Autonomous robot and method for cleaning sensor comprised in autonomous robot

Abstract

Disclosed is autonomous robot (100, 402) comprising cleaning system (104, 200, 300, 404), processing unit (106) and sensor(s) (108, 406), wherein cleaning system comprises fan (204, 302) configured to generate an air flow at a pre-defined speed; air duct(s) (206, 304A, 304B, 304C), 5 operatively coupled to fan, to direct generated air flow towards sensor(s); and processing unit, operatively coupled to fan and sensor(s), to receive sensor data from sensor(s), wherein sensor data is indicative of presence of object, and activate fan to clean sensor(s), when presence of object is indicated.

Description

[0001] AUTONOMOUS ROBOT AND METHOD FOR CLEANING SENSOR

[0002] COMPRISED IN AUTONOMOUS ROBOT

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to autonomous robots. Moreover, the present disclosure relates to methods for cleaning sensors comprised in autonomous robots.

[0005] BACKGROUND

[0006] In the rapidly advancing landscape of robotics, the seamless functioning of autonomous systems heavily relies on the efficacy of sensors thereof. The sensors play a pivotal role in ensuring safe navigation and preventing collisions with objects. However, a persistent technical challenge has emerged in the form of dust, dirt, and other debris interfering with the sensors, leading to safety concerns and operational disruptions. Thus, the reliability of the autonomous systems in diverse environments is compromised when the sensor's functionality is compromised due to external elements.

[0007] Currently available autonomous systems require human intervention. In this regard, the sensors are cleaned manually. However, the manual cleaning presents drawbacks such as potential surface scratching and impracticality in the frequent application. Alternatively, compressed air is used to clean the sensor. However, the use of the compressed air introduces energy-intensive components, posing challenges for battery- operated autonomous systems.

[0008] Therefore, in light of the foregoing discussion, there exists a need to overcome the aforementioned drawbacks. SUMMARY

[0009] The aim of the present disclosure is to provide a cleaning system and a cleaning method for autonomous robots in order to reduce downtime and maintain the requirements thereof. The aim of the present disclosure is achieved by an autonomous robot and a method for cleaning an autonomous robot as defined in the appended independent claims to which reference is made. Advantageous features are set out in the appended dependent claims.

[0010] Throughout the description and claims of this specification, the words "comprise" , "include", "have", and "contain" and variations of these words, for example "comprising" and "comprises" , mean "including but not limited to" , and do not exclude other components, items, integers, or steps not explicitly disclosed also to be present. Moreover, the singular encompasses the plural unless the context otherwise requires. In particular, where the indefinite article is used, the specification is to be understood as contemplating plurality as well as singularity, unless the context requires otherwise.

[0011] BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG. 1 is an illustration of an autonomous robot, in accordance with an embodiment of the present disclosure;

[0013] FIGs. 2A, 2B and 2C are illustrations of cross-sectional views of a cleaning system for an autonomous robot, in accordance with an embodiment of the present disclosure;

[0014] FIG. 3 is an illustration of a cleaning system, in accordance with an embodiment of the present disclosure;

[0015] FIG. 4 is an illustration of an autonomous robot comprising a cleaning system, in accordance with an embodiment of the present disclosure; and FIG. 5 is an illustration of a flowchart depicting steps of a method for cleaning at least one sensor comprised in an autonomous robot of FIG. 1, in accordance with an embodiment of the present disclosure.

[0016] DETAILED DESCRIPTION OF EMBODIMENTS

[0017] The following detailed description illustrates embodiments of the present disclosure and ways in which they can be implemented. Although some modes of carrying out the present disclosure have been disclosed, those skilled in the art would recognise that other embodiments for carrying out or practising the present disclosure are also possible.

[0018] In a first aspect, the present disclosure provides an autonomous robot comprising a cleaning system, a processing unit and at least one sensor, wherein the cleaning system comprises a fan configured to generate an airflow at a pre-defined speed; at least one air duct, operatively coupled to the fan, configured to direct the generated airflow towards the at least one sensor; and the processing unit, operatively coupled to the fan and the at least one sensor, configured to receive sensor data from the at least one sensor, wherein the sensor data is indicative of a presence of an object, and activate the fan to clean the at least one sensor, when the presence of the object is indicated.

[0019] The disclosed autonomous robot comprises the cleaning system that is used to maintain optimal performance of the at least one sensor, and thus enhance operational reliability and ensure the safe and efficient navigation of the autonomous robot in various environmental conditions. The cleaning system comprises the fan to generate a controlled airflow at the predefined speed, which is then directed by the at least one air duct to efficiently clean the at least one sensor without physical contact. Moreover, the cleaning system comprises the processing unit that enhances the system's functionality by enabling monitoring of the sensor data, facilitating automatic detection of the object, and triggering timely activation of the fan for cleaning of the at least one sensor.

[0020] In a second aspect, the present disclosure provides a method for cleaning at least one sensor comprised in an autonomous robot wherein the method comprises receiving sensor data from the at least one sensor, wherein the sensor data is indicative of a presence of an object, and activating a fan thereby generating a flow of air towards the at least one sensor to clean the at least one sensor, when the presence of the object is indicated.

[0021] The disclosed method enhances the operational efficiency of the autonomous robot by maintaining functionality of the at least one sensor, reducing the risk of collisions, and minimising downtime of the autonomous robots due to sensor obstruction. The method efficiently removes the object without manual intervention, by streamlining the step of receiving and filtering incoming air from the surrounding environment, followed by generating the airflow at the predefined speed. Moreover, the method comprises the step of directing the generated airflow toward the at least one sensor to ensure thorough cleaning. The step of receiving the sensor data and activating the fan enables proactive object detection and timely cleaning action.

