Cleaning system and method

Abstract

A system for cleaning one or more objects inside a building. The system includes · at least one robot equipped with a detritus collector, and · at least one detritus measuring device, and · at least one memory containing program code instructions. The instructions include a) receiving a detritus quantity value from at least one detritus measuring device, b) comparing the received detritus quantity value with a reference detritus value, c) executing a first set of cleaning instructions, whereby, when the received detritus quantity value exceeds the reference detritus value by execution of the program code instructions, at least one robot is sent to clean at least one of the one or more objects according to the first set of cleaning instructions.

Description

Technical Field

[0001] This application claims the benefit and / or priority of Israeli Patent Application No. 303361 entitled "DRONES", which is hereby incorporated by reference in its entirety.

Background Art

[0002] There have been floor - moving robotic vacuum cleaners in recent years that replace conventional brooms and vacuum cleaners for picking up dust and freeing the user from this chore. Some of these floor robots use random movement and / or map the rooms of a house (e.g., using a camera).

[0003] However, there is still a vast scope for improvement in their cleaning. For example, the cleaning can be coordinated using UAV robots to provide a much more thorough and comprehensive cleaning inside buildings. A drone or UAV (unmanned aerial vehicle) is an unpiloted aircraft.

[0004] (For household or industrial use) The application of aerial drones for cleaning is relatively undeveloped and unrealized. Scientific publications and patent documents address only some limited aspects of the technical problems of surface and / or object cleaning, if any. In particular, the prior art has limited efforts regarding the treatment of non - horizontal and / or non - planar surfaces, or surfaces located at heights, i.e., surfaces other than the floor and similar large horizontal surfaces, which are precisely the surfaces that are difficult for humans to reach and tend to be neglected. It can be imagined that dust accumulating over time on objects at heights and being likely to spill onto humans or other objects at any time is dangerous and unsightly.

[0005] There is a need in homes and industries for efficient cleaning methods and systems, particularly those using robots such as drones. Such robots may also be beneficial for other purposes, such as security, as an additional advantage. [Prior art documents] [Non-patent literature]

[0006] [Non-Patent Document 1] Cleaner Engineering and Technology Volume 5, December 2021, 100332 [Overview of the Initiative] [Means for solving the problem]

[0007] According to one embodiment, a system is provided for cleaning one or more objects inside a building, and the system is (i) at least one robot equipped with a detritus collector, (ii) at least one detritus measuring device, (iii) at least one memory containing a program code instruction, where when the program code instruction is executed by the processor, a) Receiving detritus quantity values ​​from at least one detritus measuring device, b) Compare the received detritus amount with the reference detritus value, c) Perform the first set of cleaning commands, This is done in at least one memory and Equipped with, Upon execution of the aforementioned program code instructions, Action A) If the received detritus value exceeds the reference detritus value, send at least one robot to clean at least one of one or more objects according to a first set of cleaning commands. This will be implemented.

[0008] In some embodiments, at least one memory further comprises a first detritus threshold, and a first set of cleanup commands is executed when the received detritus amount exceeds the first detritus threshold and is above a reference detritus value.

[0009] Alternatively, at least one memory further includes a first detritus threshold, The first set of cleaning commands may be executed only if the received detritus amount is less than or equal to a first detritus threshold but exceeds a reference detritus value.

[0010] In some embodiments, at least one memory further comprises a second set of cleanup instructions, and upon execution of the program code, Operation B) If the received detritus amount exceeds a first detritus threshold and surpasses a reference detritus value, the operation includes sending at least one robot to clean one or more objects according to a second set of cleaning commands. This will be implemented.

[0011] In some embodiments, operation B) further includes storing a second set of cleanup instructions as the first set of cleanup instructions in at least one memory.

[0012] In some embodiments, at least one memory further comprises a second detritus threshold, and the execution of the program code is performed to generate an alert if the received detritus amount exceeds the second detritus threshold and is above a reference detritus value.

[0013] In some embodiments, the second detritus threshold is greater than the first detritus threshold.

[0014] In some embodiments, at least one memory further comprises a third detritus threshold, and upon execution of the program code, Operation E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value that exceeds the third detritus threshold is performed.

[0015] Some embodiments further include a thermal sensor, and by executing the program code, Operation F) using the thermal sensor to thermally scan the interior of the building, and turning off any of the scanned one or more objects that are generating heat until after cleaning of the one or more objects, and generating an alert if a heat source not identified as any of the scanned one or more objects is discovered during the scan, either or both of is performed.

[0016] In some embodiments, at least one of the thermal sensors is present on at least one robot and / or within at least one robot.

[0017] In some embodiments, the first set of cleaning instructions and the second set of cleaning instructions each include one or more of the following parameters, namely the length of time to clean each of the one or more objects, the time period between successive cleanings of the one or more objects, the order in which to clean a particular one or more of the one or more objects, and the assignment of each of at least one robot to a particular one or more of the one or more objects include one or more of At least one parameter in the first set of cleaning instructions is also present in the second set, but its value is different.

[0018] In some embodiments, the interior of the building includes a ceiling, and the assignment of each of at least one robot to a particular one or more of the one or more objects is Instructing a specific robot among at least one robot to move towards another specific object that is uncleaned among one or more objects, the other specific object being selected according to one of the following conditions, namely, The other specific object is the closest to the straight line for returning to the station, The other specific object is the closest to the ceiling among the uncleaned objects of one or more objects, and The other specific object is the closest to the most recently cleaned object among the uncleaned objects of one or more objects and being selected according to one of them, The second set of cleaning instructions is different from the first set of cleaning instructions with respect to at least one specific robot.

[0019] In some embodiments, at least one debris measurement device comprises one or more devices, each selected from a scale, a dust thickness measurement unit, and both.

[0020] In some embodiments, the dust thickness measurement unit comprises a laser reflector.

[0021] In some embodiments, the dust thickness measurement unit comprises a low-power laser in-situ thickness measurement unit.

[0022] Some embodiments further comprise a plurality of labels, at least one label of the plurality of labels being associated with each of one or more objects, and each of at least one label being associated with a cleaning instruction.

[0023] In some embodiments, at least one memory further comprises a map of the layout of at least one label, by executing the program code, reading the map and causing each of at least one robot to move towards the vicinity of one of at least one label according to the map, Each of at least one robot reads a cleaning command on one label, Clean one of the one or more objects in accordance with the cleaning instructions on the label associated with one of the one or more objects. This will be implemented.

[0024] In some embodiments, at least one of the robots is equipped with multiple cleaning arms.

[0025] In some embodiments, the arm is hollow, and the system further comprises at least a suction device which is functionally engaged with the arm and is engaged with a storage bin having at least one detritus measuring device.

[0026] In some embodiments, at least some of the multiple cleaning arms are crawling arms.

[0027] In some embodiments, each crawling arm is equipped with at least one suction pad.

[0028] In some embodiments, at least a portion of at least one robot can be functionally attached to the spool.

[0029] Some embodiments further include at least one hangar capable of hosting a charging and / or resupply station for at least one robot, each of which has an internal space for storing at least one of the at least one robot between cleaning sessions.

[0030] In some embodiments, each of at least one storage compartment is Bins for storing collected detritus. A spool including piping that connects the bin to at least one robot, Scale, and A motor or pump to create auxiliary pressure for detritus suction. It also includes at least one of the following.

[0031] In another embodiment, a method is provided for cleaning one or more objects inside a building, the method being (i) to provide at least one robot equipped with a detritus collector, (ii) Receiving a detritus quantity value from at least one detritus measuring device, (iii) Compare the received detritus amount with the reference detritus amount, and (iv) Action A) If the received detritus amount exceeds the reference detritus amount, send at least one robot to clean one or more objects in accordance with the first set of cleaning commands. Includes.

[0032] In some embodiments, a first set of cleaning commands is executed when the received detritus amount exceeds a first detritus threshold and surpasses a reference detritus value.

[0033] In some embodiments, a first set of cleaning commands is executed only when the received detritus amount is less than or equal to a first detritus threshold but exceeds a reference detritus value.

[0034] Some examples include: Operation B) If the received detritus amount exceeds a first detritus threshold and surpasses a reference detritus value, the operation includes sending at least one robot to clean one or more objects according to a second set of cleaning commands. It also includes.

[0035] Some examples include: Operation C) Generate an alert if the received detritus amount exceeds the second detritus threshold and surpasses the reference detritus value. It also includes.

[0036] In some embodiments, the second detritus threshold is greater than the first detritus threshold.

