阅读说明：本技术 用于地板清洁设备的通信照明系统 (Communication lighting system for floor cleaning device ) 是由 亚当·贝亚勒普 贾斯汀·拉玛尔 尼科尔·威勒 于 2020-02-25 设计创作，主要内容包括：提供了能够在自主模式下操作的机器人设备。在各种实施例中,所述设备包括能够在机器人环境中向人类显示信息的照明元件。通过所述照明元件的不同操作和顺序来表达各种未来和近期的动作。所述照明元件还使设备能够表达当前状态。(A robotic device capable of operating in an autonomous mode is provided. In various embodiments, the device includes an illumination element capable of displaying information to a human in a robotic environment. Various future and recent actions are expressed by different operations and sequences of the lighting elements. The lighting element also enables the device to express a current state.)

1. A floor cleaning device operable autonomously and to communicate with persons in the vicinity, the device comprising:

a chassis including a front portion, a rear portion, a lower surface, a front surface adjacent the front portion, an upper surface, a rear surface located rearward of a center point of the chassis, a left surface, and a right surface;

a platform disposed laterally between the left surface and the right surface, and wherein the platform is operable to accommodate a user when the device is selectively operated in a non-autonomous or semi-autonomous mode;

a powered drive wheel operable to transport the apparatus;

a plurality of multi-colored lights, and wherein at least one multi-colored light of the plurality of multi-colored lights is operable to be illuminated in a manner corresponding to at least one of an upcoming action and a current status of the device;

a controller operable to cause at least some of the plurality of multi-colored lights to perform different functions; and is

Wherein the plurality of multi-coloured lights and the controller are operable to generate a unique identifier for each of: an upcoming action, an error status, a task completion status of the device, a current action of the device, and a warning indication.

2. The robotic floor cleaning device of claim 1, wherein at least one multi-colored light of the plurality of multi-colored lights comprises a light emitting diode.

3. The robotic floor cleaning device of claim 1, wherein the plurality of multi-colored lights are powered by an onboard battery.

4. The robotic floor cleaning device of claim 1, further comprising at least one light pipe for directing and reflecting light.

5. The robotic floor cleaning device of claim 1, wherein the upcoming action of the device comprises a change in a direction of travel of the device.

6. The robotic floor cleaning device of claim 1, wherein the error condition comprises an accidental presence of a person on the device.

7. The robotic floor cleaning device of claim 1, wherein the warning indication comprises an emitted light intensity that is greater than the emitted light intensity for the upcoming action, the error state, the task completion state, and a current action of the device.

8. A floor cleaning device operable autonomously and to communicate with persons in the vicinity, the device comprising:

a chassis including a front portion, a rear portion, a lower surface, a front surface adjacent the front portion, an upper surface, a rear surface located rearward of a center point of the chassis, a left surface, and a right surface;

a powered drive wheel operable to transport the apparatus;

a plurality of lighting elements distributed about the chassis, and wherein at least one of the plurality of lighting elements is operable to be illuminated in a manner corresponding to at least one of an upcoming action and a current state of the device;

a controller operable to cause at least some of the lighting elements to perform different functions; and is

Wherein the plurality of lighting elements and the controller are operable to generate a unique identifier for at least one of: an upcoming action, an error status, a task completion status of the device, a current action of the device, and a warning indication.

9. The robotic floor cleaning device of claim 8, wherein at least one of the plurality of lighting elements comprises a light emitting diode.

10. The robotic floor cleaning device of claim 8, wherein the plurality of lighting elements are powered by an onboard battery.

11. The robotic floor cleaning device of claim 8, further comprising at least one light pipe for directing and reflecting light.

12. The robotic floor cleaning device of claim 8, wherein the upcoming action of the device comprises a change in a direction of travel of the device.

13. The robotic floor cleaning device of claim 8, wherein the error condition comprises an accidental presence of a person on the device.

14. The robotic floor cleaning device of claim 8, wherein the warning indication comprises an emitted light intensity that is greater than the emitted light intensity of the upcoming action, the error state, the task completion state, and the current action of the device.

15. A method of operating a robotic floor cleaning device for interacting with a person in a robotic environment, the method comprising:

providing an apparatus having: a chassis including a front portion, a rear portion, a lower surface, a front surface adjacent the front portion, an upper surface, a rear surface located rearward of a center point of the chassis, a left surface, and a right surface; a plurality of lighting elements operable to be illuminated in a manner corresponding to at least one of an upcoming action and a current state of the device; a controller operable to cause at least some of the plurality of lighting elements to perform different functions; and

generating a first unique identifier for an upcoming action of the device from at least one lighting element of the plurality of lighting elements;

generating a second unique identifier for an error condition from at least one of the plurality of lighting elements;

generating a third unique identifier for a task completion status from at least one of the plurality of lighting elements; and

generating a fourth unique identifier for a current action of the device from at least one lighting element of the plurality of lighting elements.

16. The method of claim 15, wherein the first unique identifier comprises a flashing light on one of the left and right surfaces of the device.

17. The method of claim 15, wherein the second unique identifier comprises a flashing light in a wavelength range of 600 to 750 nanometers.

18. The method of claim 15, wherein the third unique identifier comprises light in a wavelength range of 380 to 570 nanometers.

19. The method of claim 15, wherein the fourth unique identifier comprises a flashing light having a frequency of less than 1.0 Hz.

20. The method of claim 15, further comprising a fifth unique identifier comprising scintillating light having an intensity greater than the intensities of the first, second, third, and fourth unique identifiers, and wherein the fifth unique identifier comprises light in a wavelength range of 570 to 750 nanometers.