[0022] Throughout the present disclosure, the term "autonomous robot" as used herein refers to an artificially intelligent machine configured to perform one or more task and operate in a given environment autonomously i.e., without external control or supervision. For example, the autonomous robot may be an inventory transportation bot, an automatic guided vehicle (AGV), an autonomous cleaning bot, and the like. Notably, the autonomous robot of the present disclosure is described as a domestic autonomous robot with indoor navigation. Optionally, the autonomous robot could be autonomous cars, aerial robots, other domestic robots, and the like, without any limitations. Alternatively, both indoor and outdoor autonomous robots are interchangeably implemented along with all embodiments and combinations of embodiments of the present disclosure.

[0023] In other words, the autonomous robot refers to a self-driving system equipped with at least one sensor and designed for performing specific tasks or applications, such as indoor navigation and operation. Typically, the autonomous robot operates independently, without human intervention, utilising the at least one sensor, algorithms, and onboard processing capabilities to perceive and navigate its environment, accomplish assigned tasks, and respond to changing conditions. Optionally, the autonomous robot comprises six wheels and two safety sensors, specifically designed for the indoor operation, indicating its capability to autonomously navigate and perform tasks within the indoor environments without external guidance or control.

[0024] The term "sensor" as used herein refers to a device or a component that is capable of detecting and measuring physical properties or environmental conditions. In this regard, the autonomous robot comprises one or more sensor for various applications. In an example, the at least one sensor comprises a safety sensor that is used to monitor the surroundings and facilitate navigation or object detection. Optionally, the at least one sensor is selected from: a navigation sensor, an imaging sensor, or a combination thereof. The term "navigation sensor" as used herein refers to a sensor that is used to gather information about the surroundings of the autonomous robot and navigate through environments. Examples of the navigation sensor include but are not limited to, radar, ultrasonic sensors, which provide data on objects, terrain, and other relevant features to assist in path planning and object avoidance. The technical effect of using the navigation sensors in the autonomous robot is enhanced spatial awareness and navigation capabilities, allowing the robot to move safely and efficiently through its environment. The navigation sensors provide real-time data on objects and terrain features, enabling the autonomous robot to plan optimal paths and avoid collisions.

[0025] The term "imaging sensor" as used herein refers to a sensor that captures visual information from the autonomous robot's environment using cameras or other optical devices. The imaging sensor provides visual data that can be used for tasks such as object recognition, localisation, and mapping. Examples of the imaging sensors include but are not limited to RGB (Red, Green, Blue) cameras, depth cameras, and infrared sensors, which capture images or depth information to aid in navigation and perception tasks. The technical effect of employing the imaging sensors in the autonomous robot is to enhance its perception and recognition capabilities, enabling the autonomous robot to interpret and understand its surroundings more effectively. Optionally, the autonomous robot comprises a combination of the navigation sensor and the imaging sensor allowing the autonomous robot to leverage both types of data for more robust and accurate navigation and perception capabilities.

[0026] Optionally, the at least one sensor is a Light Detection and Ranging, LIDAR sensor, with an angular field of view (FOV) exceeding 180 degrees. In this regard, to enable the safe manoeuvring of the autonomous robot towards an intended or desired location, the LIDAR sensor is configured to remotely sense the nearby environment conditions via the application of a laser towards an intended target (or location) allowing for the detection of nearby objects, computation of distances to such objects, and determination of the orientation of such objects. In addition, it allows for the identification of a path available for movement, surface conditions of an operational area, and the like. For example, the LIDAR sensor may be a 2-D LIDAR scanner, a 3-D LIDAR scanner. Optionally, the LIDAR sensor has an angular field of view (FOV) exceeding 180 degrees. Beneficially, such an implementation of the LIDAR, sensor enables the autonomous robot to detect markers and / or the charging stations that are not situated in-front of the autonomous robot i.e., located on either side of the autonomous robot. Moreover, such an implementation reduces the amount of data processed at a given time (in comparison to 360 degrees FOV) and thereby improves the computational speed of the processing unit. Optionally, the LIDAR sensor has an angular field of view (FOV) of 360 degrees. Such an implementation of the LIDAR sensor enables complete detection and scanning of the environment and ensures that each available marker is able to be scanned by the autonomous robot while simultaneously monitoring the nearby environment conditions.

[0027] The term "cleaning system" refers to the component of the autonomous robot that is responsible for keeping the autonomous robot free from obstructions or contaminants. The term "fan" as used herein refers to a mechanical device designed to create airflow by rotating blades thereof. Examples of the fan include but are not limited to an axial fan, a centrifugal fan, and so forth. In this regard, the fan utilises an incoming air from the surrounding. Once inside the fan, the rotating blades of the fan impart kinetic energy to the incoming air, causing the incoming air to move in a specific direction. Moreover, as the blades rotate, the fan accelerates the airflow, creating a continuous stream of the generated airflow that is expelled from the fan.

[0028] The term "pre-defined speed" as used herein refers to a velocity or a rate at which the airflow is generated by the fan. In this regard, the predefined speed is predetermined and set according to the requirements of the autonomous robot, taking into account factors such as the size of the autonomous robot, the sensitivity of the at least one sensor, and the desired cleaning effectiveness. The technical effect of employing the fan is to create a controlled and consistent airflow that is essential for effectively cleaning the at least one sensor of the autonomous robot. Additionally, the use of the fan allows for precise control over the airflow direction and velocity, optimising the cleaning performance and maintaining the overall functionality and reliability of the autonomous robot.

[0029] Optionally, the pre-defined speed is in a range of 40 kilometres per hour (km / h) to 90 km / h. Optionally, the pre-defined speed is in the range of 40 km / h, 45 km / h, 50 km / h, 55 km / h, 60 km / h, 62 km / h, 64 km / h, 66 km / h, 68 km / h, 69 km / h, 75 km / h, 80 km / h, or 85 km / h up to 62 km / h, 64 km / h, 66 km / h, 68 km / h, 70 km / h, 75 km / h, 80 km / h, 85 km / h or 90 km / h. Optionally, at a lower end of the aforementioned range, the airflow is gentler and more suitable for delicate sensor components, providing thorough cleaning without risking damage or disruption to the operation of the at least one sensor. Optionally, at the upper end of the aforementioned range, the airflow is robust and capable of dislodging stubborn contaminants or debris from or towards the at least one sensor. It will be appreciated that the aforementioned range of the pre-defined speed optimises the cleaning efficiency and effectiveness of the cleaning system while allowing for flexibility in accommodating different environmental conditions and requirements of the at least one sensor.

