CN-121985898-A - Systems, devices, and methods for stain detection and cleaning using robotic cleaners

Abstract

Systems, devices, and methods for stain detection and cleaning using robotic cleaners are disclosed. An example robotic cleaning system may include a robotic cleaner. The robotic cleaner may include a housing, at least one wet cleaning element including at least one cleaning surface on an underside of the housing, at least one sensor, and at least one processor. The processor may be programmed or configured to detect at least one stain on a surface to be cleaned based on sensor data from the at least one sensor and to perform at least one cleaning operation based on the at least one stain.

Inventors

• Derek Lessad
• Max Davidowitz

Assignees

• 尚科宁家运营有限公司

Dates

Publication Date

20260505

Application Date

20240829

Priority Date

20230830

Claims (20)

1. 1. A robotic cleaning system comprising: A robot cleaner comprising: A housing; at least one wet cleaning element comprising at least one cleaning surface on the underside of the housing; at least one sensor, and At least one processor programmed or configured to: Detecting at least one stain on a surface to be cleaned based on sensor data from the at least one sensor, and At least one cleaning operation is performed based on the at least one stain.
2. 2. The system of claim 1, further comprising: a docking station, comprising: A base, and A support extending laterally from the base, the support configured to receive at least a portion of the robotic cleaner on top of the support.
3. 3. The system of claim 1, wherein the at least one sensor comprises at least one of: A camera; A color camera; red, green and blue (RGB) cameras; A three-dimensional camera; red, green, blue and depth (RGB-D) cameras; a light emitter; A photodetector; an Infrared (IR) camera; a spectrometer; an IR spectrometer; An image capturing device; LiDAR device, or Any combination thereof.
4. 4. The system of claim 1, wherein the sensor data comprises at least one of: an image; Video; a color image; Red, green, and blue (RGB) images; a three-dimensional image; Red, green, blue and depth (RGB-D) images; an Infrared (IR) image; spectral data; IR spectral data; Reflecting the data; Specular reflection data; Diffuse reflection data; color data; Texture data, or Any combination thereof.
5. 5. The system of claim 1, wherein detecting the at least one stain comprises detecting the at least one stain on the surface to be cleaned based on sensor data from the at least one sensor and at least one computer vision operation.
6. 6. The system of claim 1, wherein performing the at least one cleaning operation comprises performing at least one wet cleaning operation with the at least one cleaning surface of the at least one wet cleaning element.
7. 7. The system of claim 1, wherein the at least one processor is further programmed or configured to: selecting a cleaning operation from a plurality of predetermined cleaning operations based on the at least one stain and the surface to be cleaned; Wherein performing the at least one cleaning operation includes performing the cleaning operation selected from the plurality of predetermined cleaning operations.
8. 8. The system of claim 7, wherein selecting the cleaning operation comprises selecting the cleaning operation from the plurality of predetermined cleaning operations based on at least one of: A stain type of the at least one stain; The surface type of the surface to be cleaned, or Any combination thereof.
9. 9. The system of claim 1, wherein the robotic cleaner performs a first cleaning operation prior to detecting the at least one stain, Wherein the at least one cleaning operation comprises a second cleaning operation, and Wherein performing the at least one cleaning operation based on the at least one stain comprises interrupting the first cleaning operation and initiating the second cleaning operation.
10. 10. The system of claim 1, wherein the at least one processor is further programmed or configured to: A notification is transmitted based on the detection of the at least one stain.
11. 11. The system of claim 10, wherein transmitting the notification comprises transmitting the notification to a remote device of a user associated with the robotic cleaner.
12. 12. The system of claim 11, wherein the remote device displays a Graphical User Interface (GUI) based on the at least one stain.
13. 13. The system of claim 12, wherein the GUI comprises a map of the surface to be cleaned, the map comprising at least one stain icon based on the at least one stain.
14. 14. The system of claim 11, wherein the remote device is programmed or configured to: Receiving input from a user indicating the presence of the at least one stain, and The communication is transmitted based on the input.
15. 15. The system of claim 14, wherein the at least one processor is further programmed or configured to: the communication is received from the remote device, Wherein performing the at least one cleaning operation includes performing the at least one cleaning operation based on the communication.
16. 16. A method, comprising: Detecting, with the at least one processor, at least one stain on the surface to be cleaned based on sensor data from at least one sensor of the robotic cleaner, and The robotic cleaner is controlled with at least one processor to perform at least one cleaning operation based on the at least one stain.
17. 17. The method of claim 16, wherein the at least one sensor comprises at least one of: A camera; A color camera; red, green and blue (RGB) cameras; A three-dimensional camera; red, green, blue and depth (RGB-D) cameras; a light emitter; A photodetector; an Infrared (IR) camera; a spectrometer; an IR spectrometer; An image capturing device; LiDAR device, or Any combination thereof.
18. 18. The method of claim 16, wherein the sensor data comprises at least one of: an image; Video; a color image; Red, green, and blue (RGB) images; a three-dimensional image; Red, green, blue and depth (RGB-D) images; an Infrared (IR) image; spectral data; IR spectral data; Reflecting the data; Specular reflection data; Diffuse reflection data; color data; Texture data, or Any combination thereof.
19. 19. The method of claim 16, wherein detecting the at least one stain comprises detecting the at least one stain on the surface to be cleaned based on sensor data from the at least one sensor and at least one computer vision operation.
20. 20. The method of claim 16, wherein performing the at least one cleaning operation comprises performing at least one wet cleaning operation with at least one cleaning surface of at least one wet cleaning element of the robotic cleaner.

