robots are connected to spools through which detritus can slide into a bin, which may be positioned over, or include, a scale for measurement of the collected detritus. In some of the embodiments at least one of the cleaning UAVs comprises arms that can allow the UAVs to climb over or even into the objects, if relevant, to reduce the expending of energy during the cleaning. In some embodiments the arms and / or wings and other appendages on the robots are foldable and / or retractable / extendable to help reach into small spaces or reduce size to enter partially or wholly into smaller spaces on or in the objects.

[0168]

[0134] Each object may have specific cleaning instructions associated with it, for example a label may be attached to each object that is readable by a robot. For example, the instructions may include restrictions on the minimum distance a cleaning UAV can approach the object. In addition, the label may serve to form a map for the robots locating and navigating the objects. The labels may be for example broadcasters of an IR signal; in other embodiments they are passive, and the robots may read information embedded in or on them, such as RFID or QR codes.

[0169]

[0135] n some embodiments, at least one of the objects has more than one label attached thereto. For example, the object is large, and the robots are small, and then more than one robot is required for cleaning within a specific period of time [when the cleaning needs to be finished within a timeframe], such as within the time that the robots can work in between recharging and / or refueling. One robot can clean an area of the object close to one of the labels, whereby working in tandem the entire object is cleaned in that period.

[0170]

[0136] The large object may be marked in several ways to indicate that a region has been cleaned. For example, in some embodiments which include multiple labels on an object, each label may include a writeable memory that allows updating a status of "cleaned" from "no" to "yes", which can return to "no" after a predetermined period of time. Similarly, a single label on a smaller object or an object cleaned by a larger robot and / or on an object closer to the recha rging / refueli ng station may change its status in a likewise manner. A cleaning session is finished when all of the labels are in "yes" or "cleaned" status.

[0171]

[0137] In some embodiments after each object is cleaned its status on the map is changed from "unclean" to "clean", and the system may return its status to "unclean" after a predetermined amount of time.

[0138] In some embodiments, the first set of cleaning instructions is based on an algorithm that instructs the robots to clean all of the objects and that takes into account one or more of the parameters discussed above. In some embodiments the parameters may be adjusted during the cleaning operation itself according to real-time measurements taken by the robots and / or other components in the system. In some embodiments a mathematical weight is ascribed to each parameter and the cleaning instructions are accordingly set, for example the order of cleaning, the duration of the cleaning of each object and so forth.

[0172]

[0139] In some embodiments, when the measured detritus is found to be in excess as described above, the first set of cleaning instructions is superseded with a second set of cleaning instructions, in which one or more of the mathematical weights are changed. For example, the second set of cleaning instructions can include changed flight trajectories for the cleaning UAVs, a different order of cleaning the objects, longer cleaning durations and so forth.

[0173]

[0140] In some embodiments the first set of cleaning instructions is manually input. For example, a technician can place labels on the objects, and subsequently manually fly a UAV between the objects in a certain sequence. That flight can serve both to mark all of the objects onto a virtual map of the building interior that the system can use to guide the robots, and to instruct in which sequence to clean in an initial unguided cleaning operation under the first set of instructions.

[0174]

[0141] In some embodiments, a second set of cleaning instructions, and optionally multiple additional sets of instructions, is also manually input into the at least one memory.

[0175]

[0142] In some embodiments the mathematical weights are auto adjusted for the new set of instructions upon receiving information of an excessive amount of collected dust. The system may be capable of self-learning over a sequence of measurements, for example the system may learn that the amount of collected detritus is consistently excessive over several consecutive cleanings, leading to for example a new set of instructions in which the cleaning time is doubled for each of the objects or the periods of time between cleaning halved. Further adjustments can be made for following cleaning sessions until a steady state is attained.

[0176]

[0143] Some buildings and environments may be especially suitable or made especially suitable for usage of the systems. For example, hospitals, art galleries, museums and other public buildings, and various factories.

[0177]

[0144] Some embodiments include a hangar that can host a charging / and or refueling station for the robots, interior space to store them between sessions, a bin for storage of collected detritus, spool / s including tubing connecting the bin with the robots, and optionally a scale and / or a motor or pump to create sub-pressure for the suction of the detritus.