Technical Field

The present disclosure relates generally to methods and systems for cooperative robotic devices including complex machines that work or otherwise interact with humans. In various embodiments, a cooperative robot of the present disclosure includes a floor cleaning apparatus. Methods and systems for providing social and communication features within a collaborative robot are provided herein. In various embodiments, the device of the present disclosure includes a dynamic lighting system for communicating with a nearby human.

Background

Robotic systems, devices and machines are known that provide benefits in many different applications. These applications include, but are not limited to, automated or robotic floor cleaning devices. The level of interaction between such devices and humans is increasing as such devices replace or supplement human users. Thus, the need to safely operate these devices in densely populated areas (e.g., airports, hospitals, etc.) becomes more apparent. However, known devices do not provide suitable communication features or capabilities. For example, many devices include little or no ability to communicate with nearby humans or provide simple non-dynamic visual indications of operation (e.g., flashing lights provided on a forklift while the forklift is being operated).

Disclosure of Invention

There is a long felt and unmet need to provide a system that is capable of quickly and efficiently communicating with a human in a robotic environment and alerting the human device of the current operating state and upcoming manipulation and operation of the device.

Accordingly, embodiments of the present disclosure contemplate and provide methods and systems for non-verbal communication of a robotic device with a human being that is or will likely be in the same environment as the robot. In some embodiments, the methods and systems of the present disclosure provide device-to-device communication in which at least two robots in a single environment are able to communicate with each other. While various embodiments of the present disclosure are directed to floor cleaning apparatuses, it will be clearly appreciated that the inventive concepts, methods, systems and apparatuses discussed herein are not limited to floor cleaning apparatuses. One of ordinary skill in the art will appreciate that while certain embodiments and features of the present disclosure are well suited for use with a riding floor cleaning device (for example), these embodiments and features may be used with other devices including, but not limited to, manually operated vacuum cleaners, autonomous vehicles, forklifts, stationary robots, autonomous landscaping and construction equipment, aerial drones, and other such devices including autonomous or semi-autonomous features. While certain embodiments of the present disclosure contemplate providing lighting and communication features on an autonomous or semi-autonomous cleaning device, alternative embodiments contemplate providing such features and methods on a variety of devices, including, for example, conventional vacuum cleaners, and wherein the features are operable to communicate a variety of information to a user. For example, in some embodiments, vacuum cleaning devices are provided that include the ability to convert light of a first color or wavelength (e.g., green) to light of a second color or wavelength (e.g., red) when the vacuum bag is full or some other change in state has occurred. Embodiments of the present disclosure contemplate providing a lighting element on various devices, and where this lighting element is operable to emit and transmit light of more than one wavelength. It is envisaged that such lighting elements change the colour of the light to indicate to the user and others that one or more changes have occurred. Such changes are contemplated to include, for example, changes in battery power, changes in pouch or storage status, error conditions, unexpected obstacles, and requests for assistance. In addition to or instead of a color change, it is contemplated that embodiments of the present disclosure include at least one lighting element that changes at least one of intensity and pattern to indicate various status changes in the device.

U.S. patent application publication No. 2017/0087731 to Wagner et al, which is incorporated herein by reference in its entirety, discloses a robotic arm having an illumination feature that conveys information related to "recent" movement of the arm. Wagner et al fails to disclose various aspects of the present disclosure, including various signaling features and systems useful, for example, in a moving or movable cleaning device that may encounter various different objects, humans, etc. in the environment of the moving or movable cleaning device.

In various embodiments, a device is provided with a lighting system capable of providing a unique identifier of a required or upcoming action. It is contemplated that the unique identifier comprises a specific light emission comprising at least one of a unique color, a unique intensity, or a unique flashing animation or pattern. As used herein, the term "animation" generally refers to the change in light over time, and the term "pattern" generally refers to the distribution or activation of certain light distributed over the physical space of a machine or device. In various embodiments, the device of the present disclosure is capable of signaling at least one of the following upcoming or recent actions through operation of the illumination feature: left turn, right turn, power on, power off, stop, record task, assigned task, start task, accelerate, navigate, end task, charge battery, fade battery, blocked for extended periods of time, interrupted, experiencing a machine state change to sensors, actuators, software, malfunction, restart, etc. Embodiments of the present disclosure also include lighting elements operable to indicate to a human that certain tasks or functions need to be performed. Such tasks or functions include, but are not limited to, the need to charge the device, the need to refill or replenish the onboard fluid, the need to repair one or more components, the need to replace cleaning equipment (e.g., brushes or mats located on the device), the need to clear or remove entrained foreign matter, and the need to terminate autonomous operation based on environmental conditions to facilitate manual operation. The device of the present disclosure also includes various unique identifiers associated with the current operating state of the device. Such unique identifiers include, but are not limited to, a unique identifier that indicates that the device is charging, has completed charging, is performing a cleaning operation, is in transit without cleaning, is in transit and is cleaning, and other similar operations and concepts.

In certain embodiments, the devices of the present disclosure are operable to provide information relating to more than one device function, condition, status, etc. For example, certain embodiments of the present disclosure include a task status indicator. It is contemplated that the task status indicator comprises a light bar that is illuminated gradually such that half of the light bar is illuminated (e.g., when half of the work (e.g., cleaning a floor or area) is completed. This feature and the displayed related information do not prevent the device of the present disclosure from also communicating additional information. For example, the device of the present disclosure can further indicate an upcoming turn while displaying information related to the task state.