[0037] Some examples include: Operation D) Generate an alert when the reference detritus value exceeds the third detritus threshold and surpasses the received detritus amount. It also includes.

[0038] Some examples include: Operation E) Generate an alert if the reference detritus value repeatedly exceeds the received detritus amount value, which exceeds the third detritus threshold. It also includes.

[0039] Some embodiments provide a thermal sensor, and Operation F) Thermally scan the interior of a building using a thermal sensor, and either or both of the following: turning off one or more of the scanned objects that are generating heat until one or more objects have been cleaned, and generating an alert if a heat source that is not identified as one or more of the scanned objects is found during the scan. This further includes implementing the following:

[0040] In some embodiments, one or more objects are charged using electrostatic charge.

[0041] The subject matter of this disclosure will be better understood and recognized from the following detailed description made in conjunction with the figures, where corresponding or similar numbers or letters in the figures indicate corresponding or similar components. Unless otherwise indicated, the figures are provided to help understand this disclosure and its embodiments as a whole and do not limit the scope of this disclosure. [Brief explanation of the drawing]

[0042] [Figure 1] This is a schematic block diagram of an environment where an aircraft is used to clean an object. [Figure 2]This is a schematic block diagram of a system for cleaning objects using an aerial vehicle. [Figure 3] This is a schematic flowchart illustrating the methods for controlling and monitoring cleaning missions. [Figure 4] This is a schematic flowchart illustrating how to operate the flying object. [Figure 5] This diagram schematically illustrates a system for cleaning groups of objects inside a building. [Modes for carrying out the invention]

[0043] Figure 1 schematically shows a block diagram of an environment for cleaning objects using a robot, illustrated using an aircraft. The environment or setting for cleaning by System 100 includes at least one or more objects 101 to be cleaned, a control system 103, and one or more aircraft 104.

[0044] It is recognized that separate hardware components, such as processors and / or memory, may be assigned to each component and / or module of the system. However, for simplicity and to avoid restrictive interpretation, this specification and claims may refer to a single module and / or component. For example, a processor may be implemented by several processors, but the following description refers to a single processor as a component that performs all the necessary processing functions of the system.

[0045] Multiple objects 101 are cleaned by multiple flying units 104. Multiple objects 101 may be located inside a building and may be grouped into one or more groups. Objects 101 may include items inside a building that are difficult to reach and / or clean by hand, such as lampshades, large and valuable paintings in museums and art galleries, very large sculptures, tall glass windows, high eaves, books in libraries, air conditioning units installed near the ceiling, curtains, and decorative objects placed on high shelves.

[0046] Examples for identifying objects to be cleaned are disclosed herein with respect to “labels,” but this should not be interpreted in any restrictive manner. In some embodiments, the system may be configured to identify the object to be cleaned or the surface of the object based on image data of the object. Image data of the object may be acquired by a vehicle / robot and / or by an image sensor installed in the environment configured to communicate with the vehicle.

[0047] Multiple labels 102 are configured to be attached to multiple objects 101. Multiple labels 102 may contain data used to guide multiple flying objects 104 to multiple objects 101. Multiple labels 102 may be passive, i.e., non-emitting, in which case the flying object 104 may have means for emitting at least one first signal and for reading at least one second signal resulting from an interaction between the first signal and the label, such as reflection.

[0048] The signal may include information specific to the object's location, or it may simply guide the aircraft with respect to a label present at a certain three-dimensional distance from the vehicle, which the system can use to determine from which object on the map the second signal is received. In some embodiments, the labels 102 may not have location and / or object-specific information, allowing them to be used after the object has been moved to a different location within a building. In some other embodiments, at least some of the labels 102 include object-specific barcodes and / or QR codes®.

[0049] The central processing unit 103 may include “applications” that enable the user to guide multiple aircraft 104 to multiple objects 101. Methods for controlling and monitoring the cleaning mission are described in detail with reference to Figure 3.

[0050] Multiple aircraft 104 are configured to clean multiple objects 101. Multiple aircraft 104 include drones, unmanned aerial vehicles, airships, hot air balloons, manned light aircraft, or helicopters. Multiple aircraft 104 are configured to read a map and fly to each of at least one label according to the map. In some embodiments, each aircraft has multiple cleaning arms. In some embodiments, at least some of the aircraft 104 have crawling arms. In some embodiments, each crawling arm has at least one suction pad.

[0051] In some embodiments, at least a portion of the aircraft 104 is equipped with a spool. In some embodiments, each of the aircraft 104 is equipped with at least one of the following group of sensors: a LiDAR sensor, an ultrasonic distance sensor, and a digital camera. In some embodiments, at least a portion of the aircraft 104 is equipped with a spraying mechanism.

[0052] In some embodiments, the arms of the aircraft 104 are hollow, and each aircraft is equipped with a suction device that is functionally engaged with the arms and can engage with a detritus storage bin. In some embodiments, at least a portion of the cleaning arms is equipped with a rotor. In some embodiments, at least a portion of the aircraft is equipped with a spool.

[0053] Multiple aircraft computing units 105 are configured to operate the aircraft 104. Each of the second computing units 105 may be located inside the aircraft 104. The method for operating the aircraft 104 is illustrated in detail in Figure 4.

[0054] It should be noted that the number of objects 101, labels 102, computing devices 105, and aircraft 104 are essentially illustrative, and there may be more or fewer devices or network services.

[0055] Figure 2 shows a block diagram of a system for cleaning objects using a drone, according to some exemplary embodiments of the disclosed subject matter.

[0056] System 200 is configured to clean multiple objects by utilizing multiple aircraft.

[0057] System 200 includes a central module 201 for controlling and monitoring cleaning missions, labels 102, an aircraft module 202 for operating aircraft, a central data repository 203, an aircraft data repository 204, and an application 206 for cleaning aircraft.

[0058] A central module 201 for controlling multiple aircraft is located within the central processing unit (not shown in the diagram). The central module 201 communicates with the aircraft modules 202. The central module updates data in the central data repository 204 and receives data from the central data repository 204. The data is associated with a specific flight mission. The operation of the central module 201 is explained in detail in Figure 3.

[0059] Label 102 is configured to be attached to object 101. Label 102 contains data used to guide the aircraft 104 to multiple objects.

[0060] The aircraft module 202 is configured to collect data and transmit data from the aircraft, and to operate the aircraft 104, in accordance with commands from the central processing unit and data received from the aircraft's sensors. The aircraft module 202 is installed within the aircraft processing unit (not shown in the figure). The aircraft module 202 communicates with the central module 201. The aircraft module 202 reads data associated with the cleaning mission from the aircraft data repository 205. The aircraft module 202 updates the data associated with the cleaning mission in the aircraft data repository 205. The operation of the aircraft module is illustrated in detail in Figure 4.

[0061] The central data repository 203 includes a map 209. The map includes the layout of at least one label and the position of each of the at least one label. The map may also include a first primary position, each of which is mapped relative to the first primary position. The central data repository 203 is associated with the central processing unit 103.

[0062] The aircraft data repository 204 includes data such as the amount of fuel and / or charge consumed and / or dust collected in relation to the cleaning, as well as the associated weight related to the current cleaning operation. The aircraft data repository is typically located on the aircraft.

[0063] Application 206 for cleaning the aircraft is configured to allow the user to control and monitor the cleaning mission. The application for cleaning the aircraft communicates with the central module 201.

[0064] Figure 3 shows a flowchart illustrating the control and monitoring of a cleaning mission according to some exemplary embodiments of the disclosed subject matter.

[0065] In block 300, the user runs the application to clean the object.

[0066] In block 305, the central processing unit instructs the first group of aircraft to fly and clean one or more objects.

[0067] In block 310, each of the flying objects flies toward the object it has been instructed to clean.

[0068] In block 315, each of the aircraft reports the status of its cleaning operation and its charging and fueling status to the central processing unit.

[0069] In block 320, the central processing unit updates the central data repository and flags the cleaned objects on the map.

[0070] In block 325, the central processing unit commands aircraft with predetermined low charge and / or fuel status to complete cleaning and proceed to recharge.

[0071] In block 330, the central processing unit instructs another group of aircraft to clean vehicles that have not been cleaned due to aircraft malfunction or fuel shortage during the cleaning process. In some cases, the central processing unit instructs aircraft that have completed their mission to clean nearby objects.

[0072] In block 335, the central processing unit updates the weight associated with the cleaning program.

[0073] Figure 4 shows a flowchart illustrating a method for operating an aircraft, based on several exemplary embodiments of the disclosed subject matter.

[0074] In block 400, the aircraft's computing unit receives a command to clean one or more objects.