[0030] The term "air duct" as used herein refers to a conduit or passage that is designed to channel the airflow from one location to another within the autonomous robot. In this regard, the cleaning system of the autonomous robot comprises one or more air duct for directing the airflow generated by the fan towards the at least one sensor. Examples of the at least one air duct include but are not limited to a flexible or a rigid tubing, a channel, or a conduit that are integrated into the design of the cleaning system. Optionally, the at least one air duct is designed to fit snugly around the at least one sensor. Optionally, the at least one air duct is integrated into the autonomous robot's chassis to ensure efficient and precise airflow delivery. Optionally, the at least one air duct is positioned in a proximity to the at least one sensor or directing the airflow through channels or openings in the autonomous robot's structure to ensure optimal coverage of the surface of the at least one sensor.

[0031] Optionally, the at least one air duct is an adjustable air duct. Herein, the adjustable air duct refers to a duct or conduit that can be modified or configured to clean different sensor configurations or environmental conditions. Optionally, the adjustable air duct may include features such as telescoping sections, adjustable angles, or interchangeable components that allow for customisation of the size, shape, or orientation of the at least one air duct.

[0032] Beneficially, the adjustable air duct enhances the versatility and adaptability of the cleaning system by effectively addressing a wider range of sensor types, sizes, and locations, ensuring thorough and efficient cleaning performance across different robotic platforms or applications. Furthermore, the ability to adjust the at least one air duct allows for the optimisation of airflow distribution and coverage, ensuring that the at least one sensor receives adequate cleaning and maintenance.

[0033] The term "processing unit" as used herein refers to an application, program, or device that responds to requests for information or services by another application, program, process, or device (such as the external device) via a network interface. Optionally, the processing unit also encompasses software that makes the act of serving information or providing services possible. It will be appreciated that optionally the processing unit includes, but is not limited to, a microprocessor, a microcontroller, a complex instruction set computing (CISC) microprocessor, a reduced instruction set computer (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, or any other type of processing circuit. Beneficially, the processing unit could execute algorithms, manipulate data, make decisions, control hardware components, and manage the overall operations of the autonomous robot.

[0034] The autonomous robot comprises the processing unit which is operatively coupled to the fan and the least one sensor. In this regard, the processing unit is responsible for managing and coordinating the operation of the fan and the at least one sensor associated with the autonomous robot. The processing unit processes the sensor data and issues commands to activate the fan. Optionally, the processing unit could deactivate the fan based on a predefined criteria.

[0035] Herein, the term "sensor data" refers to the information collected by the at least one sensor, which provides feedback about the autonomous robot's environment or internal state. The sensor data typically includes measurements or observations relevant to the autonomous robot's operation, such as the presence of objects, distances to nearby objects, or changes in environmental conditions. Herein, the term "object" refers to any entity that impedes the movement or operation of the autonomous robot. Optionally, the objects include physical objects in the autonomous robot's path, as well as environmental conditions or hazards that pose a risk to the autonomous robot's safety or functionality. The presence of objects is detected by the at least one sensor and is provided to the processing unit through the sensor data, prompting the processing unit to take appropriate action to clean, avoid or mitigate the object.

[0036] Optionally, the object is selected from at least one of: a particulate matter, debris, a biological matter, a liquid spill, an environmental contaminant, a foreign object and dust. Herein, the particulate matter refers to tiny solid particles or liquid droplets suspended in the air. Optionally, the particulate matter can vary in size and composition, ranging from dust, pollen, and soot to aerosols and smoke. Examples of the particulate matter include but are not limited to airborne dust from construction sites, pollen from plants, and smoke. The particulate matter can accumulate on surfaces, including the at least one sensor, leading to potential interference or malfunction.

[0037] Herein, the term "debris" encompasses any scattered fragments or remains of material, typically resulting from the disintegration, destruction, or removal of objects. Examples of the debris include broken glass, pieces of wood or metal, rubble from construction sites, and discarded packaging materials. The debris can pose physical objects or hazards to the operation of the autonomous robots, and if accumulated on the at least one sensor, the debris can impair their functionality and accuracy.

[0038] Herein, the biological matter refers to organic substances derived from living organisms, plant material, or bodily fluids. Examples of the biological matter include but are not limited to bacteria, fungi, pollen grains, plant debris, and animal waste. Optionally, the biological matter can contaminate surfaces and environments, potentially affecting performance of the at least one sensor. Herein, the term "liquid spill" involves the accidental or intentional release of liquid substances onto surfaces or into the environment. Examples of the liquid spills include water spills from leaking pipes or containers, oil spills from machinery or vehicles, and chemical spills from industrial processes. Optionally, the liquid spills can cause damage, contamination, or safety hazards, particularly if the liquid spills come into contact with the at least one sensor.

[0039] Herein, the term "environmental contaminant" refers to any substance or agent that pollutes or alters the natural environment, posing risks to human health, wildlife, ecosystems, or resources. The environmental contaminants can include pollutants such as chemicals, heavy metals, pesticides, or radioactive materials, as well as biological agents like pathogens or toxins. The environmental contaminants can accumulate on surfaces, including sensors, potentially affecting their functionality or reliability. Herein, the term "foreign object" refers to any object or substance that is not normally present or expected within a particular environment or the cleaning system. Examples of foreign objects include misplaced tools or equipment, stray objects from nearby construction or manufacturing activities, wildlife or pest intrusions, or unintentionally introduced materials. Foreign objects can interfere with the operation of the autonomous robots and may require removal or cleaning to maintain optimal performance and safety thereof. It will be appreciated that the cleaning system is versatile and adaptable to diverse operating environments and conditions.