[0145] A number of these hangars may be placed in the interior of a building, for example on a floor just next to a wall, or in an alcove at the base of a wall. The hangar's exterior may be matched in colours and / or pattern to those of the adjacent wall and / or floor to be inconspicuous and least obtrusive. The bin may be easily removable for emptying in between sessions and after the amount of collected detritus is gauged.

[0178]

[0146] Amounts of collected detritus may be summed up from several measurements.

[0179]

[0147] In most buildings objects are added, relocated or removed over time. In some embodiments the changes can be accommodated by updating the map of objects. In some embodiments the updating can be performed by a user of the system via an interface such as an "app" on a smartphone connected to the system via WIFI or intranet, or from a console connected to a processor and memory of the system.

[0180]

[0148] In some embodiments a kit is provided that includes labels with various cleaning instructions, and indications to the user for each label which instructions are embedded onto / into the label. The user can then attach a suitable label to a newly introduced object.

[0181]

[0149] In some embodiments the label may also be scanned by a label-reader that can help add the new object to the map in preparation for the next cleaning session. Information on or in the label may be read by the system to update the expected amount of collected detritus. Similarly, an object may be manually removed and taken to the reader to be removed from the map and the expected amount of collected detritus correspondingly reduced in value.

[0182]

[0150] Relocating an object will usually not significantly impact the expected amount of collected detritus. Nevertheless, the map and cleaning instructions may need to be updated before the next cleaning session. A user or technician may use one or more robots of the system to approach at least the relocated object and update the map via its interface with the map. In other embodiments the updating of the map may be by other means which are obvious to the skilled in the art.

[0183]

[0151] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0184]

[0152] It should be noted that, in some alternative implementations, the functions noted in the block of a figure may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

[0185]

[0153] A number of embodiments of the disclosure have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. Accordingly, other embodiments are within the scope of the following claims.

[0186]

[0154] The aspects and examples set forth herein and recited in the claims can be understood in view of the above definitions.

[0187]

[0155] It should be appreciated that all combinations of the foregoing concepts and additional concepts discussed in greater detail above (provided such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter disclosed herein. In particular, all combinations of claimed subject matter are contemplated as being part of the inventive subject matter disclosed herein. It should also be appreciated that terminology explicitly employed herein that also may appear in any disclosure incorporated by reference should be accorded a meaning most consistent with the particular concepts disclosed herein.

[0188]

[0156] Throughout the specification "one example", "another example", "an example", and so forth, means that a particular element (e.g., feature, structure, and / or characteristic) described in connection with the example is included in at least one example described herein, and may or may not be present in other examples. In addition, it is to be understood that the described elements for any example may be combined in any suitable manner in the various examples unless the context clearly dictates otherwise.

[0189]

[0157] It is to be understood that the ranges provided herein include the stated range and any value or sub-range within the stated range, as if such value or sub-range were explicitly recited. For example, a range from about 2 nm to about 20 nm should be interpreted to include not only the explicitly recited limits of from about 2 nm to about 20 nm, but also to include individual values, such as about 3.5 nm, about 8 nm, about 18.2 nm, etc., and sub-ranges, such as from about 5 nm to about 10 nm, etc. Furthermore, when "about" and / or "substantially" are / is utilized to describe a value, this is meant to encompass minor variations (up to + / - 10%) from the stated value.

[0190]

[0158] It is noted that the term "processor", optionally in conjunction with a "memory", as used herein, may additionally or alternatively refer to a controller. Processor may be implemented by diverse types of processor devices and / or processor architectures including, for example, embedded processors, communication processors, graphics processing unit (GPU)-accelerated computing., soft-core processors and / or general-purpose processors. In some embodiments, processor may be implemented as a Central Processing Unit (CPU), a microprocessor, an electronic circuit, an Integrated Circuit (IC), and / or the like.

[0159] Memory may be implemented by diverse types of memories, including transactional memory and / or long-term storage memory facilities and may function as file storage, document storage, program storage, or as a working memory. The latter may for example be in the form of a static random-access memory (SRAM), dynamic random-access memory (DRAM), read-only memory (ROM), cache and / or flash memory. As working memory, memory may, for example, include, e.g., temporally-based and / or non- temporally based instructions. As long-term memory, memory may for example include a volatile or nonvolatile computer storage medium, a hard disk drive, a solid-state drive, a magnetic storage medium, a flash memory and / or other storage facility. A hardware memory facility may for example store a fixed information set (e.g., software code) including, but not limited to, a file, program, application, source code, object code, data, and / or the like.