In some embodiments, the devices of the present disclosure include an illumination system capable of projecting and displaying information on a surface. For example, in some embodiments, devices are provided with lighting features and elements that are capable of projecting images or words onto a ground or floor surface to indicate and provide certain information to nearby humans. The image(s) and word(s) of such embodiments may include, for example, a warning symbol, a turn indicator (e.g., an arrow), and/or an explicit instruction (e.g., "do not come close" or "need to be charged"). U.S. patent 9,221,509 to Lai et al, which is incorporated herein by reference in its entirety, discloses an illumination system capable of projecting images and information onto a floor surface. Various features of the Lai et al patent are contemplated for use in embodiments of the present disclosure.

While various embodiments of the present disclosure provide devices with the ability to visually communicate using lighting features, the devices of the present disclosure are not limited to lighting elements as a means for communicating. For example, various embodiments of the present disclosure include a speaker for emitting audio and/or features and devices for haptic communication (e.g., vibration). It is contemplated that these audible and tactile features are provided in addition to visual communication means.

In various embodiments, the devices of the present disclosure include auditory and audio features to notify nearby people of various actions. For example, it is contemplated that the devices of the present disclosure include a speaker operable to provide an audible warning signal having a duration of at least two seconds before being moved or otherwise operated. A visual warning signal is also envisaged as being provided simultaneously with the audio signal. In some embodiments, the audio signal includes a sound level of at least about 30db (a) at a distance of about 1.50 meters.

In various embodiments of the present disclosure, the lighting element is provided on the device in the form of at least one light emitting diode ("LED"). For example, but not limited to, it is contemplated that an LED strip light and individual LED chips are provided in the device, and wherein the LED(s) are capable of emitting light of various wavelengths and colors. Additionally, it is contemplated that embodiments of the present disclosure include a plasma light element comprising, for example, one or more plasma strips or rings. However, it should be appreciated that the inventive methods and systems of the present disclosure are not limited to a particular light source.

In various embodiments, a light guide or light pipe is provided to guide and condition the light. In certain embodiments, the light-guide of the present disclosure comprises at least one of a diffusing, scattering, reflecting, or refracting material. In some embodiments, the lens is provided in combination with a light guide. The lens comprises polycarbonate impregnated with a refractive additive to diffuse light. In some embodiments, a light lens is provided in combination with a straight light pipe (i.e., the light pipe has no bends or partial angles) and a light lens is provided for each of the lamp locations on the machine. In various embodiments, the light guides or light pipes of the present disclosure are provided with a diffusive additive that includes a different index of refraction than the host polymer (i.e., the raw material of the light pipe). In a preferred embodiment, the host polymer contains a functional medium for light transmission, and the overall light transmission is further improved by the addition of a refractive additive. The additive(s) preferably include the ability to refract, reflect and/or scatter light through or from the material to which the additive is applied.

In some embodiments, there is provided a light-guide, comprising: a 90 degree bend with an inlet and an outlet, and a highly polished or diffuse inner surface. At least one LED or other light element is provided proximate the inlet, and light emitted from the LED is transmitted through the inner conduit of the light guide and through the outlet.

In various embodiments, the devices of the present disclosure include a linear light bar that operates in the visible spectrum or emits light. These devices preferably include a limited refresh rate and the light intensity can be synchronized with the discrete signal. In some embodiments, at least one programmable LED strip is provided. The LED strip includes an acrylic diffuser to enable omnidirectional visibility, and is preferably in communication with and controlled by a microcontroller. It is contemplated that NeoPixel strips (such as, for example, those commercially available from adafrut Industries, inc.) are provided within the apparatus of the present disclosure.

In one embodiment, a robotic floor cleaning device for interacting with a person in a robotic environment is provided. The apparatus includes a chassis including a front portion, a rear portion, a lower surface, a front surface adjacent the front portion, an upper surface, a rear surface located behind a center point of the chassis, a left surface, and a right surface. At least one powered drive wheel is provided, the at least one drive wheel being operable to transport the apparatus. A plurality of multi-colored lights are provided that are operable to be illuminated in a manner corresponding to at least one of an upcoming action and a current state of the device. A controller is provided and is operable to cause at least some of the plurality of multi-colored lights to perform different functions. The plurality of multi-colored lights and controller are operable to generate a unique identifier for each of: upcoming actions of the device, error status, task completion status, current actions of the device, and warning indications.

In one embodiment, a method of operating a robotic floor cleaning device for interacting with a person in a robotic environment is provided that includes providing a device having a chassis including a front, a rear, a lower surface, a front surface adjacent the front, an upper surface, a rear surface located rearward of a center point of the chassis, a left surface, and a right surface. A platform is located partially between a portion of the right and left surfaces and at least partially behind the rear surface, wherein the platform includes a top surface adapted to receive an operator. The device includes a plurality of multi-colored lights operable to be illuminated in a manner corresponding to at least one of an upcoming action and a current state of the device. A controller is provided that is operable to cause at least some of the plurality of multi-colored lights to perform different functions. The method comprises the following steps: generating a first unique identifier for an upcoming action of a device; generating a second unique identifier for the error condition; generating a third unique identifier for the task completion status; generating a fourth unique identifier for the current action of the device; and generating a fifth unique identifier for the warning indication.

In various embodiments, the devices of the present disclosure are provided with and include language and capabilities to communicate with nearby people. In certain embodiments, the devices of the present disclosure include a language capable of communicating or conveying a plurality of different activities, status identifiers, planned actions, needs, and/or emotional states. In some embodiments, the apparatus of the present disclosure includes the ability to communicate at least one of the following actions or states: start, manual cleaning, wait for manual use or user input, charger connected, charge low battery, continue charging battery, full charge state, in transit, start autonomous route, navigate autonomous route, battery charge reduction, unexpected error, pause for obstacle, pause for an extremely long amount of time, stop for a thief or unexpected passenger, emergency stop, left turn, right turn, restart, reset, shut down, start maintenance check, end maintenance check, and calibration. In some embodiments, the device of the present disclosure includes a separate and unique signal or identifier for each of the aforementioned actions or states. Preferably, the array of different signals and identifiers is provided by a unique combination of light color, light animation (i.e. continuous, blinking or strobing), light selection, light intensity and light combination.