[0040] The processing unit is configured to receive the sensor data from the at least one sensor by establishing communication channels or interfaces between the at least one sensor and the processing unit. This allows the processing unit to continuously monitor the sensor data stream and interpret the sensor data to identify the presence of objects or other relevant events. When the sensor data indicates the presence of the object, the processing unit activates the fan for a pre-determined period of time by sending the control signals to the fan's motor or power supply. Moreover, the aforementioned step initiates the cleaning process, where the fan generates the airflow to remove dust, dirt, or debris from the at least one sensor.

[0041] Optionally, the processing unit is further configured to set the pre-defined speed of the fan based on a characteristic of the object. Herein, the characteristic of the object refers to any identifiable attribute or property of the object that can influence the cleaning process. It will be appreciated that the cleaning system optimises its performance to effectively remove different types of objects by dynamically adjusting or setting the fan speed based on specific characteristics of the object, thus leading to more thorough and reliable cleaning of the at least one sensor. Optionally, the characteristic of the object comprises a size, a type of the object. Herein, the size refers to the physical dimensions of the object, such as a length, a width, and a height of the object. For example, a large piece of debris may require a higher fan speed to dislodge effectively. Herein, the type of the object refers to its classification or category, such as dust, liquid spill, or biological matter. In an example, each type may require different fan speeds for optimal removal of the object. Optionally, the autonomous robot includes various sensors that are capable of determining the size and the type of the object. It will be appreciated that such sensors may provide the sensor data related to the size and type of the object to the processing unit for cleaning the at least one sensor of the autonomous robot. Characteristics of the object may comprise a texture, a weight, etc. Herein, the texture pertains to the surface quality of the object. In this regard, the texture includes a roughness, a smoothness, or an unevenness of the object. For example, a rough- textured object may require more aggressive cleaning compared to a smooth one. Herein, the weight indicates the mass or heaviness of the object. For example, a heavier object may necessitate a stronger airflow to remove thereof. It may be appreciated that, in this regard, the autonomous robot may include sensors that are capable of determining the texture and the weight of the object, to communicate corresponding sensor data to the processing unit for cleaning the at least one sensor of the autonomous robot.

[0042] Optionally, the autonomous robot further comprises a filtering unit configured to receive and filter an incoming air. The term "filtering unit" as used herein refers to a mechanical component that is used with fans and blowers to remove any dust or small particles from the airflow of the fan. The filtering unit allows a free movement of air and also protects the fan from any internal damage. Typically, the filtering unit comprises an outer cover or frame, a filter pad, a mesh screen, and so forth. Optionally, the filtering unit is available in various shapes, styles, sizes and materials. Optionally, the selection of the filtering unit depends on the size and type of the fan and the surrounding environment it is to be used.

[0043] The term "incoming air" as used herein refers to the air that is being drawn into the cleaning system from the surrounding environment for the autonomous robot to clean the at least one sensor. The incoming air may comprise dust, dirt, debris, or a combination thereof. Herein, the term "dust" refers to fine particles of matter, often of organic or inorganic origin, that are suspended in the air. Dust particles can vary in size, composition, and density, and may include substances such as pollen, skin cells, textile fibres, or mineral particles.

[0044] Herein, the term "dirt" refers to loose earth or soil, often containing organic matter, minerals, and other impurities. Dirt may encompass other forms of surface contaminants, such as mud, clay, or grease, that can become airborne or contribute to the accumulation of particulate matter. Herein, the term "debris" refers to scattered fragments or pieces of material that may result from the breakdown, disintegration, or disturbance of larger objects or substances. Debris may include at least wood, metal, plastic, glass, or construction materials. Incoming air may comprise a combination of the aforementioned substances. It will be appreciated that the cleaning system is capable of addressing the potential presence of different types of pollutants in the autonomous robot's operating environment.

[0045] Beneficially, the filtering unit ensures that only clean air is utilised by the cleaning system for cleaning purposes, thereby maximising the effectiveness of the cleaning process.

[0046] Optionally, the autonomous robot further comprises a vibration mechanism configured to vibrate the at least one sensor when the presence of the object is indicated. The term "vibration mechanism" as used herein refers to a component integrated into the cleaning system designed to induce mechanical oscillations or movements in the at least one sensor when the presence of the object is indicated. Optionally, the vibration mechanism is associated with the cleaning system complementing the functions of the fan, the filtering unit, and the at least one air duct. Optionally, the vibration mechanism is configured with motors, actuators, or similar devices capable of generating the controlled vibrations. Optionally, the vibrations are directed towards the at least one sensor, causing the at least one sensor to shake or agitate. The vibration motion dislodges and removes the accumulated dust or debris from the surface of the at least one sensor, enhancing effectiveness and ensuring accurate detection and operation of the autonomous robot.

[0047] Optionally, the autonomous robot further comprises a mechanical wiper having a microfiber cloth and configured to wipe the at least one sensor. The term "mechanical wiper" as used herein refers to a component integrated into the autonomous robot and designed to physically wipe or clean the surface of the at least one sensor. Optionally, the mechanical wiper consists of a mechanism equipped with the microfiber cloth, which is a soft and delicate fabric known for its ability to effectively trap and remove the objects around the at least one sensor. Optionally, the mechanical wiper is associated with the cleaning system for removing stubborn contaminants such as spider webs or debris that may not be easily dislodged by the airflow or the vibration alone. Examples of the mechanical wipers include robotic arms or brushes equipped with microfiber pads, which can be programmed to move around and across the sensor surface in a controlled manner.

[0048] Optionally, the processing unit is further configured to activate the fan for a pre-determined period of time or maintain the airflow directed towards the at least one sensor until the sensor data ceases to indicate the presence of the object. The term "pre-determined period of time" as used herein refers to a specific duration set in advance by the processing unit for activating the fan to clean the at least one sensor associated with the autonomous robot. The pre-determined period of time is selected based on factors such as the expected frequency of sensor contamination, the effectiveness of cleaning operations, and the desired balance between cleaning efficiency and energy consumption. In this regard, the processing unit triggers the fan to operate for the period of time predetermined, whenever the presence of the object is detected, and cleaning is required.