[0075] In block 405, the aircraft's computing unit guides the aircraft to the target object's destination according to the data received from the map and sensors.

[0076] In block 410, the aircraft's computing unit operates cleaning means (e.g., spray and crawling arm) according to data received from sensors, as a result of commands and data received from the central computing unit. The data received from the central computing unit may be, for example, the position and degree of fragility of the object. The data received from sensors may be, for example, the distance from the object and its shape.

[0077] In block 415, the aircraft's computing unit instructs the aircraft to fly back after completing its mission, or to fly towards another object to be cleaned, or towards a power supply device such as a resupply station.

[0078] Instructions follow messages received from the central processing unit.

[0079] The system may be configured to determine whether the surface of an object requires cleaning, for example, by remote sensing using a robot and / or static device, and / or by operably engaging a sampler / sensor with the surface to take a sample from the surface and analyze the sample.

[0080] If the system determines that the surface of the object requires cleaning, a surface cleaning process is initiated, for example, by operably engaging a robot with the surface to be cleaned.

[0081] In some examples, the system determines whether the object surface meets cleaning criteria based on sensor data provided by at least one of the system's sensors. Whether the cleaning criteria are met may be determined based on image data of the object surface, additional samples taken from the object surface, and / or similar. Image data may be passively and / or actively acquired. "Passively" acquired image data may consist of images of an object illuminated only by ambient light. "Actively" acquired image data may consist of images of an object actively illuminated by a robotic light source, such as infrared light or laser light.

[0082] The system can receive information about the environment (e.g., different geographical locations) and adapt cleaning procedures accordingly.

[0083] Referring to Figure 5, according to one embodiment, the system 500 is provided for cleaning at least one object 12 or a group of objects 12 inside a building 10, and the system 500 is (i) at least one robot 510 equipped with a detritus collector 512, (ii) at least one detritus measuring device 520, (iii) at least one processor 540, (iv) at least one memory 530 having data of, for example, a reference (for example, predetermined) detritus value 532, and when executed by the processor, a) Receiving detritus quantity values ​​from at least one detritus measuring device, b) Optionally, compare the received detritus amount with the reference detritus value, c) The first set of cleaning orders and A program code instruction 534 that produces at least one memory 530 Equipped with, Upon execution of the aforementioned program code, Action A) If the received detritus amount exceeds the reference detritus value, send at least one robot to clean at least one object or group of objects [hereinafter referred to as "group of objects"] in accordance with a first set of cleaning commands. This will be implemented.

[0084] The reference detritus value can be adaptable or predetermined, and can be determined, for example, before receiving the measured detritus amount value.

[0085] Optionally, at least one robot is activated to clean a group of objects only if the received detritus amount exceeds a threshold value above a reference detritus value. The threshold may be zero[0]. For simplicity, a reference value may be referred to as a predetermined value, which may be a previously measured value or a previous value of the weight of collected detritus.

[0086] There are several motivations and concepts behind the system described in the preceding paragraph. Cleaning of objects inside a building can be carried out with varying levels of thoroughness and cleanliness. A certain level of cleanliness may be expressed as a baseline detritus value, for example, associated with the amount of detritus previously measured on an object before a previous cleaning. The results of detritus measurements on or from one or more objects before an imminent cleaning can be compared to the baseline detritus value [expressed in the same units of quantity]. Cleaning may be initiated if the measured detritus value is higher than the baseline detritus value.

[0087] If the comparison results show that the currently measured detritus is not higher than the baseline value, cleaning may be postponed, which can provide significant savings in energy and other resources. In this case, the baseline detritus value may be a value that indicates the object is substantially clean. This confirmation and decision of whether or not to clean can be repeated indefinitely, thus saving an increasing amount of resources over time.

[0088] In some embodiments, at least one memory further comprises a first detritus threshold, and a first set of cleanup commands is executed only when the received detritus amount is less than or equal to the first detritus threshold but greater than a reference detritus value.

[0089] In the embodiment defined in the preceding paragraph, cleaning according to the first set of cleaning commands is performed only if the amount of detritus received is not excessively higher than the expected [predetermined] amount. An excessive amount of detritus received indicates a problem that needs to be resolved by performing an action other than cleaning according to the first set of cleaning commands, or that the object may not have been properly cleaned.

[0090] In some embodiments, at least one memory further comprises a second set of cleanup instructions, and upon execution of the program code, Operation B) If the received detritus amount exceeds a first detritus threshold and surpasses a reference detritus value, the operation includes sending the group of objects to at least one robot to clean them according to a second set of cleaning commands. This will be implemented.

[0091] In the embodiment defined in the preceding paragraph, the corrective action to address obviously excessive uncleanliness is to change the cleaning commands from a first set to a second set of cleaning commands.

[0092] In some embodiments, operation B) further includes storing a second set of instructions as the first set of cleanup instructions in at least one memory location.

[0093] In the embodiment defined in the preceding paragraph, future cleaning may also be performed according to a second set of instructions, for example, assuming 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 be insufficient, and so on, 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 a group of objects and / or other groups of objects, and / or on trial and error.

[0094] In some embodiments, at least one memory further comprises a second detritus threshold, and the execution of the program code is performed to generate an alert if the received detritus amount exceeds the second detritus threshold and is above a reference detritus value.

[0095] In the embodiment defined in the preceding paragraph, the measured amount of detritus is so high that the system generates an alert and sends a signal to, for example, a technician's smartphone, indicating that there is a problem that needs to be investigated, such as intrusion or collapse in a building that could lead to an excessive amount of dust.

[0096] In some embodiments, the second detritus threshold is greater than the first detritus threshold.

[0097] In the embodiment defined in the preceding paragraph, it is assumed that if the received detritus amount exceeds the reference detritus value above the first detritus threshold but below the second detritus threshold, the system can independently bring the group of objects to a general cleanliness state and does not need to issue an alert.

[0098] In some embodiments, at least one memory further comprises a third detritus threshold, and the execution of the program code is performed to generate an alert if the reference detritus value exceeds the third detritus threshold and the received detritus amount value.

[0099] In the embodiments defined in the preceding paragraph, it is assumed that in some situations the amount of detritus measured is actually significantly less than expected. This situation may occur, for example, when there are burst water pipes that remove dust from the object, or mistral winds that blow dust away from the object but may damage it.

[0100] In some embodiments, at least one memory further comprises a third detritus threshold, and the execution of the program code is performed to generate an alert if the reference detritus value repeatedly exceeds the received detritus amount value above the third detritus threshold.

[0101] In the embodiment defined in the preceding paragraph, it is assumed that, for example, in measurements taken before a planned series of cleaning sessions, the amount of detritus measured in some situations is repeatedly significantly less than expected.

[0102] In some situations, an alert is issued indicating the existence of a problem that needs to be addressed, and it is assumed that the problem persists after the previous cleaning, even though it has been addressed. Therefore, the alert can indicate that the problem is consistent and persistent. The alert can differ from an alert generated for a single event of problem discovery. Those skilled in process control will recall other controls, such as various methods working in conjunction with control charts.

[0103] Some embodiments further include a thermal sensor 514, and the execution of the program code enables either or both of the following actions: F) to thermally scan the interior of a building using the thermal sensor, and to turn off any of the scanned group of objects that are generating heat until after the group of objects has been cleaned, and to generate an alert if a heat source that is not identified as any of the scanned group of objects is found during the scan. This will be implemented.

[0104] In the embodiments defined in the preceding paragraph, attention is drawn to common situations in which some of the objects generate heat, such as halide light, which may damage the robot and / or the objects. Therefore, a system, for example, a robot approaching a designated object, can detect heat using, for example, a thermal scanner, and turn off or have the object turned off. Furthermore, the thermal scanner may indicate another heat source that is not identified with the object [and cannot be turned off], which indicates a malfunctioning appliance or a problem that needs to be investigated, such as a fire. Thus, the present invention can function as an efficient and thorough cleaning system and a security system.

[0105] According to one example, at least one of the thermal sensors is located on and / or inside at least one robot.

[0106] In some embodiments, the first set of cleaning commands and the second set of cleaning commands each have the following parameters, namely: The length of time spent cleaning each of the objects in the group. The time period between consecutive cleanings of a group of objects, The order in which to clean one or more specific objects from a group of objects. Assignment of at least one robot to one or more specific objects within each group of objects. It comprises one or more of the following: The parameters in the first set of cleaning commands are also present in the second set, but their values ​​are different.