[0191]

[0160] The system may comprise a communication device configured to enable wired and / or wireless communication between the various components and / or modules of the system and which may communicate with each other over one or more communication buses (not shown), signal lines (not shown) and / or a network infrastructure. Communication device may be operative to receive instructions such as navigation and / or operation instructions from a remote human and / or computerized operator, transmitting images and / or other data to an external system, receiving readings and / or other data from external sources, and / or the like, via the network infrastructure.

[0192]

[0161] The network infrastructure may be configured for using one or more communication formats, protocols and / or technologies such as, for example, to internet communication, optical communication, cellular communication, RF communication, telephony-based communication technologies and / or the like. In some examples, communication device may include I / O device drivers (not shown) and network interface drivers (not shown) for enabling the transmission and / or reception of data over the network. A device driver may for example, interface with a keypad or to a USB port. A network interface driver may for example execute protocols for the Internet, or an Intranet, Wide Area Network (WAN), Local Area Network (LAN) employing, e.g., Wireless Local Area Network (WLAN)), Metropolitan Area Network (MAN), Personal Area Network (PAN), extranet, 2G, 3G, 3.5G, 4G, 5G, 6G mobile networks, 3GPP, LTE, LTE advanced, Bluetooth® (e.g., Bluetooth smart), ZigBee™, near-field communication (NFC) and / or any other current or future communication network, standard, and / or system. The components detailed below may be implemented as one or more sets of interrelated computer instructions, executed for example by processor or by another processor. The components may be arranged as one or more executable files, dynamic libraries, static libraries, methods, functions, services, or the like, programmed in any programming language and under any computing environment.

[0193]

[0162] Any digital computer system, unit, device, module and / or engine exemplified herein can be configured or otherwise programmed to implement a method disclosed herein, and to the extent that the system, module and / or engine is configured to implement such a method, it is within the scope and spirit of the disclosure. Once the system, module and / or engine are programmed to perform particular functions pursuant to computer readable and executable instructions from program software that implements a method disclosed herein, it in effect becomes a special purpose computer particular to embodiments of the method disclosed herein. The methods and / or processes disclosed herein may be implemented as a computer program product that may be tangibly embodied in an information carrier including, for example, in a non-transitory tangible computer-readable and / or non-transitory tangible machine-readable storage device. The computer program product may be directly loadable into an internal memory of a digital computer, comprising software code portions for performing the methods and / or processes as disclosed herein.

[0194]

[0163] The methods and / or processes disclosed herein may be as least partlially implemented as a computer program that may be intangibly embodied by a computer readable signal medium. A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a non-transitory computer or machine-readable storage device and that can communicate, propagate, or transport a program for use by or in connection with apparatuses, systems, platforms, methods, operations and / or processes discussed herein.

[0195]

[0164] Additional examples:

[0196] Clause 1: A system is provided for cleaning one or more objects in a building interior, the system comprising:

[0197] (i) at least one robot equipped with a detritus collector;

[0198] (ii) at least one detritus measuring device;

[0199] (iii) at least one memory comprising program code instructions which, when executed by the processor, result in the following: a) receiving a detritus amount value from the at least one detritus measuring device; b) comparing the received detritus amount value to a reference detritus value; c) executing a first set of cleaning instructions; wherein execution of said program code instructions results in performing: action A) sending the at least one robot to clean at least one of the one or more object according with the first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

[0200] Clause 2: The system of clause 1, the at least one memory further comprising a first detritus threshold value, wherein the first set of cleaning instructions is performed when the the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

[0201] Clause 3: The system of clause 1, the at least one memory further comprising a first detritus threshold value, wherein the first set of cleaning instructions is performed only when the received detritus amount value exceeds the reference detritus value by no more than the first detritus threshold value.

[0202] Clause 4: The system of clause 3, the at least one memory further comprising a second set of cleaning instructions, wherein execution of said program code results in performing: action B) comprising sending the at least one robot to clean the one or more object according with the second set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

[0203] Clause 5: The system of clause 4, wherein action B) further comprises storing the second set of instructions in the at least one memory as the first set of cleaning instructions.