[0049] Optionally, the pre-determined period of time is in a range of 5 seconds to 15 seconds. Optionally, the pre-determined period of time is in a range of 5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, 10 seconds, 11 seconds, 12 seconds, 13 seconds or 14 seconds up to 6 seconds, 7 seconds, 8 seconds, 9 seconds, 10 seconds, 11 seconds, 12 seconds, 13 seconds, 14 seconds or 15 seconds. The aforementioned range ensures that the cleaning system reaches its maximum functionality within approximately 5 seconds, allowing sufficient time for the fan to generate the required airflow and the at least one air duct to effectively direct the at least one air duct towards the at least one sensor. Additionally, extending the activation period to 10 seconds provides ample time for the cleaning system to thoroughly clean the at least one sensor. Furthermore, the flexibility to vary the activation duration within the predetermined period of time allows for adaptation to different scenarios and requirements, such as shorter intervals for routine maintenance or longer durations for more intensive cleaning tasks. Optionally, a user may choose one or more time intervals defining how often the fan should be activated for.

[0050] In this regard, the processing unit monitors the sensor data for any changes. Once the sensor data indicates that the object is no longer detected, meaning the path is clear, the processing unit stops or deactivates the fan. This action ensures that the at least one sensor is cleaned only for as long as necessary to clear the detected obstacle. In this regard, the processing unit enables the autonomous robot to operate precisely when needed, optimising the use of resources such as power. Optionally, the processing unit is further configured to activate the fan for the pre-determined period of time when the autonomous robot is in a docked state. The term "docked state" as used herein refers to the condition when the autonomous robot is physically connected or positioned at a docking station. In the docked state, the autonomous robot is in a stationary state. Optionally, in the docked state the autonomous robot is in a charging state. The charging state refers to a state in which the autonomous robot is actively receiving the charging current from the docking station to replenish its battery power. Optionally, the charging state implies that the autonomous robot is in the process of recharging the one or more battery thereof. In this regard, the processing unit monitors the status of the autonomous robot to determine if it is in the docked state. Optionally, the processing unit could monitor the state using the at least one sensor or signal from the charging connectors. When the processing unit detects that the autonomous robot is in the docked state, the processing unit activates the fan for the predetermined period of time. The periodic activation of the fan during the docked state helps in maintaining the cleanliness and functionality of the at least one sensor.

[0051] Optionally, the autonomous robot further comprises a propulsion system, a plurality of charging connectors, the processing unit, wherein the propulsion system comprises a plurality of wheels, one or more motor arranged to drive the at least one of the plurality of wheels and one or more battery arranged to supply the one or more motor with a charging current, the plurality of charging connectors is connected to the one or more battery for providing the one or more battery with the charging current when the autonomous robot is docked in a charging station, the processing unit is further configured to determine an identity of the charging station, determine whether the charging station is an approved charging station based on the determined identity of the charging station, and if so, control the propulsion system so that the plurality of charging connectors connect with the plurality of charging connectors of the charging station.

[0052] The term "propulsion system" as used herein refers to a combination of at least one of hardware, software, and firmware components configured to propel or move the autonomous robot. Specifically, the propulsion system comprises a plurality of wheels, one or more motor arranged to drive at least one of the plurality of wheels and one or more battery arranged to supply the one or more motor with current. The propulsion system comprises various components that may include any combination of motors, controllers, regulators, wheels, drive shafts, or gear arrangements, other propulsive components as desired, based on the cost constraints or intended application of the autonomous robot, all of which are well known in the art.

[0053] Herein, the propulsion system is configured to utilise the power supplied from the one or more battery to drive at least one of the plurality of wheels via the at least one or more motor. Specifically, the at least one or more motor is mechanically coupled with at least one of the plurality of wheels and upon being supplied with current from the one or more battery, at least one of the plurality of wheels is rotated via the motor at a time when at least one of the plurality of wheels is functioning for example, while turning, only a single wheel of the plurality of wheels is rotated via one of the one or more motor to change the orientation of the autonomous robot and whereas, during translation, at least two wheels are simultaneously rotated to move the autonomous robot in a preferred direction via the one or more motor. It will be appreciated that although the propulsion system of the indoor autonomous robot as explained herein includes an electrical power supply, the one or more battery of the electrical propulsion system may be replaced by either a hydraulic propulsion system or a pneumatic propulsion system without any limitations to the present disclosure.

[0054] In an embodiment, the plurality of wheels of the autonomous robot comprises two sets of two wheels each located on opposite sides of a chassis of the autonomous robot. The chassis of the autonomous robot is shaped and formed using conventional materials such as, metals, alloys, or plastics, and not explained herein due to brevity of the present disclosure. It will be appreciated by a person skilled in the art that the number and size of the plurality of wheels in the autonomous robot may be varied based on the implementation without any limitations to the present disclosure. Further, in some embodiments the plurality of wheels may be circular, or oval. Alternatively, the wheels may be small spherical protrusions protruding from the bottom of the autonomous robot. Moreover, alternatively, the wheels may be robotic legs configured to facilitate movement of the autonomous robot. Thus, the plurality of wheels can take on any desired structure as required based on the implementation in order to move the autonomous robot in a desired / instructed direction. Furthermore, although two sets of wheels are illustrated in the exemplified embodiment, more than two sets of wheels are possible in other embodiments, such as three wheels, four wheels, five wheels, six wheels, seven wheels, eight wheels or the like.