In a preferred embodiment, the device of the present disclosure includes a continuous communication feature, wherein at least some information is always transmitted by the lighting device while the device is in operation. For example, in certain embodiments, the apparatus of the present disclosure comprises: a status indicator light (or sequence of lights) to indicate that all systems are functioning properly, and the ability to provide an indication, distress and/or warning signal of a change in action or activity or an impending change.

The lighting devices and associated logic of the present disclosure provide systems, methods of operation, and languages that allow the devices of the present disclosure to communicate a plurality of different needs, status information, warnings, and similar information. The present disclosure provides devices with nonverbal communication and language skills. In various embodiments, the devices of the present disclosure are operable to communicate information in a logical and intuitive manner to both persons who train or are familiar with the device(s) on the device(s) and to persons who do not train or are unfamiliar with the device (e.g., bystanders in public spaces). Thus, the systems, methods, and devices of the present disclosure provide enhanced safety for users in the vicinity, improved cleaning and operational efficiency, and generally enhance the user-friendliness of the devices and their integration with various environments. While in various embodiments, these systems, methods, and devices are contemplated for use in connection with cleaning equipment, it is also contemplated that embodiments of the present disclosure may be incorporated into and used with a variety of other devices, including autonomous or semi-autonomous devices.

In various embodiments, the device of the present disclosure includes the ability to communicate that the device is starting or turning on. For example, in some embodiments, the device includes a customized animation (e.g., a steady light emission or a flashing light) that includes white light. In some embodiments, the light action or light pattern is provided for a relatively short duration, such as less than or equal to one second, or while a power button or key is being used to activate the device. Once the device is powered on, the action is terminated.

It is also contemplated that the devices of the present disclosure include the ability to communicate information related to ongoing or sustained use of the device. For example, in some embodiments, once a device is turned on, it can transmit an "on" or active state until the mode of the device changes or another message needs to be transmitted. For example, in some embodiments, a constant intensity of white light is provided from at least a portion of the device to indicate that the device is on or active. This light may be operated simultaneously with additional lights including, but not limited to, turn signals, warning lights, and service request lights, to name a few.

In various embodiments, the device of the present disclosure includes the ability to display information related to various charge states. For example, the device of the present disclosure includes a lighting feature having the ability to indicate to a human being in the vicinity that the on-board battery is charging. In some embodiments, the device includes an illumination animation that is less than about two seconds in duration, and wherein the light includes a green color (e.g., light within a wavelength band between about 490nm and about 570 nm). It is further contemplated that the devices of the present disclosure include the ability to provide different lighting animations, schemes, and outputs based on the current charge level of one or more batteries. For example, a first charge indication is provided when the on-board battery of the device includes a charge level between 0% and 50% of the battery capacity. A second charge indication is provided when the on-board battery is between about 51% and 99% of capacity. When the battery of the device is fully charged, a third charge indication is provided indicating that charging is complete. Preferably, the first, second and third charging indications comprise indications that differ in at least one of color, pattern, animation and intensity, such that a human may readily understand the charging status of the device. In some embodiments, the first charge indication for the low-battery cell comprises a pulsating light having a frequency of about 0.2Hz and a green or greenish color. The second charging indication comprises a pulsating light having a frequency of about 0.3Hz and a green color, such that the second indication comprises a faster pulsating light at a dark green color, and thereby indicates a less stringent need to charge the device. The device also includes a third charge indication to indicate that charging is complete and to notify a human that the device may be unplugged. In some embodiments, this indication comprises a persistent green light that is different from both the first and second indications.

In various embodiments, the apparatus of the present disclosure includes the ability to indicate to a human that one or more cleaning modes are active. For example, in some embodiments, the devices of the present disclosure include illumination features that are operable to indicate that the device is in the process of cleaning a floor surface as long as this particular action is occurring. In some embodiments, white or blue light is provided at a constant non-pulsating intensity level. This light preferably comprises light or blue light to intuitively communicate to a human that some level of "normal" (i.e. error-free mode) activity is occurring. As one of ordinary skill in the art will appreciate, it is not necessary for various bystanders and humans to understand the exact function being performed by the machine. For example, it is considered sufficient for a frequent traveler at an airport to understand that the device of the present disclosure is performing a function and is not in distress, without the need to convey to such a person that the device is dusting, scrubbing, or buffing (for example). However, in some embodiments, the light colors, animations, and patterns are provided with sufficient specificity to communicate to more highly trained personnel that the device is performing a particular cleaning function.

In various embodiments, the device of the present disclosure includes the ability to communicate that the mode of transport is activated. The mode of transport may be an autonomous mode of transport or a driven or manually operated mode of transport. For example, in some embodiments, the devices and lighting systems of the present disclosure include the ability to indicate that the device is moving using a lighting signal. It is envisaged that the signal associated with the mode of transport is specific to transport and indicates that the device is moving without cleaning. However, it is also conceivable that the transport signal and the cleaning signal can be operated simultaneously when both functions are active. In some embodiments, the transport signal includes rising and falling white light at a frequency of about 0.5 Hz.