[0204] Clause 6: The system of any one of clauses 1 to 5, the at least one memory further comprising a second detritus threshold value, wherein execution of said program code results in performing: action C) generating an alert when the received detritus amount value exceeds the reference detritus value by more than the second detritus threshold value.

[0205] Clause 7: The system of clause 6, wherein the second detritus threshold value is larger than the first detritus threshold value.

[0206] Clause 8: The system of any one of clauses 1 to7, the at least one memory further comprising a third detritus threshold value, wherein execution of said program code results in performing: action

[0207] D) generating an alert when the reference detritus value exceeds the received detritus amount value by more than the third detritus threshold value.

[0208] Clause 9: The system of any one of clauses 1 to 7, the at least one memory further comprising a third detritus threshold value, wherein execution of said program code results in performing: action

[0209] E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value by more than the third detritus threshold value.

[0210] Clause 10: The system of any one of clauses 1 to 9, further comprising heat-sensors, wherein execution of said program code results in performing: action F) heat scanning the building interior with the heat sensors; and one or both of: turning off any of scanned one or more object generating heat until after cleaning the one or more object, and generating an alert if a heat source is found during the scanning, that is not identified as any of the scanned one or more object. Clause 11: The system of clause 10, wherein at least one of the heat sensors is on and / or in the at least one robot.

[0211] Clause 12: The system of clause 4 or 5, wherein the first set of cleaning instructions and second set of cleaning instructions each comprise one or more of the following parameters: lengths of times of cleaning each of the one or more object; period of time in between consecutive cleaning of the one or more object; order of cleaning specific one or more object of the one or more object, and assignment of each of the at least one robot to specific one or more object, and wherein at least one parameter in the first set of cleaning instructions also exists in the second set, but differs in value.

[0212] Clause 13: The system of clause 12, wherein the building interior comprises a ceiling, and assignment of each of the at least one robot to specific one or more of the one or more objects comprises one the following: instructing a specific robot of the at least one robot to go to an other specific one of the one or more objects that is unclean, and the other specific one is selected according to one of the following conditions: the other specific one is most proximal to a direct line back to the station; the other specific one is most proximal of unclean objects of the one or more objects to the ceiling, and the other specific one is most proximal of uncleaned objects of the one or more objects that has just been cleaned; wherein the second set of instructions differs from the first set of instructions, for at least one specific robot.

[0213] Clause 14: The system of any one of clauses 1 to 13, wherein: the at least one detritus measuring device comprises one or more devices, each selected from: scale, dust thickness measurement unit, and both.

[0214] Clause 15: The system of clause 14, wherein the dust thickness measurement unit comprises laser reflection equipment.

[0215] Clause 16: The system of clause 15, wherein the dust thickness measurement unit comprises a low power laser in-situ thickness measurement unit.

[0216] Clause 17: The system of any one of clauses 1 to 16, further comprising: a plurality of labels, at least one label of the plurality of labels associated with each of the one or more objects; each of the at least one label associated with cleaning instructions. Clause 18: The system of clause 17, the least one memory further comprising: a map of a layout of the at least one label; wherein execution of said program code results in performing: reading the map, and each of the at least one robot going proximal to one of the at least one label in accordance with the map; each of the at least one robot reading cleaning instructions on the one label; cleaning one of the one or more objects in accordance with the instructions on the label associated with one of the one or more objects.

[0217] Clause 19: The system of any one of clauses 1 to 18, at least one of the at least one robot comprising a plurality of cleaning arms.

[0218] Clause 20: The system of clause 19, wherein the arms are hollow, the system further comprising at least suction device functionally engaged with the arms and engagable with a storage bin comprising one of the at least one detritus measuring device.

[0219] Clause 21: The system of clause 19 or 20, wherein at least a portion of the plurality of cleaning arms are crawling arms.

[0220] Clause 22: The system of clause 21, wherein each crawling arm comprises at least one suction pad. Clause 23: The system of clause 20, wherein at least a portion of the at least one robot is functionally attachable to a spool.

[0221] Clause 24: The system of any one of clauses 1 to 23, further comprising at least one hangar capable of hosting a charging / and or refueling station for the at least one robot, each of the at least one hangar comprising interior space to store at least one of the at least one robot between cleaning sessions.