[0055] The propulsion system of the autonomous robot further comprises one or more motor arranged to drive at least one of the plurality of wheels. The type of motor used herein may be selected from at least one of, but not limited to, a servo motor, a DC motor, a linear motor, stepper motor, and a spindle motor, wherein each motor of the one or more motor may be utilised to drive at least one of the plurality of wheels of the autonomous robot. Optionally, the propulsion system comprises one or more left wheel motor controller, one or more right wheel motor controller, one or more left wheel motor and one or more right wheel motor. The aforementioned one or more controller and motor, along with the plurality of wheels, facilitate the movement of the autonomous robot upon being supplied with current from a power source. As noted above, the propulsion system is operably coupled to the processing unit and controls, among other things, the movement of the autonomous robot.

[0056] The autonomous robot of the present disclosure further comprises the one or more battery which may be a rechargeable power source, such as a 9 Volt (V) or 12V on-board battery, arranged to supply the one or more motor with current. Alternatively stated, the one or more battery is utilised to supply power to the autonomous robot and components thereof, in particular to the one or more motor of the propulsion system. Optionally, the autonomous robot may comprise a power board that is connected to the one or more battery and configured to provide the required current to separate components within the autonomous robot. It will be appreciated by a person skilled in the art that the autonomous robot may comprise various other components that are not described herein as they are not relevant to the present disclosure and are well known in the art. In an embodiment, the one or more battery includes a 24V battery. In another embodiment, the one or more battery includes a 48V battery. Specifically, the one or more battery is configured to provide power to the regulator along with the motor controllers of the propulsion system, the processing unit, and any other components of the autonomous robot as described herein below to facilitate charging of the autonomous robot as discussed herein the present disclosure. However, the invention is not to be so limited in all embodiments and the battery (or power source) may be any other type of battery, or may be solar powered, AC powered, or the like. The autonomous robot of the present disclosure further comprises the plurality of charging connectors connected to the one or more battery for providing the one or more battery with a charging current when the autonomous robot is docked in a charging station. The term "charging connectors" as used herein refers to electrical contacts or elements configured to connect with energy sources (such as, charging stations) to enable the charging operation therefrom. For example, the plurality of charging connectors includes electrical contacts like circular connectors, push-pull connectors, flanged connectors, etc., and electrical elements like inductive coils, transformers, etc. Typically, usage of the autonomous robot results in the consumption of power and hence the lowering of power levels associated with the one or more battery, which may be determined through one or more battery level sensor operable to determine the state of charge (SOC) of the one or more battery. On account of such lowering of battery levels of the one or more battery, the autonomous robot requires charging from an energy source, for which the plurality of charging connectors provide the interface required for charging. However, conventional charging systems face inaccuracies during docking of the autonomous robots and thereby incur significant inefficiencies during charging operation. Typically, to overcome the aforementioned problem, the autonomous robot of the present disclosure is configured with customised charging connectors (or electrical contacts) that provide an electrical connection with corresponding electrical contacts on the charging station when the autonomous robot docks on the charging station.

[0057] Optionally, the plurality of charging connectors is arranged for wireless charging, wherein the plurality of charging connectors of the autonomous robot are induction coils similar to the charging station. The wireless charging operation is initiated when the plurality of charging connectors of the autonomous robot is either in contact, or in close proximity to the plurality of charging connectors of the charging station. Herein, the distance between the plurality of charging connectors i.e., the inductive coils, may be varied based on the implementation in a predefined range of 15mm to 40mm to enable an optimal charging operation, wherein a displacement (from the mid-point of the respective coil) of up to 40mm is allowed. The charging operation may be enabled at other distances as well, however, for the optimal charging operation of the autonomous robot with maximum charging current, the given predefined range is utilised. Beneficially, such an implementation allows optimal charging operation despite an imperfect alignment of the autonomous robot with respect to the charging station as required by conventional systems and devices.

[0058] In this regard, the processing unit is further configured to determine the identity of the charging station. Typically, based on the scanned marker comprising a machine-readable code encoded with information associated with the charging station, the processing unit is further configured to determine whether the charging station is an approved charging station based on the determined identity of the charging station, and if so, control the propulsion system so that the plurality of charging connectors connect with the plurality of charging connectors of the charging station. In an exemplary working scenario of a manufacturing complex, wherein the multiple charging stations and the autonomous robots are utilised, each of the charging stations are designated with markers arranged thereon, and when a given autonomous robot is required to be charged, the processing unit, via the at least one sensor, is configured to scan the marker arranged on the charging station to identify whether the scanned marker corresponds to the approved (or associated) charging station for the given autonomous robot. Further, in response to a positive detection of the associated charging station, the processing unit is further configured to control the propulsion system by transmitting command signals for manoeuvring the autonomous robot to the approved charging station such that the plurality of charging connectors connect with the plurality of charging connectors of the associated charging station. Beneficially, such an implementation prevents the autonomous robot from docking at an un-approved or nonassociated charging station which may not be configured to accommodate the given autonomous robot and thus prevents any accidents on account of incompatibility issues.

[0059] Optionally, the processing unit is configured to scan a marker arranged on the charging station thereby detecting the charging station, and in response thereto determine a relative location of the charging station relative to the autonomous robot, and control the propulsion system to drive the autonomous robot to the charging station.

[0060] In operation, the processing unit is configured to transmit a command signal to the at least one sensor for scanning the marker arranged on the charging station for the detection of the associated charging station (i.e., specifically configured for the given autonomous robot) as mentioned earlier. Specifically, upon receiving the command signal, the autonomous robot illuminates the intended target by the marker or the charging station via laser, or any secondary lighting device (such as light emitting diodes) and thereby scans the intended target via the at least one sensor. Preferably, for optimised detection and accuracy, the autonomous robot is configured to scan the markers from a distance of less than or equal to 3 metres (m). However, it will be appreciated that the autonomous robot is operable to scan markers from longer distances such as 5m, 10m, 20m, and so forth, without any limitations.