[0107] In the embodiments defined in the preceding paragraph, the changes to the cleaning of the object may include one or more means to improve the cleaning. Some of these means, such as increasing the frequency of cleaning, clearly improve the cleaning, while others, such as changing the order of cleaning, may have a very noticeable effect, although they are far less intuitive.

[0108] In some embodiments, the interior of the building is equipped with a ceiling 11, and the assignment of at least one robot to a specific one or more objects from a group of objects is as follows: This includes instructing a specific robot among at least one robot to move toward another specific object among a group of uncleaned objects, the other specific object being the following: The object that is closest to the straight line from which another specific object returns to the station, Other specific objects are the ones that are closest to the ceiling among the uncleaned objects in the group of objects, and Another specific object is an uncleaned object that is closest to one of the most recently cleaned objects in the group of objects. Selected according to one of the following: The second set of cleaning commands differs from the first set of cleaning commands with respect to at least one specific robot.

[0109] In the embodiment defined in the preceding paragraph, it is assumed that the robot is not too small compared to the size of the object being cleaned, and that the robot has sufficient charge and / or fuel to begin cleaning at least another object. Which uncleaned object the robot moves to after one object has been cleaned significantly affects the efficiency of cleaning and may even affect the final cleanliness result. For example, cleaning from top to bottom, starting from the object closest to the ceiling and moving towards objects near or on the floor, minimizes the falling of dust from the object being cleaned, while cleaning in other ways may cause the most recently cleaned object to become dirty again. However, cleaning from top to bottom is inefficient if, for example, the other object directly below is actually far from a refueling station and / or charging station. Until a steady state is reached, the system may perform a series of cleanings using one or more parameter changes between consecutive cleaning sessions.

[0110] In some embodiments, at least one detritus measuring device 520 comprises one or more devices, each of which is The options are a scale, a dust thickness measuring unit, or both.

[0111] In the embodiments defined in the preceding paragraph, two types of detritus measuring devices are mentioned. A scale is a well-known device on which detritus is placed to determine the weight of the collected detritus. In some embodiments, a sample can be collected from one of the objects for measurement, which may serve to determine whether to clean all of the objects, whether to change how the objects are cleaned, whether to alert about a problem, etc. Some dust thickness measuring units enable remote sensing, which may allow measurements to be performed without the need for any samples.

[0112] In some embodiments, the dust thickness measuring unit includes a laser reflector.

[0113] In some embodiments, the dust thickness measuring unit includes a low-power laser in situ thickness measuring unit [not shown].

[0114] Readers should refer to Cleaner Engineering and Technology Volume 5, December 2021, 100332 for further information on this technology.

[0115] In some embodiments, the system The system further comprises multiple labels, where at least one of the multiple labels 13 is associated with each of the group of objects, and each of the at least one labels is associated with a cleaning order.

[0116] In some embodiments, at least one memory further comprises a map of the layout of at least one label. Upon execution of the aforementioned program code, Reading the map and each of the at least one robot moving towards the vicinity of at least one of the labels according to the map, Each of at least one robot reads a cleaning command on one label, To clean one of the objects in a group according to an instruction given to one of the objects in the group. This will be implemented.

[0117] In some embodiments, at least one of the robots 510 comprises a plurality of cleaning arms 516.

[0118] In some embodiments, the arm is hollow, and the system further comprises at least a suction device 540 which is functionally engaged with or engageable with the arm and engageable with a storage bin 550 having at least one detritus measuring device.

[0119] In some embodiments, at least some of the multiple cleaning arms are crawling arms 518.

[0120] In the embodiments defined in the preceding paragraph, these Crawling arms can be suitable for crawling over objects. In particular, with respect to UAVs, such arms can save a considerable amount of energy and be much more efficient in cleaning. This is because the flying UAV needs to maintain a safe distance from the object, especially if the object is fragile or easily moved by the flight of the UAV, such as curtains.

[0121] In some embodiments, each crawling arm is equipped with at least one suction pad [not shown].

[0122] In the embodiment defined in the preceding paragraph, at least a portion of at least one robot is functionally attachable to the spool 519.

[0123] In the embodiment defined in the preceding paragraph, the robot is more efficient when connected to a pipeline through which detritus flows rather than accumulating sediment during charging / refilling times. The spool helps keep the pipeline tidy and avoids pipe entanglement.

[0124] The objects being measured may be one or more of the objects intended to be cleaned, or one or more "dummy objects" strategically positioned for measurement purposes. For example, these dummies 12' may be made of a specific shape and material to maximize the accumulation of static charge that attracts dust. A voltage may be applied across the dummy / object to help accumulate that static charge. The dummies themselves may help keep the interior of the building clean. If a UAV is used, the dummies may be placed above the floor, for example, on a shelf.

[0125] In some embodiments, only a portion of the dummy is measured. If general cleaning of all at least one object is initiated following the detritus measurement, the dummy may also be cleaned. Thus, for subsequent measurements, the dummy will adequately represent the cleanliness level of all at least one object. If general cleaning is not initiated following a measurement involving sampling of a certain area of ​​the dummy, different areas of the dummy may be sampled for subsequent measurements.

[0126] Alternatively, multiple dummies exist, and only a few [one or more] are sampled. In this alternative setup, all of the dummies can be cleaned along with at least one other object, until a general cleaning is initiated, and if no cleaning is initiated, the other dummies can be sampled for subsequent measurements.

[0127] When a system with dummies is used to measure detritus, the measured detritus amount may be based solely on the detritus measurement results on a portion of one dummy, on one dummy, on a portion of multiple dummies, or on all of the dummies. A baseline detritus amount is set for each of the same one or more dummies or portions thereof.

[0128] In some embodiments, the detritus threshold can be updated. For example, a user or authorized technician may set an initial threshold when the system is first set up inside the building. In other embodiments, the system includes one or more dummies, and a default threshold is provided for one or more of the dummies. The default threshold may initially be at least identical for all of the dummies. The default value may represent substantially clean objects, or contaminated, possibly slightly contaminated objects. In some embodiments, the user may be able to set either according to their preference. Alternatively, the fault threshold may represent clean objects, e.g., objects with virtually no dust, and one or more thresholds added to the threshold represent contaminated objects that need to be cleaned.

[0129] In some embodiments, the system is introduced or installed inside a building that already contains objects that require cleaning but are not considered particularly unclean by the user. The first sampling may be carried out immediately to establish a baseline and, optionally, one or more thresholds. In other embodiments, the system is installed inside a building occupied by objects that are considered clean by the user, for example, very recently cleaned, and the user or technician waits for several days or weeks before beginning sampling.

[0130] In some embodiments, all of the objects are cleaned, and the collected detritus is weighed. The total weight from the initial cleanup can then serve as a baseline. Adding or removing objects may then require establishing a new baseline according to the expected change in the collected detritus.

[0131] Remote sensing of detritus may have the advantage of saving robot usage when the sensed detritus level is low, and of more continuous measurement. In some embodiments, a dedicated device may be positioned adjacent to the object or dummy. In some embodiments, one of the robots may perform the sensing. The robot may be sent from a charging station for measurement, or may be positioned closer to the object / dummy, and periodically return to the charging station for recharging and then return to the measurement position.

[0132] Alternatively, a system managing one or more robots can send the robots to collect detritus, such as dust, from one or more objects within a building.

[0133] The collected detritus is then weighed on an appropriate scale.

[0134] The quantity of a dust layer, such as its weight or thickness, can be compared to a reference detritus value in the same unit of measurement. In some embodiments, the collected detritus amount needs to be higher than the reference detritus value by a predetermined difference to assure the system that cleaning should continue beyond the sampling.

[0135] In some embodiments, if cleaning is to be continued, the system will issue an alert signal.

[0136] In some embodiments, if a predetermined difference is high, for example, more than twice the difference that triggers cleaning / continuing cleaning, the system will issue a different alert signal. Such alert signals may be alarms indicating some problem requiring immediate intervention, such as damage to the building, intrusion by a person, or weather conditions such as a sandstorm.

[0137] Similarly, if the baseline detritus level is higher than the collected detritus level by a predetermined difference, this result may indicate a problem requiring intervention, and the system may generate an alarm. Such measurements may indicate problems such as the replacement of valuables with forged copies by thieves, or exposure to floods or mistrals inside a building. The predetermined difference for high detritus levels may be different from that associated with low levels. In other embodiments, they are the same value.

[0138] The alarms may differ in some embodiments and be the same in others. The alarms may explicitly indicate whether the measurement result is higher or lower than expected [for normal dust accumulation].