In various embodiments, the device of the present disclosure includes the capability to operate in an autonomous mode. For example, the devices of the present disclosure are operable to navigate a preprogrammed route and/or rely on sensors and related features to navigate the route, avoid obstacles, and the like. In such embodiments, it is contemplated that the device(s) include at least one signal to indicate to a nearby human that an autonomous route is beginning. For example, in certain embodiments, the device includes a signal having a duration of less than or equal to about three seconds in which the light is activated to indicate to a nearby human that a main route or operation is beginning. This signal provides feedback to the user, namely: the device has recorded the user's request to initiate the autonomous route and/or indicated to nearby non-users that the device is initiating the autonomous route. Preferably, this signal comprises light in the blue wavelength spectrum and indicates activity without conveying distress or drawing undue attention.

Additionally, embodiments of the present disclosure include the ability to indicate that an autonomous route is in progress. For example, in some embodiments, the rising and falling light in the blue wavelength spectrum is provided at a frequency of about 0.25Hz to indicate an ongoing autonomous cleaning operation. This signal is preferably different from, but somewhat similar to, the signal indicating initiation of the autonomous route, and is valid until the route or operation is completed.

In some embodiments, the apparatus of the present disclosure includes the ability to signal an error condition in the form of a low battery level. For example, in some embodiments, a signal is provided to indicate to a human that the battery charge has dropped below 25% of the battery capacity, and therefore will soon require charging. It is contemplated that this signal is specific to a battery range including 25% to 20% battery capacity and operates in a battery range including 25% to 20% battery capacity and includes light wavelengths in the blue to violet range and a frequency of about 0.25 Hz. The apparatus of the present disclosure contemplates and includes additional signals when the battery level is further reduced. For example, it is contemplated that at least one of the frequency and wavelength is varied when the battery charge drops to between 19% and 15%, between 14% and 10%, and below 10% (for example). It is also conceivable that the light signal associated with the low battery indication is provided by a specific light on the machine. For example, it is envisaged that the signal for low battery level(s) is provided by a relatively discrete lighting element such that an indication of charging is given to the user without generating a high level of alarm or distress (e.g. this may be associated with substantially all lights on the machine operating simultaneously). In some embodiments, a dedicated battery indicator light is provided. It is also contemplated that this light may be provided proximate to a charging port or battery pack to provide a logical indication and association of the light with respect to the battery and associated charging requirements.

In various embodiments, the apparatus of the present disclosure includes the ability for the transfer machine to encounter errors. Errors that may be encountered by the apparatus and machines of the present disclosure include, but are not limited to, being inoperable as a whole, being aware of an obstacle, being aware that the apparatus has been paused for an extremely long amount of time (e.g., an amount of time exceeding the amount of time typically required for the apparatus to process the next step), the presence of an unexpected human being on the apparatus, and an emergency stop. In some embodiments, an indication of an unexpected error is provided that includes a pulsating red light having a frequency of about 2 Hz. This signal is transmitted or asserted until the error is resolved or repaired. In various embodiments, an optical signal is provided for a situation where the device is facing an unknown obstacle (human or other obstacle) while operating in an autonomous mode. This signal, which is contemplated as accompanying a pause in machine operation, includes a flash or cycle at a frequency of about 1.5Hz and a blue or bluish color. This signal is valid as long as the obstruction and associated pause are present (e.g., about 5 seconds). Additional error indications are provided if the device pauses for an extremely long amount of time or encounters a number of obstacles within a predetermined amount of time (e.g., three or more pauses within 45 seconds or less). It is envisaged that this error indication is provided by the optical signal in the form of a cyclical yellow light having a frequency of about 1.5 Hz. This light indicator is contemplated to be provided or activated by the device of the present disclosure when, for example, the device attempts to correct and/or re-initiate a route for an obstacle multiple times without success. The indicator preferably comprises a distress signal operable to communicate that a human should be left open and/or that qualified personnel should intervene and potentially remove the device from the autonomous mode.

In some embodiments, at least one error signal in the form of a light operation is provided to indicate the presence of an unexpected passenger or surreptitious person on the machine. It is contemplated that the devices of the present disclosure will operate in many different settings and environments, and it is further contemplated that an unauthorized human will attempt to ride or board the devices of the present disclosure. Unexpected passengers include, but are not limited to, curious children, disorganized sports fans, and persons who are authorized or qualified to operate the device(s) but who do not take appropriate procedures or precautions to operate. In various embodiments, the apparatus of the present invention includes at least one sensor to detect the presence of an unexpected or unauthorized passenger, stop or suspend at least one machine operation, and activate a red light to indicate that a problem exists. It is envisaged that this signal remains valid until the problem is resolved. Additionally, it is contemplated that the apparatus of the present disclosure include an emergency stop function and an associated light indicator associated with the emergency stop. In various embodiments, it is contemplated that the signal associated with the emergency stop comprises cycling at least one red or deep red light four times and then remaining constant, and wherein this animation or sequence repeats at a frequency of about 1 Hz.

In various embodiments, the apparatus of the present disclosure includes the ability to indicate an expected or upcoming turn. In various embodiments, for turns having an angle greater than or equal to about 10 degrees, an upcoming turn is signaled or evoked (e.g., as expected by the machine based on information associated with a preprogrammed route or detection of a need for a turn). It is contemplated that the turn signal of the present disclosure includes yellow and/or blue light on the respective side of the machine, circulating at about 0.3 Hz.

In various embodiments, the devices of the present disclosure include a signal associated with powering down or shutting down the device. It is contemplated that such a signal may be initiated automatically or by a manual ignition key or switch. The signal preferably comprises white light or neutral light and may comprise a variety of different animations. For example, the initially intense white light may darken over a period of about one second to indicate tilting or powering down of the device.