[0061] The term "marker" as used herein refers to fiducial LIDAR-based markers formed using sequence of bits, wherein each bit may contain multiple laser beams of either a high intensity or a low intensity. The marker is operable to act as an identifier for the charging station upon which a machine-readable code may be encoded to be scanned via the autonomous robot. Such markers with known geometric dimensions and orientation provide a means of estimating LIDAR, position data and enables mapping of the working environment accurately and efficiently. The markers are utilised to provide identities to the charging station and simultaneously, via the encoded machine-readable data, enable the autonomous robot to determine the location of the charging station and the location of the plurality of charging connectors arranged thereon. Optionally, the encoded data includes the location of the charging station, the identity of the charging station, the location and alignment of the plurality of charging connectors arranged thereon, and the like. The marker may be formed using a reflective tape, or a non-reflective tape, or a combination of both, upon which information may be encoded as machine readable code, for example, quick response (QR) code, April Tags, etc. Such an implementation of the markers on the charging station enables the autonomous robot to accurately identify and locate the associated charging station as well as to determine the location and alignment of the plurality of charging connectors for allowing accurate docking of the autonomous robot.

[0062] Optionally, the processing unit is further configured to control the propulsion system to drive the autonomous robot to the charging station. Using the combination of the components of the autonomous robot (i.e., the LIDAR sensor, the processing unit, the propulsion system) along with the markers arranged on the charging stations, the processing unit upon determining the position and orientation of the charging station relative to the autonomous robot, or relative to a boundary (i.e., a perimeter or a pre-defined boundary as discussed above) is configured to control the propulsion system to automatically drive the autonomous robot, via the propulsion system, to the charging station for docking thereon and thereby enabling the efficient charging operation.

[0063] Optionally, the processing unit is configured to receive the sensor data from the at least one sensor, wherein the sensor data relates to an article stored in a warehouse, a horizontal location for the article in the warehouse, a vertical location for the article in the warehouse, and environmental data scanned at the horizontal location and the vertical location for the article.

[0064] The term "article" as used herein refers to any object or item stored in the warehouse. Herein, optionally, the sensor data relates to the article stored in the warehouse in order to allow efficient tracking and monitoring thereof. Optionally, the article is part of a package of articles. Moreover, the sensor data relates to a horizontal location (Pl, P2) for the article in the warehouse. In this regard, the sensor data, collected by the at least one sensor, includes details about the horizontal position of the article in the warehouse. Optionally, the horizontal position of the article refers to a specific location of that article along the width or breadth of a rack in the warehouse. Optionally, the horizontal position can be defined using a coordinate system within the rack. Typically, the coordinate system divides the rack's horizontal plane into sections, rows, or compartments, each with a unique identifier. For example, letters or numbers might be used to label rows and shelves within the rack. Optionally, the horizontal position of the article can then be expressed as a combination of these identifiers, such as "Row B, Shelf 3." Optionally, the horizontal location relates to a storage compartment of the warehouse. The sensor data relates to the vertical location for the article in the warehouse. In this regard, the at least one sensor could scan a position to a specific shelf or level within the rack. For example, if the article's vertical location is identified as L2, it means the autonomous warehouse monitoring robot knows that the article is stored on the second shelf from the bottom in the rack or shelving unit. Beneficially, such a piece of information is invaluable for efficient retrieval and organization of the articles in the warehouse.

[0065] Optionally, the sensor data relates to environmental data scanned at the horizontal location and the vertical location for the article. The term "environmental data" as used herein refers to information related to the environmental conditions around the articles stored in the warehouse, particularly at a granular level. Optionally, the environmental data encompasses factors such as the temperature, the humidity, the light levels, the barometric pressure, the sound levels, and the volatile organic compounds (VOCs). In this regard, the at least one sensor is used for scanning and collecting the environmental data at specific horizontal and vertical locations within the warehouse. Advantageously said granular level of the environmental data allows for precise tracking of unique environmental conditions around each article, including its humidity level and temperature, among others. Additionally, by scanning and utilising the environmental data, the autonomous warehouse monitoring robot can potentially lead to energy savings by enabling targeted climate control in key areas of the warehouse. Thus, reducing the need to heat or cool the entire space in the warehouse.

[0066] The present disclosure also relates to the method for cleaning the autonomous robot as described above. Various embodiments and variants disclosed above, with respect to the aforementioned autonomous robot, apply mutatis mutandis to the method for cleaning the autonomous robot.

[0067] DETAILED DESCRIPTION OF THE DRAWINGS

[0068] Referring to FIG. 1, illustrated is an autonomous robot 100, in accordance with an embodiment of the present disclosure. The autonomous robot 100 comprises a cleaning system 104, a processing unit 106 and at least one sensor 108. Moreover, the cleaning system 104 comprises a fan configured to generate an airflow at a pre-defined speed; at least one air duct, operatively coupled to the fan, configured to direct the generated airflow towards the at least one sensor 108. Furthermore, the processing unit 106, operatively coupled to the fan and the at least one sensor, configured to receive sensor data from the at least one sensor 108, wherein the sensor data is indicative of a presence of an object, and activate the fan to clean the at least one sensor 108, when the presence of the object is indicated.

[0069] Optionally, the autonomous robot 100 comprises a propulsion system and a plurality of charging connectors 109. Optionally, the propulsion system comprises a plurality of wheels 110, one or more motor 112 arranged to drive at least one of the plurality of wheels 110 and one or more battery 114 arranged to supply the one or more motor 112 with a charging current, the plurality of charging connectors 109 is connected to the one or more battery 114 for providing the one or more battery 114 with the charging current when the autonomous robot 100 is docked in a charging station 120.

[0070] There is also shown, the processing unit 106 configured to scan a marker 122 arranged on the charging station 120 thereby detecting the charging station 120, and in response thereto determine a relative location of the charging station 120 relative to the autonomous robot 100, and control the propulsion system to drive the autonomous robot 100 to the charging station 120. There is also shown a marker 122 arranged on the charging station 120.