[0139] In some embodiments, detritus samples are collected from a portion of the object. In some embodiments, detritus is collected by a single robot among several robots. Such sampling may save the need to perform an entire cleaning operation, which may not be important, i.e., the interior of the building is sufficiently clean. On the other hand, in some configurations, such as buildings with sparse furniture, cleaning the entire interior may be easier and simpler. In some embodiments, such as public buildings, including museums, periodic cleaning is required regardless of the level of cleanliness. In some embodiments, the system is programmable to select a cleaning mode.

[0140] The robots may be uniform in size and / or structure. In some embodiments, all floor cleaning robots are identical, and / or all UAVs are identical to one another. Such robots may be used as a collective, which is advantageous for coordinating the cleaning between the robots. However, having a system with robots of different sizes and / or structures is generally advantageous, especially when the robots are well coordinated with each other in their movements.

[0141] For example, a larger robot can clean larger objects, and a smaller robot can clean smaller objects. Having one robot clean an entire object is more advantageous than having multiple robots clean the same object, because in the latter case, it is necessary to coordinate which part of the object each robot cleans. However, in some configurations, a robot may have enough charge and / or fuel to clean one large or highly characterized object, but may have insufficient fuel / charge left to clean another object between recharge and / or refueling operations. Having the robot clean two or more smaller or simpler objects between charges may be more efficient overall in cleaning all objects.

[0142] There are several additional parameters that can affect the efficiency of detritus collection.

[0143] Proximity of the object to the building's ceiling: During cleaning, some dust may fall rather than be collected as intended. Therefore, starting the cleaning from near the ceiling can help minimize the energy and time required for cleaning and result in a better cleaning outcome.

[0144] Proximity of objects to each other: In some configurations for objects and for some objects, and for some robots, a robot can clean two or more objects between recharge / refueling events. In some cases, one object is located near the ceiling, with another adjacent object located below it. The third object is located closer to the ceiling than the second object, but is much farther away from the first object and / or farther away from the recharge / refueling station. In such cases, it may be more efficient for the robot to go and clean the second object rather than the third object.

[0145] Robot-object interaction: If the object is fragile, the robot needs to maintain a greater distance from it to ensure the object remains safe. However, a greater distance can reduce cleaning efficiency, for example, by exposing the robot to airflow or turbulence rather than the laminar airflow closer to the object's surface.

[0146] Cleaning time: The time spent cleaning each object may be customized for each specific object according to the cleaning order.

[0147] Cleaning accessories. In some embodiments, at least some of the robots are equipped with hollow arms to allow suction of detritus into the arms. Some of the cleaning robots are connected to a spool through which detritus can slide into a bin, which may be positioned on or include a scale for measuring the collected detritus. In some embodiments, at least one of the cleaning UAVs is equipped with an arm, where applicable, that allows the UAV to climb onto or even into the object, reducing energy consumption during cleaning. In some embodiments, the arms and / or wings and other attachments on the robot are foldable and / or retractable / deployable to help reach into small spaces or reduce their size to partially or completely enter into smaller spaces on or within the object.

[0148] Each object may have a specific cleaning command associated with it, and for example, a robot-readable label may be attached to each object. For example, the command may include a limit on the minimum distance a cleaning UAV can approach the object. Furthermore, the label may function to form a map for the robot to locate and navigate the objects. The label may be, for example, an IR signal broadcaster, and in other embodiments, the label is passive, and the robot can read information embedded in or on the label, such as RFID or a QR code.

[0149] In some embodiments, at least one of the objects is fitted with two or more labels. For example, if the object is large and the robot is small, two or more robots may be required to clean within a specific time period, such as the time between recharging and / or replenishment of the robots [when cleaning needs to be completed within a certain time frame]. One robot can clean a certain area of ​​the object that is close to one of the labels, thereby working together to clean the entire object within that period.

[0150] Larger objects can be marked in several ways to indicate that a region has been cleaned. For example, in some embodiments where multiple labels are included on an object, each label may contain writable memory that allows the status to be updated from "No" to "Yes" for a "Cleaned" status, and the Cleaned status can revert to "No" after a predetermined period of time. Similarly, a single label on a smaller object, or on an object cleaned by a larger robot, and / or on an object closer to a recharge / refueling station, can change its status in a similar manner. A cleaning session is concluded when all of the labels are in a "Yes" or "Cleaned" status.

[0151] In some embodiments, after each object is cleaned, its status on the map is changed from "Not Cleaned" to "Cleaned," and the system may change its status back to "Not Cleaned" after a predetermined amount of time.

[0152] In some embodiments, a first set of cleaning commands instructs the robot to clean all of the objects and is based on an algorithm that takes into account one or more of the parameters described above. In some embodiments, the parameters may be adjusted during the cleaning operation itself according to real-time measurement results taken by the robot and / or other components in the system. In some embodiments, mathematical weights are attributed to each parameter, and cleaning commands such as the cleaning order and the duration of cleaning each object are set accordingly.

[0153] In some embodiments, if the measured detritus is found to be excessive as described above, the first set of cleaning instructions is replaced by a second set of cleaning instructions, in which one or more mathematical weights are modified. For example, the second set of cleaning instructions may include a modified flight path for the cleaning UAV, a different order in which objects are cleaned, a longer cleaning duration, etc.

[0154] In some embodiments, the first set of cleaning commands is entered manually. For example, a technician may place labels on the objects and then manually fly a UAV between the objects in a certain order. This flight can serve both to mark all of the objects on a virtual map of the building interior that the system can use to guide the robot, and to instruct the order in which to clean during the initial unguided cleaning operation under the first set of commands.

[0155] In some embodiments, a second set of cleaning commands and optionally several additional sets of commands are also manually entered into at least one memory.

[0156] In some embodiments, mathematical weights are automatically adjusted to a new set of instructions when information about an excessive amount of collected dust is received. The system may be capable of self-learning regarding the order of measurements; for example, the system may learn that the amount of collected detritus is consistently excessive across several consecutive cleaning cycles, resulting in a new set of instructions that, for example, double the cleaning time for each object or halve the time intervals between cleaning cycles. Further adjustments can be made to subsequent cleaning sessions until a steady state is achieved.

[0157] Some buildings and environments may be particularly suitable for the use of the system, or may be designed to be particularly suitable. For example, hospitals, art galleries, museums and other public buildings, as well as various factories.

[0158] Some embodiments include a hangar capable of hosting a charging and / or resupply station for the robot, an internal space for housing the robot between sessions, a bin for storing collected detritus, a spool including piping connecting the bin to the robot, and optionally a motor or pump to generate auxiliary pressure for suction of scale and / or detritus.

[0159] Multiple of these storage units may be located inside a building, for example, on the floor immediately next to a wall, or in an alcove at the base of a wall. The exterior of the storage units may be matched to the color and / or pattern of the adjacent walls and / or floors in a way that is inconspicuous and minimally eye-catching. The bins may be easily removable for emptying between sessions and after the amount of collected detritus has been weighed.

[0160] The amount of detritus collected may be summed up from several measurement results.

[0161] In most buildings, objects are added, rearranged, or removed over time. In some embodiments, these changes can be addressed by updating the object map. In some embodiments, updates can be performed by a system user via an interface such as an "app" on a smartphone connected to the system via Wi-Fi or an intranet, or from a console connected to the system's processor and memory.

[0162] In some embodiments, a kit is provided that includes labels with various cleaning instructions and indications to the user of which instructions are embedded on / within each label. The user can then attach the appropriate label to the newly introduced object.

[0163] In some embodiments, labels may also be scanned by a label reader, which can help add new objects to the map in preparation for the next cleaning session. Information on or within the label may be read by the system to update the expected amount of detritus collected. Similarly, objects may be manually removed and brought to the reader to be removed from the map, and the expected amount of detritus collected will be reduced accordingly.

[0164] Relocating objects usually does not significantly affect the expected amount of detritus collected. However, 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 at least approach the relocated objects and update the map via its interface with the map. In other embodiments, map updates may be performed by other means apparent to those skilled in the art.

[0165] The technical terms used herein are for the sole purpose of describing specific embodiments and are not intended to limit the invention. The singular forms “a,” “an,” and “the” used herein are intended to include the plural unless the context otherwise explicitly indicates. The terms “comprises” and / or “comprising,” as used herein, specify the presence of the described features, integers, steps, actions, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, actions, elements, components, and / or groups thereof.

[0166] It should be noted that in some alternative implementations, the functions shown in the blocks of the diagram may occur in a different order than shown in the diagram. For example, two consecutively shown blocks may, in fact, be executed substantially simultaneously, or the blocks may be executed in the opposite order depending on the functionality they involve.