Description

Systems, devices, and methods for stain detection and cleaning using robotic cleaners Cross Reference to Related Applications The present application claims priority from U.S. provisional patent application No. 63/535,365 filed 8/30 of 2023, the disclosure of which is incorporated herein by reference in its entirety. Technical Field The present disclosure relates generally to robotic cleaning devices and, in some non-limiting embodiments or aspects, to systems, apparatuses, and methods for stain detection and cleaning using robotic cleaners. Background Some robotic cleaners may be equipped for wet and/or dry cleaning operations. For example, a convertible robotic cleaner may be equipped to convert from operating in a wet mode (e.g., mopping) to operating in a dry mode (e.g., dust extraction), such as by adding or removing components useful for a given mode. Some robotic cleaners equipped for wet cleaning operations may use wet cleaning elements (e.g., mop pads). However, it is difficult for the robot cleaner to effectively clean (e.g., remove) the stains. For example, if the path and/or cleaning operation of the robotic cleaner is not adjusted to target the location and/or type of the stain, such a stain may not be adequately cleaned. There is a need in the art for a solution that enables automatic detection and cleaning of stains using a robotic cleaner (e.g., a wet cleaning element thereof, such as a mop pad, etc.). Disclosure of Invention According to some non-limiting embodiments or aspects, systems, devices, and methods for stain detection and cleaning using robotic cleaners are provided that, for example, overcome some or all of the drawbacks identified above. According to a non-limiting embodiment or aspect, a robotic cleaning system is provided. An example robotic cleaning system may include a robotic cleaner. The robotic cleaner may include a housing, at least one wet cleaning element including at least one cleaning surface on an underside of the housing, at least one sensor, and at least one processor. The processor may be programmed or configured to detect at least one stain on a surface to be cleaned based on sensor data from the at least one sensor and perform at least one cleaning operation based on the at least one stain. In some non-limiting embodiments or aspects, the system may further include a docking station that may include a base and/or a support extending laterally from the base. In some non-limiting embodiments or aspects, the support is configured to receive at least a portion of the robotic cleaner on top of the support. In some non-limiting embodiments or aspects, the at least one sensor may include at least one of a camera, a color camera, a red, green, and blue (RGB) camera, a three-dimensional camera, a red, green, blue, and depth (RGB-D) camera, a light emitter, a light detector, an Infrared (IR) camera, a spectrometer, an IR spectrometer, an image capture device, a LiDAR device, or any combination thereof. In some non-limiting embodiments or aspects, the sensor data may include at least one of an image, video, color image, RGB image, three-dimensional image, RGB-D image, IR image, spectral data, IR spectral data, reflectance data, specular reflectance data, diffuse reflectance data, color data, texture data, or any combination thereof. In some non-limiting embodiments or aspects, detecting the at least one stain may include detecting the at least one stain on the surface to be cleaned based on sensor data from the at least one sensor and the at least one computer vision operation. In some non-limiting embodiments or aspects, performing at least one cleaning operation may include performing at least one wet cleaning operation with at least one cleaning surface of at least one wet cleaning element. In some non-limiting embodiments or aspects, the at least one processor may also be programmed or configured to select a cleaning operation from a plurality of predetermined cleaning operations based on the at least one stain and the surface to be cleaned. In some non-limiting embodiments or aspects, performing at least one cleaning operation may include performing a cleaning operation selected from a plurality of predetermined cleaning operations. In some non-limiting embodiments or aspects, selecting the cleaning operation may include selecting the cleaning operation from a plurality of predetermined cleaning operations based on at least one of a stain type of at least one stain, a surface type of a surface to be cleaned, or any combination thereof. In some non-limiting embodiments or aspects, the robotic cleaner may perform a first cleaning operation before detecting the at least one stain. The at least one cleaning operation may include a second cleaning operation, and performing the at least one cleaning operation based on the at least one stain may include interrupting the first cleaning operation and initiating the second cleaning operation. In some non-limiting embodiments o