In certain embodiments, the device of the present disclosure includes the ability to indicate to a human that a reboot is occurring. For example, a signal is provided when a software update is processed, and a change in this signal is further provided when the processing is complete and the device is ready for use again. It is contemplated that this signal includes red, blue and/or white light with various animation options. For example, a lateral scroll of light may be provided to indicate the progress of the software installation and/or update. The signal may also include an abrupt change (e.g., an abrupt change from scrolling to flashing) when the installation and/or update is complete.

In various embodiments, the device of the present disclosure includes an optical signal indicating a reset of the device. For example, custom light animations are provided when a user manually resets the device and causes the machine to shut down and restart. The signal preferably comprises white light or neutral light to indicate that the user's request has been received and that the device is responding accordingly.

In various embodiments, the apparatus of the present disclosure includes indicators or signals relating to various repair or maintenance needs of the apparatus(s). For example, it is contemplated that the various devices of the present disclosure include the ability to connect to a computer (e.g., via bluetooth, USB, etc.). In some embodiments, when a computer or other diagnostic device is connected to the device of the present disclosure, an indication of the connection is provided. It is contemplated that the indication comprises a white light of a short duration and may comprise a custom animation. The signal may also include an audible signal in combination with the emitted light. A service check or diagnostic may then be performed and an optical signal associated with this service check provided. It is also contemplated that a separate or different signal is associated with the completion of the service check and the removal or unpairing of the associated equipment. Additionally, a calibration signal is provided in various embodiments, wherein the lights may display all colors and necessary brightness for approximately three seconds to indicate that the sensor is properly calibrated (for example). The apparatus of the present disclosure also includes an illumination signal associated with a general need for maintenance or repair. For example, in some embodiments, a static yellow light is provided when maintenance is required but the equipment remains in normal operation. In such embodiments, critical cleaning and navigation functions may continue, but qualified personnel are provided with warning lights that maintenance or repair should be performed soon (e.g., based on the use routine check coming, the temperature of some portion of the equipment is not optimal, the stored onboard fluid is low, etc.). In some embodiments, this light is relatively small and is operable to communicate to the user that additional surveys are required (e.g., the display of the device should be consulted for additional information).

It is an object of the present disclosure to provide various signals and functions described above, and wherein at least some of the signals may operate simultaneously. For example, a floor cleaning apparatus of the present disclosure is provided that includes a plurality of lighting elements distributed around the machine. These devices include languages and the ability to convey a variety of information through different combinations and permutations of light source selection (i.e., location of light used), color wavelength, intensity, and animation. While known devices include a single light capable of emitting only a single wavelength of light and a single animation (e.g., flashing at a constant frequency), the devices of the present disclosure include an almost unlimited number of distributions, colors, intensities, and frequency combinations that enable the devices to own their own language to communicate with humans. Preferably, the device of the present invention includes a non-verbal language that is intuitive to the user. However, it is also contemplated that certain portions of certain signals and languages described herein may require reference or consultation with additional resources, such as a user manual or an onboard display screen.

In some embodiments, the devices of the present disclosure include the ability to emit light of at least five different colors (e.g., red, orange, yellow, green, and blue), and include the ability to emit those light colors with at least five different animations (e.g., constant, flashing, pulsating, stepped, and cyclical light emission). In such embodiments, at least 25 different unique signals may be generated by the device. In a preferred embodiment, the device of the present disclosure comprises significantly more than 25 possible signals or markers. For example, a variety of different light animations are contemplated and provide an almost unlimited number of light colors in the wavelength range of 350nm and 750nm and including white light, which can be combined to create an almost unlimited number of signals.

In various embodiments, the methods and apparatus of the present disclosure include a plurality of light sources or "bulbs" within a light bar or element. It is also contemplated that different patterns of light sources may be varied to convey different information. For example, where the light bar of the present disclosure includes five LED lights, it is contemplated that a subset of the five lights are illuminated in different patterns to vary the illumination intensity of the elements and provide a plurality of different spatial patterns.

In some embodiments, the device is provided with a plurality of light bars or elements. In certain embodiments, the device is provided with five light bars, and each light bar includes nine LEDs. In other embodiments, the device is provided with as few as two light bars. It is contemplated that the light bars and light elements are provided in the nose, hood and platform portions of the floor cleaning device, but no limitations regarding the location and distribution of the illumination are provided herein. It is contemplated that the LED elements of the light bar of the present disclosure are independently operated. For example, it is contemplated that illuminating a single LED of a lighting element that includes multiple LEDs provides sufficient illumination to be seen by the human eye and convey information. Thus, embodiments of the present disclosure contemplate that a device may communicate and convey information by selectively activating a particular number and arrangement of LEDs (or other lighting elements) within a light bar. In some embodiments, a single LED is illuminated to communicate a low battery state, and additional LEDs are sequentially illuminated to communicate or signal a corresponding increase in battery charge level. Similarly, and for illustrative purposes only, it is contemplated to communicate an error signal by providing an animation in which the outermost LEDs of the linear LED nest are illuminated alternately with the innermost LEDs, thereby producing a sequence of flashing lights associated with, for example, a device error. It is also contemplated that the scrolling animation may be provided by selective illumination of individual LEDs within the light bar. For example, it is contemplated that the turn signal is provided by sequentially illuminating adjacent LEDs. In addition, in addition to varying the overall brightness or intensity of the light bar, the intensity of the individual LEDs may be varied to convey information.