[0167] Several embodiments of this disclosure have been described. However, it is understood that various modifications can be made without departing from the spirit and scope of this disclosure. Accordingly, other embodiments are within the scope of the following claims.

[0168] The embodiments and examples described herein and included in the claims may be understood in light of the above definitions.

[0169] It should be recognized that all combinations of the above-mentioned concepts and the additional concepts discussed in more detail above are intended to be part of the subject matter of the invention disclosed herein (provided that such concepts are not mutually contradictory). In particular, all combinations of claimed subject matter are intended to be part of the subject matter of the invention disclosed herein. It should also be recognized that any technical terms explicitly used herein, which also appear in any disclosure incorporated by reference, should be given meanings that best correspond to the specific concepts disclosed herein.

[0170] Throughout this specification, phrases such as "one example," "another example," and "an example" mean that a particular element (e.g., feature, structure, and / or characteristic) described in relation to an example may be included in at least one example described herein, and may or may not be present in other examples. Furthermore, it is understood that elements described for any example may be combined in any appropriate manner in various examples unless the context otherwise explicitly indicates.

[0171] It is understood that the ranges provided herein include the stated range and any values ​​or subranges within the stated range, as if such values ​​or subranges were explicitly stated. For example, the range of about 2 nm to about 20 nm should be interpreted to include not only the explicitly stated limits of about 2 nm to about 20 nm, but also individual values ​​such as about 3.5 nm, about 8 nm, about 18.2 nm, and subranges such as about 5 nm to about 10 nm. Furthermore, when "about" and / or "substantially" are used to describe a value, this means that it includes a small variation (up to + / - 10%) from the stated value.

[0172] It should be noted that, as used herein, the term “processor” in conjunction with “memory” may optionally refer to a controller, either additionally or alternatively. Processors can be implemented by a variety of processor devices and / or processor architectures, including, for example, embedded processors, communication processors, graphics processing units (GPUs), accelerated computing, soft-core processors, and / or general-purpose processors. In some embodiments, the processor may be implemented as a central processing unit (CPU), a microprocessor, an electronic circuit, an integrated circuit (IC), and / or similar.

[0173] Memory may be implemented by various types of memory, including transactional memory and / or long-term storage memory facilities, and may function as file storage, document storage, program storage, or working memory. The latter may take the form of static random-access memory (SRAM), dynamic random-access memory (DRAM), read-only memory (ROM), cache, and / or flash memory. Working memory may include, for example, temporary-based and / or non-temporary-based instructions. Long-term memory may include, for example, volatile or non-volatile computer storage media, hard disk drives, solid-state drives, magnetic storage media, flash memory, and / or other storage facilities. Hardware memory facilities may store fixed sets of information (e.g., software code), including, but not limited to, files, programs, applications, source code, object code, and / or similar.

[0174] The system may include communication devices configured to enable wired and / or wireless communication between various components of the system and / or modules, and these communication devices may communicate with each other via one or more communication buses (not shown), signal lines (not shown), and / or network infrastructure. The communication devices may be capable of operating via the network infrastructure to receive commands such as navigation and / or action commands from remote human and / or computerized operators, to transmit images and / or other data to external systems, to receive readings and / or other data from external sources, and / or similar.

[0175] The network infrastructure may be configured to use one or more communication formats, protocols, and / or technologies, such as internet communication, optical communication, cellular communication, RF communication, telephone-based communication technology, and / or similar. In some examples, the communication device may include input / output device drivers (not shown) and network interface drivers (not shown) to enable the transmission and / or reception of data over the network. The device driver may interface to a keypad or a USB port, for example. The network interface driver may, for example, execute protocols for the Internet, intranets, wide area networks (WANs), local area networks (LANs) using wireless local area networks (WLANs), metropolitan area networks (MANs), personal area networks (PANs), extranets, 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 networks, standards, and / or systems. The components detailed below may be implemented as one or more sets of related computer instructions, which may be executed, for example, by one processor or another. The components may consist of one or more executable files, dynamic libraries, static libraries, methods, functions, services, etc., and may be programmed in any programming language and reside in any computing environment.

[0176] Any digital computer systems, units, devices, modules, and / or engines illustrated herein can be configured or otherwise programmed to perform the methods disclosed herein, and to the extent that they are configured to perform such methods, they fall within the scope and spirit of this disclosure. When a system, module, and / or engine is programmed to perform specific functions in accordance with computer-readable and executable instructions from program software that performs the methods disclosed herein, it effectively becomes a dedicated computer specific to embodiments of the methods disclosed herein. The methods and / or processes disclosed herein can be implemented as computer program products that can be tangibly embodied in information carriers, including, for example, non-temporary tangible computer-readable and / or non-temporary tangible machine-readable storage devices. The computer program products can be directly loaded into the internal memory of a digital computer and may comprise software code portions for performing the methods and / or processes disclosed herein.

[0177] The methods and / or processes disclosed herein can be implemented at least in part as computer programs that can be physically embodied by a computer-readable signal medium. The computer-readable signal medium may include, for example, a propagating data signal in which a computer-readable program code is embodied. Such a propagating signal may take any of a variety of forms, including but not limited to electromagnetic, optical, or any suitable combination thereof. The computer-readable signal medium may be any computer-readable medium that can communicate, propagate, or transfer programs used by or associated with the equipment, systems, platforms, methods, operations, and / or processes disclosed herein, rather than a non-transient computer or machine-readable storage device.