[0222] Clause 25: The system of clause 24, each at least one hangar further comprising at least one of the following: a bin for storage of collected detritus; spool / s including tubing connecting the bin with the at least one robot; a scale, and a motor or pump to create sub-pressure for the suction of the detritus.

[0223] Clause 26: A method for cleaning of a one or more objects in a building interior is provided , the method comprising:

[0224] (v) providing at least one robot equipped with a detritus collector;

[0225] (vi) receiving a detritus amount value from at least one detritus measuring device;

[0226] (vii) comparing the received detritus amount value to a reference detritus value, and (viii) action A) sending the at least one robot to clean the one or more objects according with a first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

[0227] Clause 27: The method of clause 26, wherein the first set of cleaning instructions is performed when the received detritus amount value exceeds the reference detritus value by more than a first detritus threshold value.

[0228] Clause 28: The method of clause 26, wherein the first set of cleaning instructions is performed only when the received detritus amount value exceeds the reference detritus value by no more than a first detritus threshold value.

[0229] Clause 29: The method of clause 28, further comprising: action B) comprising sending the at least one robot to clean the one or more objects according with a second set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

[0230] Clause 30: The method of any one of clauses 26 to 29, further comprising action C) generating an alert when the received detritus amount value exceeds the reference detritus value by more than a second detritus threshold value.

[0231] Clause 31: The method of clause 30, wherein the second detritus threshold value is larger than the first detritus threshold value.

[0232] Clause 32: The method of any one of clauses 26 to 31, further comprising action D) generating an alert when the reference detritus value exceeds the received detritus amount value by more than a third detritus threshold value.

[0233] Clause 33: The method of any one of clauses 26 to 32, further comprising action E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value by more than a third detritus threshold value.

[0234] Clause 34: The method of any one of clauses 26 to 33, further comprising providing heat-sensors, and performing action F) heat scanning the building interior with the heat sensors; and one or both of: turning off any of scanned one or more f objects generating heat until after cleaning the one or more objects, and generating an alert if a heat source is found during the scanning, that is not identified as any of the scanned one or more f objects.

[0235] Clause 35: The method of any one of clauses 26 to 34, wherein one or more of objects is charged with static charge.

[0236]

[0165] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments or example, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, example and / or option, may also be provided separately or in any suitable sub-combination or as suitable in any other described embodiment, example, or option of the invention. Certain features described in the context of various embodiments, examples and / or options are not to be considered essential features of those embodiments, unless the embodiment, example and / or option is inoperative without those elements.

[0237]

[0166] While several examples have been described in detail, it is to be understood that the disclosed examples may be modified. Therefore, the foregoing description is to be considered non-limiting.

[0238]

[0167] While certain examples have been described, these examples have been presented by way of example only and are not intended to limit the scope of the disclosure. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms. Furthermore, various omissions, substitutions and changes in the systems and methods described herein may be made without departing from the spirit of the disclosure. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure.

[0239]

[0168] Features, materials, characteristics, or groups described in conjunction with a particular aspect, or example are to be understood to be applicable to any other aspect or example described in this section or elsewhere in this specification unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. The protection is not restricted to the details of any foregoing examples. The protection extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

[0240]

[0169] Furthermore, certain features that are described in this disclosure in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable sub combination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, be excised from the combination, and the combination may be claimed as a sub combination or variation of a sub combination.

[0241]

[0170] Although the description uses terms "first," "second," etc. to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another. For example, a first graphical representation could be termed a second graphical representation, and, similarly, a second graphical representation could be termed a first graphical representation, without departing from the scope of the various described embodiments. The first graphical representation and the second graphical representation are both graphical representations, but they are not the same graphical representation.

[0242]

[0171] Moreover, while operations may be depicted in the drawings or described in the specification in a particular order, such operations need not be performed in the particular order shown or in sequential order, or that all operations be performed, to achieve desirable results. Other operations that are not depicted or described can be incorporated in the example methods and processes. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations. Further, the operations may be rearranged or reordered in other implementations. Those skilled in the art will appreciate that in some examples, the actual steps taken in the processes illustrated and / or disclosed may differ from those shown in the figures. Depending on the example, certain of the steps described above may be removed or others may be added. Furthermore, the features and attributes of the specific examples disclosed above may be combined in different ways to form additional examples, all of which fall within the scope of the present disclosure. Also, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems can generally be integrated together in a single product or packaged into multiple products.