As shown and described herein, various embodiments of the present disclosure include a light pipe provided with a diffusive additive. It is contemplated that partial lighting of the light bar (i.e., lighting of fewer than all of the LEDs provided in the light bar) provides sufficient lighting to diffuse light through the light pipe of the present disclosure. It is envisaged to provide different additives with different diffusivities, especially if it is desired to operate the light element at low intensity levels.

No limitations regarding the number of LEDs (or other lighting elements) are provided herein. In embodiments that include the ability to selectively illuminate discrete LEDs within a single lighting element of a light bar, various numbers of LEDs are contemplated, and one of ordinary skill in the art will recognize that the number of animations, patterns, and amount of information that can be conveyed by a light bar will increase with the number of LEDs provided within the light bar.

In various embodiments of the present disclosure, an apparatus is provided with at least one controller. The controller of the present disclosure is provided to communicate with various features within the device including, but not limited to, lighting elements. In various embodiments, at least one controller is provided to enable autonomous or semi-autonomous operation of the device. In addition to being operable to send signals to various portions of the apparatus (e.g., signal a motor associated with a steering column to take various actions), the controller is also operable to receive information from various portions of the apparatus. For example, a motor associated with the drive wheel can be operable to send and receive information to one or more controllers such that when the drive wheel encounters unexpected resistance (e.g., the controller(s) receive the relevant information and signal the device to take corrective action. The corrective action includes, but is not limited to, illuminating or animating various lighting features as shown and described herein.

In various embodiments of the present disclosure, a device is provided with a master control board operable to control various device functions. These functions include controlling the various pumps, motors, and vacuum devices in embodiments where the devices include floor cleaning machines. In some embodiments, a vehicle control unit ("VCU") is provided that is operable to receive signals and information from various components of the device. The VCU is also operable to send signals to the illumination features shown and described herein. Preferably, the VCU is operable to interpret signals received from the at least one additional controller, create pattern or animation signals associated with particular information, and send signals to light bars and/or LEDs provided on the device (e.g., via a serial peripheral interface). The light bar or LED preferably receives DC power from an onboard power supply to execute signal commands from the VCU. The VCU of the present disclosure preferably includes a memory operable to store information related to the various different patterns and animations shown and described herein.

The VCU of the present disclosure is operable to receive information from a variety of sources. For example, the VCU of the present disclosure is operable to receive a signal from an onboard controller and module that the drive wheel and associated motor have encountered an unexpected resistance and/or that the charging port of the device is connected to and receiving power from an external source. The VCU is further operable to transmit signals to at least one control board associated with the light bar or LED, and wherein the transmitted signals include commands related to at least one of a lighting pattern and an animation.

In certain embodiments, a human machine interface ("HMI") is provided that communicates with one or more controllers (e.g., VCUs) of the device. It is contemplated that the HMI of the present disclosure includes memory, including memory for displaying content of a graphical user interface. In various embodiments, an HMI is provided in communication with the VCU. Various embodiments of the present disclosure include a serial peripheral interface (such as a CAN bus) capable of communicating with multiple controllers. As will be appreciated, the CAN bus allows for communication between various different controllers and devices, and in some embodiments, CAN accommodate up to 124 different controllers.

It should be appreciated that the present disclosure is not limited to a particular controller architecture, or a particular number or arrangement of controllers. Inventive aspects of the present disclosure are provided herein that are independent of controller layout. The foregoing is provided for the purpose of illustrating and describing the architecture of certain contemplated embodiments and is not to be taken as limiting.

This summary is neither intended nor should it be interpreted to represent the full extent and scope of the robotic devices and floor cleaners of this disclosure. The present disclosure has been set forth in varying degrees of detail in this summary as well as the drawings and the detailed description, and is not intended to limit the scope of the invention by including or not including elements or components. Additional aspects of the invention will become more apparent from the detailed description, particularly when taken in conjunction with the accompanying drawings.

The above-described embodiments, objects and configurations are neither complete nor exhaustive. As will be appreciated, other embodiments of the invention may use one or more of the features set forth above or described in detail below, either alone or in combination.

The phrases "at least one," "one or more," and/or "as used herein are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions "at least one of A, B and C", "at least one of A, B or C", "one or more of A, B and C", "one or more of A, B or C", and "A, B and/or C" means a alone, B alone, C, A alone and B together, a and C together, B and C together, or A, B and C together.

The term "a" or "an" entity as used herein refers to one or more of such entities. Thus, the terms "a" (or "an") "one or more" and "at least one" may be used interchangeably herein.

The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Thus, the terms "comprising," "including," or "having," and variations thereof, are used interchangeably herein.

It should be understood that the term "means" as used herein, in accordance with U.S. patent Law 112(f), should be given its broadest possible interpretation. Accordingly, the claims including the term "means" are intended to cover all structures, materials, or acts set forth herein and all equivalents thereof. Further, the structures, materials, or acts and their equivalents are intended to include all matter described in the summary of the invention, brief description of the drawings, detailed description, abstract, and claims themselves.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the general description of the invention given above and the detailed description given below, serve to explain the principles of these embodiments. In certain instances, details that are not necessary for an understanding of the present invention or that render other details difficult to perceive may have been omitted. It should be understood, of course, that the invention is not necessarily limited to the particular embodiments illustrated herein. Additionally, it should be understood that the drawings are not necessarily drawn to scale.

Fig. 1A is a front perspective view of a device having communication features according to one embodiment of the present disclosure.

FIG. 1B is a front view of the apparatus of the embodiment of FIG. 1A.

Fig. 2A is a front perspective view of the apparatus of the embodiment of fig. 1A.

Fig. 2B is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 3A is a front perspective view of the apparatus of the embodiment of fig. 1A.

Fig. 3B is a front view of the apparatus of the embodiment of fig. 1A.