[0071] Referring to FIGs. 2A, 2B and 2C, illustrated are cross-sectional views of a cleaning system 200 for an autonomous robot, in accordance with an embodiment of the present disclosure. The cleaning system 200 comprises a fan 204 and at least one air duct 206. The fan 204 is configured to generate an airflow at a pre-defined speed. The at least one air duct 206 is operatively coupled to the fan 204 and is configured to direct the generated airflow towards the at least one sensor. There is also shown a filtering unit 208 configured to receive and filter an incoming air. As shown in FIG. 2A, a cross-sectional front view of the cleaning system 200. As shown in FIG. 2B, a side view of the cleaning system 200. As shown in FIG. 2C, a perspective view of the cleaning system 200.

[0072] Referring to FIG. 3, illustrated is a cleaning system 300, in accordance with an embodiment of the present disclosure. As shown, the cleaning system 300 comprises the fan 302 and the at least one air duct such as 304A, 304B and 304C. There is also shown, a filtering unit 306 operatively coupled to the fan 302 and the at least one air duct 304A, 304B and 304C.

[0073] Referring to FIG. 4, illustrated is an autonomous robot 402 comprising a cleaning system 404, in accordance with an embodiment of the present disclosure. There is shown the cleaning system 404 arranged in a bottom part of the autonomous robot 402. Moreover, there is shown the cleaning system 404 being arranged or installed inside the autonomous robot 402. Furthermore, there is shown at least one sensor 406 that is required to be cleaned in the autonomous robot 402.

[0074] Figures 1, 2A, 2B, 2C, 3, and 4 are merely examples, which should not unduly limit the scope of the claims herein. A person skilled in the art will recognise many variations, alternatives, and modifications of embodiments of the present disclosure.

[0075] Referring to FIG. 5, illustrated is a flowchart depicting steps of a method for cleaning an autonomous robot of FIG. 1, in accordance with an embodiment of the present disclosure. At step 502, sensor data is received from at least one sensor, wherein the sensor data is indicative of a presence of an object. At step 504, a fan is activated thereby generating a flow of air towards the at least one sensor to clean the at least one sensor, when the presence of the object is indicated. The aforementioned steps are only illustrative and other alternatives can also be provided where one or more steps are added, one or more steps are removed, or one or more steps are provided in a different sequence without departing from the scope of the claims herein.

Claims

CLAIMS1. An autonomous robot (100, 402) comprising a cleaning system (104, 200, 300, 404), a processing unit (106) and at least one sensor (108, 406), wherein the cleaning system comprises a fan (204, 302) configured to generate an airflow at a pre-defined speed; at least one air duct (206, 304A, 304B, 304C), operatively coupled to the fan, configured to direct the generated airflow towards the at least one sensor (108, 406); and the processing unit, operatively coupled to the fan and the at least one sensor, configured to receive sensor data from the at least one sensor, wherein the sensor data is indicative of a presence of an object, and activate the fan to clean the at least one sensor, when the presence of the object is indicated.

2. The autonomous robot (100, 402) according to claim 1, further comprising a filtering unit (208), configured to receive and filter an incoming air.

3. The autonomous robot (100, 402) according to claim 1, wherein the processing unit (106) is further configured to activate the fan (204, 302) and maintain the air flow directed towards the at least one sensor (108, 406) for a pre-determined period of time or until the sensor data cease to indicate the presence of the object.

4. The autonomous robot (100, 402) according to claim 1, wherein the pre-defined speed is in a range of 40 kilometres per hour to 90 kilometres per hour.

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

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

7. The autonomous robot (100, 402) according to claim 1, wherein the object is selected from at least one of: a particulate matter, debris, a biological matter, a liquid spill, an environmental contaminant, a foreign object, dust.

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

9. The autonomous robot (100, 402) according to claim 1, wherein the processing unit (106) is further configured to set the pre-defined speed of the fan (204, 302) based on a characteristic of the object.

10. The autonomous robot (100, 402) according to claim 9, wherein the characteristic of the object comprises a size, and / or a type of the object.

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

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

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

14. The autonomous robot (100, 402) according to any preceding claim, further comprising a propulsion system and a plurality of charging connectors (109), whereinthe propulsion system comprises a plurality of wheels (110), one or more motor (112) arranged to drive at least one of the plurality of wheels and one or more battery (114) arranged to supply the one or more motor with a charging current, the plurality of charging connectors (109) is connected to the one or more battery for providing the one or more battery with the charging current when the autonomous robot is docked in a charging station (120), the processing unit (106) is further configured to determine an identity of the charging station (120), determine whether the charging station is an approved charging station based on the determined identity of the charging station, and if so, control the propulsion system so that the plurality of charging connectors connect with the plurality of charging connectors of the charging station.

15. The autonomous robot (100, 402) according to any of the preceding claims, wherein the at least one sensor is a Light Detection and Ranging, LIDAR sensor, having an angular field of view (FOV) exceeding 180 degrees.

16. The autonomous robot (100, 402) according to claim 15, wherein the LIDAR sensor has an angular field of view (FOV) of 360 degrees.

17. The autonomous robot (100, 402) according to any of the preceding claims wherein the processing unit (106) is configured to scan a marker (122) arranged on the charging station (120) thereby detecting the charging station, and in response thereto determine a relative location of the charging station relative to the autonomous robot, and control the propulsion system to drive the autonomous robot to the charging station.

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

19. The autonomous robot (100, 402) according to claim 1, wherein the processing unit (106) is configured to receive the sensor data from the at least one sensor (108, 406), wherein the sensor data relates to an article stored in a warehouse, a horizontal location for the article in the warehouse, a vertical location for the article in the warehouse, and environmental data scanned at the horizontal location and the vertical location for the article.

20. A method for cleaning at least one sensor comprised in an autonomous robot (100, 402), wherein the method comprising: receiving sensor data from the at least one sensor, wherein the sensor data is indicative of a presence of an object, and activating a fan thereby generating a flow of air towards the at least one sensor to clean the at least one sensor, when the presence of the object is indicated.

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