[0243]

[0172] For purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not necessarily all such advantages may be achieved in accordance with any particular example. Thus, for example, those skilled in the art will recognize that the disclosure may be embodied or carried out in a manner that achieves one advantage or a group of advantages as taught herein without necessarily achieving other advantages as may be taught or suggested herein.

[0244]

[0173] Conditional language, such as "can," "could," "might," or "may," unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain examples include, while other examples do not include, certain features, elements, and / or steps. Thus, such conditional language is not generally intended to imply that features, elements, and / or steps are in any way required for one or more examples or that one or more examples necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and / or steps are included or are to be performed in any particular example.

[0245]

[0174] Conjunctive language such as the phrase "at least one of X, Y, and Z," unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain examples require the presence of at least one of X, at least one of Y, and at least one of Z.

[0246]

[0175] Language of degree used herein, such as the terms "approximately," "about," "generally," and "substantially" represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result.

[0247]

[0176] The scope of the present disclosure is not intended to be limited by the specific disclosures of preferred examples in this section or elsewhere in this specification and may be defined by claims as presented in this section or elsewhere in this specification or as presented in the future. The language of the claims is to be interpreted broadly based on the language employed in the claims and not limited to the examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive.

Claims

Claims1. A system for cleaning one or more objects in a building interior, the system comprising:(i) at least one robot equipped with a detritus collector;(ii) at least one detritus measuring device;(iii) at least one memory comprising program code instructions which, when executed by the processor, result in the following: a. receiving a detritus amount value from the at least one detritus measuring device; b. comparing the received detritus amount value to a reference detritus value; c. executing a first set of cleaning instructions; wherein execution of said program code instructions results in performing: action A) sending the at least one robot to clean at least one of the one or more object according with the first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

2. The system of claim 1, the at least one memory further comprising a first detritus threshold value, wherein the first set of cleaning instructions is performed when the the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

3. The system of claim 1, the at least one memory further comprising a first detritus threshold value, wherein the first set of cleaning instructions is performed only when the received detritus amount value exceeds the reference detritus value by no more than the first detritus threshold value.

4. The system of claim 3, the at least one memory further comprising a second set of cleaning instructions, wherein execution of said program code results in performing: action B) comprising sending the at least one robot to clean the one or more object according with the second set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

5. The system of claim 4, wherein action B) further comprises storing the second set of instructions in the at least one memory as the first set of cleaning instructions.

6. The system of any one of claims 1 to 5, the at least one memory further comprising a second detritus threshold value, wherein execution of said program code results in performing: action C) generating an alert when the received detritus amount value exceeds the reference detritus value by more than the second detritus threshold value.

7. The system of claim 6, wherein the second detritus threshold value is larger than the first detritus threshold value.

8. The system of any one of claims 1 to7, the at least one memory further comprising a third detritus threshold value, wherein execution of said program code results in performing: action D) generating an alert when the reference detritus value exceeds the received detritus amount value by more than the third detritus threshold value.

9. The system of any one of claims 1 to 7, the at least one memory further comprising a third detritus threshold value, wherein execution of said program code results in performing: action E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value by more than the third detritus threshold value.

10. The system of any one of claims 1 to 9, further comprising heat-sensors, wherein execution of said program code results in performing: action F) heat scanning the building interior with the heat sensors; and one or both of: turning off any of scanned one or more object generating heat until after cleaning the one or more object, and generating an alert if a heat source is found during the scanning, that is not identified as any of the scanned one or more object.

11. The system of claim 10, wherein at least one of the heat sensors is on and / or in the at least one robot.

12. The system of claim 4 or 5, wherein the first set of cleaning instructions and second set of cleaning instructions each comprise one or more of the following parameters: lengths of times of cleaning each of the one or more object; period of time in between consecutive cleaning of the one or more object; order of cleaning specific one or more object of the one or more object, and assignment of each of the at least one robot to specific one or more object, and wherein at least one parameter in the first set of cleaning instructions also exists in the second set, but differs in value.