[0178] Additional examples: Clause 1: A system for cleaning one or more objects inside a building, the system is (i) at least one robot equipped with a detritus collector, (ii) at least one detritus measuring device, (iii) at least one memory containing a program code instruction, where when the program code instruction is executed by the processor, a) Receiving detritus quantity values ​​from at least one detritus measuring device, b) Compare the received detritus amount with the reference detritus value, c) Perform the first set of cleaning commands, This is done in at least one memory and Equipped with, Upon execution of the aforementioned program code instructions, Action A) If the received detritus value exceeds the reference detritus value, send at least one robot to clean at least one of one or more objects according to a first set of cleaning commands. A system will be provided to implement this. Clause 2: The system according to Clause 1, wherein at least one memory further comprises a first detritus threshold, and a first set of cleanup commands is performed when the received detritus amount value exceeds the first detritus threshold and is greater than a reference detritus value. Clause 3: At least one memory further comprises a first detritus threshold, The system described in Clause 1, wherein a first set of cleaning orders is executed only if the received detritus amount is less than or equal to a first detritus threshold and exceeds a reference detritus value. Clause 4: At least one memory further comprises a second set of cleanup instructions, and the execution of the program code, Operation B) If the received detritus amount exceeds a first detritus threshold and surpasses a reference detritus value, the operation includes sending the data to at least one robot to clean one or more objects according to a second set of cleaning commands. The system described in Clause 3, which is implemented. The system as described in Clause 4, further comprising: Clause 5: Operation B) storing a second set of cleaning instructions as the first set of cleaning instructions in at least one memory. Clause 6: The system according to any one of Clauses 1 to 5, wherein at least one memory further comprises a second detritus threshold, and the execution of the program code is performed to generate an alert if the received detritus amount value exceeds the second detritus threshold and is greater than a reference detritus value. Clause 7: The system described in Clause 6, wherein the second detritus threshold is greater than the first detritus threshold. Clause 8: The system described in any one of Clauses 1 to 7, wherein at least one memory further comprises a third detritus threshold, and the execution of the program code is performed to generate an alert if the reference detritus value exceeds the amount of detritus received by the third detritus threshold. Clause 9: The system described in any one of Clauses 1 to 7, wherein at least one memory further comprises a third detritus threshold, and the execution of the program code is performed to generate an alert if the reference detritus value repeatedly exceeds the received detritus amount value above the third detritus threshold. Clause 10: The system according to any one of Clauses 1 to 9, further comprising a thermal sensor, wherein execution of the program code performs either or both of the following actions: F) scanning the interior of a building for heat using the thermal sensor, and turning off one or more of the scanned objects that are generating heat until one or more objects have been cleaned, and generating an alert if a heat source not identified as any of the scanned objects is found during the scan. Clause 11: The system described in Clause 10, wherein at least one of the thermal sensors is located on and / or inside at least one robot. Clause 12: The first set of cleaning instructions and the second set of cleaning instructions each have the following parameters, namely: The length of time spent cleaning each of the one or more objects, The time period between consecutive cleanings of one or more objects, The order in which to clean one or more specific objects out of one or more objects, and Assignment of at least one robot to each of one or more specific objects It comprises one or more of the following: The system described in Clause 4 or 5, wherein at least one parameter in the first set of cleaning instructions is also present in the second set, but with a different value. Clause 13: The interior of the building has a ceiling, and the assignment of at least one robot to one or more specific objects is: This includes instructing a specific robot among at least one robot to move toward another specific object among one or more objects that is not being cleaned, and the other specific object is one of the following conditions: The object that is closest to the straight line from which another specific object returns to the station, Other specific objects are the ones that are closest to the ceiling among the uncleaned objects of one or more objects, and Another specific object is the closest to the most recently cleaned object among one or more uncleaned objects. Selected according to one of the following: The system as described in Clause 12, wherein the second set of cleaning instructions differs from the first set of cleaning instructions with respect to at least one specific robot. Clause 14: At least one detritus measuring device comprises one or more devices, each of which, A system described in any one of clauses 1 to 13, comprising a scale, a dust thickness measuring unit, or both. Clause 15: The system described in Clause 14, wherein the dust thickness measuring unit is equipped with a laser reflector. Clause 16: The system described in Clause 15, wherein the dust thickness measuring unit comprises a low-power laser in situ thickness measuring unit. Clause 17: The system described in any one of Clauses 1 to 16, further comprising a plurality of labels, wherein at least one of the plurality of labels is associated with each of one or more objects, and at least one of the labels is associated with a cleaning order. Clause 18: At least one memory further comprises a map of the layout of at least one label, Upon execution of the aforementioned program code, Reading the map and each of the at least one robot moving towards the vicinity of at least one of the labels according to the map, Each of at least one robot reads a cleaning command on one label, Clean one of the one or more objects in accordance with the cleaning instructions on the label associated with one of the one or more objects. The system described in Article 17, which is implemented. Clause 19: The system described in any one of Clauses 1 to 18, wherein at least one of the robots comprises multiple cleaning arms. Clause 20: The system according to Clause 19, wherein the arm is hollow, and the system further comprises at least a suction device that is functionally engaged with the arm and is engaged with a storage bin having at least one of the detritus measuring devices. Clause 21: The system described in Clause 19 or 20, wherein at least some of the cleaning arms are crawling arms. Clause 22: The system as described in Clause 21, wherein each crawling arm comprises at least one suction pad. Clause 23: The system described in Clause 20, wherein at least a portion of at least one robot is functionally attachable to the spool. Clause 24: The system according to any one of Clauses 1 to 23, further comprising at least one hangar capable of hosting a charging and / or resupply station for at least one robot, each of the at least one hangar having internal space for housing at least one of the at least one robot between cleaning sessions. Clause 25: Each hangar shall have at least one, Bins for storing collected detritus. A spool including piping that connects the bin to at least one robot, Scale, and A motor or pump to create auxiliary pressure for detritus suction. The system described in Clause 24, further comprising at least one of the following: Clause 26: A method for cleaning one or more objects inside a building, the method being: (v) To provide at least one robot equipped with a detritus collector, (vi) Receiving detritus quantity values ​​from at least one detritus measuring device, (vii) Compare the received detritus amount with the reference detritus value, and (viii) Action A) If the received detritus amount exceeds the reference detritus amount, send at least one robot to clean one or more objects in accordance with a first set of cleaning commands. A method is provided that includes this. Clause 27: The method according to Clause 26, wherein a first set of cleaning orders is performed when the received detritus amount exceeds a first detritus threshold and is above a reference detritus value. Clause 28: The method of Clause 26, wherein a first set of cleaning orders is carried out only if the received detritus amount is less than or equal to a first detritus threshold and greater than a reference detritus value. Clause 29: Operation B) If the received detritus amount exceeds a first detritus threshold and surpasses a reference detritus value, the operation includes sending the object to at least one robot to clean one or more objects in accordance with a second set of cleaning commands. The method described in Article 28, further including the method described in Article 28. Clause 30: Operation C) Generate an alert if the received detritus amount exceeds the second detritus threshold and surpasses the reference detritus value. The method described in any one of the clauses 26 to 29, further including the method described in any one of the clauses 26 to 29. Clause 31: The method according to Clause 30, wherein the second detritus threshold is greater than the first detritus threshold. Clause 32: Operation D) The method of any one of Clauses 26 to 31, further comprising generating an alert when the reference detritus value exceeds a third detritus threshold and the received detritus amount value. Clause 33: Operation E) The method of any one of Clauses 26 to 32, further comprising generating an alert if the reference detritus value repeatedly exceeds a third detritus threshold value. Clause 34: The method according to any one of Clauses 26 to 33, further comprising providing a thermal sensor and performing either or both of the following: operation F) thermal scanning the interior of a building using the thermal sensor, and turning off one or more of the scanned objects that are generating heat until after cleaning of one or more objects, and generating an alert if a heat source not identified as any of the scanned objects is found during the scan. Clause 35: The method described in any one of Clauses 26 to 34, wherein one or more of the objects are charged using electrostatic charge.

[0179] For clarity, it is recognized that certain features of the Invention described in the context of a separate embodiment or example may also be provided in combination in a single embodiment. In contrast, for brevity, various features of the Invention described in the context of a single embodiment, example, and / or alternative may also be provided separately, in any suitable partial combination, or in any other described embodiment, example, or alternative of the Invention. Certain features described in the context of various embodiments, examples, and / or alternatives are not considered essential features of those embodiments unless the embodiments, examples, and / or alternatives are inoperable without those elements.

[0180] While several examples have been described in detail, it should be understood that the disclosed examples may be modified. Therefore, the foregoing descriptions should be considered non-limiting.

[0181] While several examples are described, these examples are presented merely as illustrations and are not intended to limit the scope of this disclosure. In fact, the novel methods and systems described herein may be embodied in various other forms. Furthermore, various omissions, substitutions, and modifications in the systems and methods described herein may be made without departing from the spirit of this disclosure. The appended claims and their equivalents are intended to cover all such forms or modifications that fall within the scope and spirit of this disclosure.

[0182] Features, materials, properties, or groups described in conjunction with a particular embodiment or example are understood to be applicable to any other embodiment or example described elsewhere in this section or specification, unless incompatible therewith. All of the features disclosed herein (including any appended claims, abstract, and drawings) and / or all of the steps of any method or process so as to be disclosed may be combined in any combination, except for any combination in which at least some of such features and / or steps are mutually exclusive. Protection is not limited to any details of any aforementioned example. Protection extends to any novel or novel combination of the features disclosed herein (including any appended claims and drawings), or any novel or novel combination of any steps of any method or process so as to be disclosed.

[0183] Furthermore, certain features described in this disclosure in the context of separate implementations may also be implemented in combinations in a single implementation. In contrast, various features described in the context of a single implementation may also be implemented separately or in any suitable partial combinations in multiple implementations. Furthermore, while features may be described above to operate in a certain combination, one or more features from the claimed combination may, in some cases, be removed from the combination, and the combination may be claimed as a partial combination or a variant of a partial combination.

[0184] This specification uses terms such as “first” and “second” to describe various elements, but these elements should not be limited by these terms. These terms are used solely to distinguish one element from another. For example, a first image representation may be called a second image representation, and similarly, a second image representation may be called a first image representation without departing from the scope of the various described embodiments. Both the first and second image representations are image representations, but they are not the same image representation.

[0185] Furthermore, while operations may be shown in the figures or described herein in a specific order, such operations do not necessarily have to be performed in a specific shown order or sequentially, or not all operations need to be performed, in order to achieve the desired result. Other operations not shown or described may be incorporated into exemplary methods and processes. For example, one or more additional operations may be performed before, after, simultaneously with, or between any of the described operations. Furthermore, operations may be rearranged or rearranged in other implementations. Those skilled in the art will recognize that in some examples, the actual steps performed in the shown and / or disclosed processes may differ from those shown in the drawings. Depending on the example, some of the steps described above may be omitted 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 in which all of them are included within the scope of this disclosure. Also, the separation of various system components in the above-described implementations should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems may generally be integrated together in a single product or packaged in multiple products.

[0186] For the purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not all such advantages are necessarily achieved in accordance with any particular example. A person skilled in the art will therefore recognize that this disclosure may be embodied or practiced in such a way that one advantage or group of advantages taught herein is achieved without necessarily achieving other advantages that may be taught or suggested herein.