13. The system of claim 12, wherein the building interior comprises a ceiling, and assignment of each of the at least one robot to specific one or more of the one or more objects comprises one the following: instructing a specific robot of the at least one robot to go to an other specific one of the one or more objects that is unclean, and the other specific one is selected according to one of the following conditions: the other specific one is most proximal to a direct line back to the station; the other specific one is most proximal of unclean objects of the one or more objects to the ceiling, and the other specific one is most proximal of uncleaned objects of the one or more objects that has just been cleaned;wherein the second set of instructions differs from the first set of instructions, for at least one specific robot.

14. The system of any one of claims 1 to 13, wherein: the at least one detritus measuring device comprises one or more devices, each selected from: scale, dust thickness measurement unit, and both.

15. The system of claim 14, wherein the dust thickness measurement unit comprises laser reflection equipment.

16. The system of claim 15, wherein the dust thickness measurement unit comprises a low power laser in-situ thickness measurement unit.

17. The system of any one of claims 1 to 16, further comprising: a plurality of labels, at least one label of the plurality of labels associated with each of the one or more objects; each of the at least one label associated with cleaning instructions.

18. The system of claim 17, the least one memory further comprising: a map of a layout of the at least one label; wherein execution of said program code results in performing: reading the map, and each of the at least one robot going proximal to one of the at least one label in accordance with the map; each of the at least one robot reading cleaning instructions on the one label; cleaning one of the one or more objects in accordance with the instructions on the label associated with one of the one or more objects.

19. The system of any one of claims 1 to 18, at least one of the at least one robot comprising a plurality of cleaning arms.

20. The system of claim 19, wherein the arms are hollow, the system further comprising at least suction device functionally engaged with the arms and engagable with a storage bin comprising one of the at least one detritus measuring device.

21. The system of claim 19 or 20, wherein at least a portion of the plurality of cleaning arms are crawling arms.

22. The system of claim 21, wherein each crawling arm comprises at least one suction pad.

23. The system of claim 20, wherein at least a portion of the at least one robot is functionally attachable to a spool.

24. The system of any one of claims 1 to 23, further comprising at least one hangar capable of hosting a charging / and or refueling station for the at least one robot, each of the at least onehangar comprising interior space to store at least one of the at least one robot between cleaning sessions.

25. The system of claim 24, each at least one hangar further comprising at least one of the following: a bin for storage of collected detritus; spool / s including tubing connecting the bin with the at least one robot; a scale, and a motor or pump to create sub-pressure for the suction of the detritus.

26. A method for cleaning of a one or more objects in a building interior, the method comprising:(i) providing at least one robot equipped with a detritus collector;(ii) receiving a detritus amount value from at least one detritus measuring device;(iii) comparing the received detritus amount value to a reference detritus value, and(iv) action A) sending the at least one robot to clean the one or more objects according with a first set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value.

27. The method of claim 26, wherein the first set of cleaning instructions is performed when the received detritus amount value exceeds the reference detritus value by more than a first detritus threshold value.

28. The method of claim 26, wherein the first set of cleaning instructions is performed only when the received detritus amount value exceeds the reference detritus value by no more than a first detritus threshold value.

29. The method of claim 28, further comprising: action B) comprising sending the at least one robot to clean the one or more objects according with a second set of cleaning instructions, when the received detritus amount value exceeds the reference detritus value by more than the first detritus threshold value.

30. The method of any one of claims 26 to 29, further comprising action C) generating an alert when the received detritus amount value exceeds the reference detritus value by more than a second detritus threshold value.

31. The method of claim 30, wherein the second detritus threshold value is larger than the first detritus threshold value.

32. The method of any one of claims 26 to 31, further comprising action D) generating an alert when the reference detritus value exceeds the received detritus amount value by more than a third detritus threshold value.

33. The method of any one of 26 to 32, further comprising action E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value by more than a third detritus threshold value.

34. The method of any one of claims 26 to 33, further comprising providing heat-sensors, and performing action F) heat scanning the building interior with the heat sensors; and one or both of: turning off any of scanned one or more f objects generating heat until after cleaning the one or more objects, and generating an alert if a heat source is found during the scanning, that is not identified as any of the scanned one or more f objects.

35. The method of any one of claims 26 to 34, wherein one or more of objects is charged with static charge.

Images