[0187] Conditional statements such as "can," "could," "might," or "may" are generally intended to convey that one example includes certain features, elements, and / or steps, while other examples do not, unless otherwise specifically stated or understood in the context in which they are used. Therefore, such conditional statements are generally not intended to suggest that features, elements, and / or steps are required in any way for one or more examples, or that one or more examples necessarily include logic for determining whether these features, elements, and / or steps are included in or performed in any particular example, with or without user input or prompting.

[0188] Conjunctions such as "at least one of X, Y, and Z" are generally understood, in context, to convey that an item, term, etc., could be X, Y, or Z, unless otherwise specifically stated. Therefore, such conjunctions are generally not intended to suggest that a given example requires the presence of at least one of X, at least one of Y, and at least one of Z.

[0189] The terms "approximately," "about," "generally," and "substantially" as used herein still represent values, quantities, or characteristics close to the stated values, quantities, or characteristics that still perform the desired function or achieve the desired result.

[0190] The scope of this disclosure is not intended to be limited by any specific disclosure of preferred examples in this section or elsewhere in this specification, but may be defined by claims presented or hereafter presented in this section or elsewhere in this specification. The language of the claims should be interpreted broadly based on the language used in the claims, and should be interpreted as not being limited to, and not limited to, any examples described herein or in the course of this application.

Claims

1. A system for cleaning one or more objects inside a building, wherein the system is (i) at least one robot equipped with a detritus collector, (ii) at least one detritus measuring device, (iii) At least one memory containing a program code instruction, wherein when the program code instruction is executed by the processor, a. Receiving a detritus quantity value from at least one of the detritus measuring devices, b. Comparing the received detritus amount with the reference detritus value, c. To execute the first set of cleaning orders, This is done in at least one memory and Equipped with, Upon execution of the aforementioned program code instruction, Action A) If the received detritus amount exceeds the reference detritus value, send the at least one robot to clean at least one of the one or more objects in accordance with the first set of cleaning commands. A system in which this is implemented.

2. The system according to claim 1, wherein the at least one memory further comprises a first detritus threshold, and a first set of cleaning commands is performed when the received detritus amount exceeds the first detritus threshold and is greater than the reference detritus value.

3. The at least one memory further comprises a first detritus threshold, The system according to claim 1, wherein the first set of cleaning commands is executed only when the received detritus amount is less than or equal to the first detritus threshold and exceeds the reference detritus value.

4. The at least one memory further comprises a second set of cleanup instructions, and the execution of the program code, Operation B) If the received detritus amount exceeds the first detritus threshold and the reference detritus value, the operation includes sending a message to at least one robot to clean the one or more objects in accordance with a second set of cleaning commands. The system according to claim 3, wherein the above is implemented.

5. The system according to claim 4, further comprising operation B) storing the second set of cleaning commands as the first set of cleaning commands in the at least one memory.

6. The at least one memory further comprises a second detritus threshold, and upon execution of the program code, Operation C) Generate an alert when the received detritus amount exceeds the second detritus threshold and surpasses the reference detritus value. The system according to any one of claims 1 to 5, wherein the following is implemented.

7. The system according to claim 6, wherein the second detritus threshold is greater than the first detritus threshold.

8. The system according to any one of claims 1 to 7, wherein the at least one memory further comprises a third detritus threshold, and the execution of the program code performs operation D) generating an alert when the reference detritus value exceeds the detritus amount value received above the third detritus threshold.

9. The system according to any one of claims 1 to 7, wherein the at least one memory further comprises a third detritus threshold, and the execution of the program code performs operation E) generating an alert when the reference detritus value repeatedly exceeds the received detritus amount value above the third detritus threshold.

10. The system according to any one of claims 1 to 9, further comprising a thermal sensor, wherein execution of the program code performs either or both of the following actions: F) scanning the interior of a building for thermal purposes using the thermal sensor; turning off any of the scanned objects that are generating heat until after cleaning of the one or more objects; and generating an alert if a heat source not identified as any of the scanned objects is found during the scan.

11. The system according to claim 10, wherein at least one of the thermal sensors is located on and / or inside the at least one robot.

12. The first set of cleaning commands and the second set of cleaning commands each have the following parameters, namely: The length of time spent cleaning each of the one or more of the aforementioned objects, The time period between consecutive cleanings of one or more of the aforementioned objects, The order in which to clean one or more specific objects from the aforementioned one or more objects, and Assignment of each of the at least one robots to one or more specific objects It comprises one or more of the following: The system according to claim 4 or 5, wherein at least one parameter in the first set of cleaning commands is also present in the second set, but with a different value.

13. The interior of the building is equipped with a ceiling, and the assignment of each of the at least one robots to a specific one or more of the one or more objects is, The process includes commanding a specific robot among the at least one of the aforementioned robots to move toward another specific object among the one or more objects that is not being cleaned, wherein the other specific object is subject to the following conditions, namely: The other specific object mentioned above is closest to the straight line returning to the station, The other specific object is the one or more uncleaned objects that are closest to the ceiling, and The aforementioned other specific object is the one or more uncleaned objects that are closest to the most recently cleaned object. Selected according to one of the following: The system according to claim 12, wherein the second set of cleaning commands differs from the first set of cleaning commands with respect to at least one specific robot.

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

15. The system according to claim 14, wherein the dust thickness measuring unit includes a laser reflector.

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

17. The system according to any one of claims 1 to 16, further comprising a plurality of labels, wherein at least one of the plurality of labels is associated with each of the one or more objects, and each of the at least one label is associated with a cleaning command.

18. The at least one memory further comprises a map of the layout of the at least one label, Upon execution of the aforementioned program code, Reading the map and each of the at least one robots moving towards the vicinity of one of the at least one labels according to the map, Each of the at least one robot reads a cleaning command on one of the labels, To clean one of the one or more objects in accordance with the cleaning instructions on the label associated with one of the one or more objects. The system according to claim 17, wherein the above is implemented.

19. The system according to any one of claims 1 to 18, wherein at least one of the at least one robots comprises a plurality of cleaning arms.

20. The system according to claim 19, wherein the arm is hollow, and the system further comprises at least a suction device functionally engaged with the arm and engaged with a storage bin comprising one of the at least one detritus measuring devices.

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

22. The system according to claim 21, wherein each crawling arm is provided with at least one suction pad.

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

24. The system according to any one of claims 1 to 23, further comprising at least one hangar capable of hosting a charging and / or resupply station for at least one of the robots, each of the at least one hangar having an internal space for storing at least one of the at least one robot between cleaning sessions.

25. Each hangar has at least one, Bins for storing collected detritus. A spool including piping connecting the bin to the at least one robot, Scale, and A motor or pump for generating auxiliary pressure for the suction of the detritus. The system according to claim 24, further comprising at least one of the following.

26. A method for cleaning one or more objects inside a building, wherein the method is: (i) To provide at least one robot equipped with a detritus collector, (ii) Receiving detritus quantity values ​​from at least one detritus measuring device, (iii) Compare the received detritus amount with the reference detritus value, and (iv) Action A) If the received detritus amount exceeds the reference detritus value, send at least one robot to clean one or more objects according to a first set of cleaning commands. Methods that include...

27. The method according to claim 26, wherein the first set of cleaning commands is performed when the received detritus amount exceeds a first detritus threshold and is above the reference detritus value.

28. The method according to claim 26, wherein the first set of cleaning commands is performed only when the received detritus amount is less than or equal to a first detritus threshold and exceeds the reference detritus value.

29. Operation B) If the received detritus amount exceeds the first detritus threshold and the reference detritus value, the operation includes sending a message to at least one robot to clean the one or more objects in accordance with a second set of cleaning commands. The method according to claim 28, further comprising:

30. Operation C) Generate an alert when the received detritus amount exceeds the second detritus threshold and surpasses the reference detritus value. The method according to any one of claims 26 to 29, further comprising:

31. The method according to claim 30, wherein the second detritus threshold is greater than the first detritus threshold.

32. Operation D) Generate an alert when the reference detritus value exceeds the received detritus amount value and the third detritus threshold. The method according to any one of claims 26 to 31, further comprising:

33. Operation E) Generate an alert if the reference detritus value repeatedly exceeds the received detritus amount value, which exceeds the third detritus threshold. The method according to any one of claims 26 to 32, further comprising:

34. To provide a thermal sensor, Operation F) Thermally scanning the interior of the building using the thermal sensor, and, The method according to any one of claims 26 to 33, further comprising turning off one or more of the scanned objects that are generating heat until after cleaning of the one or more of the objects, and generating an alert if a heat source not identified as any of the scanned objects is found during the scan.

35. The method according to any one of claims 26 to 34, wherein one or more of the objects are charged using electrostatic charge.

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