FIG. 4A is a front perspective view of the apparatus of the embodiment of FIG. 1A.

Fig. 4B is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 5A is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 5B is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 5C is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 6A is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 6B is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 6C is a front view of the apparatus of the embodiment of fig. 1A.

Fig. 7 is a perspective view of a light guide according to one embodiment of the present disclosure.

Fig. 8 is a cross-sectional view of a light guide according to one embodiment of the present disclosure.

Fig. 9A is a perspective view of a light guide according to one embodiment of the present disclosure.

Fig. 9B is a plan view of the light guide of the embodiment of fig. 9A.

Fig. 10A is a perspective view of a light-guide according to one embodiment of the present disclosure.

Fig. 10B is a plan view of the light-guide of the embodiment of fig. 10A.

Fig. 11 is a schematic view of a lighting element and related features according to one embodiment of the present disclosure.

FIG. 12 is a graph illustrating percent light transmission as a function of wavelength for materials contemplated for use with certain embodiments of the present disclosure.

FIG. 13 is a graph illustrating percent light transmission as a function of incident angle for a light pipe according to certain embodiments of the present disclosure.

FIG. 14 is a perspective view of a light pipe according to one embodiment of the present disclosure.

FIG. 15 is an elevation view of a diffusing material contemplated for use with embodiments of the present disclosure.

FIG. 16 is a perspective view of a light pipe incorporated into a cleaning device according to one embodiment of the present disclosure.

FIG. 17 is a perspective view of a light pipe incorporated into a cleaning device according to one embodiment of the present disclosure.

FIG. 18 is a perspective view of a light element incorporated into a cleaning device according to one embodiment of the present disclosure.

FIG. 19 is a perspective view of a cleaning device having a light element according to one embodiment of the present disclosure.

FIG. 20 is a table showing various light colors and intensities contemplated by the present disclosure.

FIG. 21 is a table showing different light sequences or animations contemplated by the present disclosure.

Similar components and/or features may have the same reference numerals. Further, various components of the same type may be distinguished by following the reference label by a letter that distinguishes among the similar components. If only the first reference label is used, the description is applicable to any one of the similar components having the same first reference label irrespective of the second reference label.

Detailed Description

Fig. 1 is a perspective view of a floor cleaning apparatus 2 according to one embodiment of the present disclosure. Fig. 1B is a front view of the apparatus 2 of fig. 1A. As discussed, the methods, systems, and features of the present disclosure that allow a device to communicate with other devices and humans are not limited to use with floor cleaning devices. However, the embodiment of fig. 1A-1B provides a floor cleaning device 2, the floor cleaning device 2 comprising a device that can operate in a human-controlled, semi-autonomous or fully autonomous mode. The apparatus 2 comprises a chassis 4, the chassis 4 having a front 6, a rear 8 and left and right side portions 10, 12 which together form an outer casing of the apparatus 2. The device 2 comprises a platform at the rear of the device and a steering wheel 14 or similar user interface for controlling the device when it is provided in a human control mode. The device 2 also includes the ability to operate without an onboard user and in an autonomous mode (in which the device 2 is able to navigate automatically and clean a space). U.S. patent application publication No. 2006/0253224 to Tani et al, which is incorporated herein by reference in its entirety, discloses a self-guided cleaning robot. Various features, devices and methods of Tani et al are contemplated for use in embodiments of the present disclosure.

Although not shown in fig. 1A-1B, it is contemplated that the apparatus of the present disclosure includes various cleaning devices on a lower portion of the apparatus. These cleaning devices include, for example, pads, brushes, polishers, vacuum elements, and the like. It is also contemplated that the lower portion of the apparatus 2 includes at least one wheel on the underside of the apparatus that is operable to power the apparatus 2, transmit the apparatus 2, and/or steer the apparatus 2.

The device 2 includes various illumination features. As shown, the apparatus 2 includes side panels, a front lighting element 18, and an upper lighting element 20. However, the devices of the present disclosure are not limited in the number, size, spacing, and arrangement of the lighting elements. For example, in fig. 1A-1B, the lighting elements preferably comprise LED lighting elements that are partially recessed within the body portion of the device 2 to create an aesthetically pleasing appearance. An angled recess 22 is provided on the body member of the device 2 to transmit and diffuse light from the LED element(s).

The lighting elements of the various embodiments of the present disclosure include the ability to communicate information. For example, in various embodiments, the device 2 includes a controller and programming logic to operate the lighting elements of the device to provide function-specific signals of at least one of the operational state of the device, the currently occurring action of the device, the upcoming action of the device, the task completion status, and/or the current demand of the device (e.g., from human intervention or maintenance).

As shown in fig. 2A-2B, the device 2 is operating a portion of the upper lighting element 20 and a portion of the front lighting element 18 to indicate to a human that the device is about to perform a left turn, which may be in a clean environment. This information is conveyed by flashing or switching the upper lighting element 20 and the left portion of the front lighting element 18 in a manner that is logical and intuitive to humans and known to be associated with left turns. Similarly, fig. 3A-3B illustrate the device 2 notifying or indicating an upcoming right turn by flashing the opposite side of the upper lighting element 20. In some embodiments, the directional indicator is provided by using a yellow light typically associated with a turn or warning indicator.

Fig. 4A to 4B illustrate the operation of the lighting element on the device 2 to indicate that an effective cleaning operation is being performed. As shown, the device 2 includes a front lighting element 18 and an upper lighting element 20. In the depicted embodiment, these elements are effective during the cleaning operation, and preferably pulsate in a significant manner. The pulsing preferably includes a relatively low frequency (e.g., 0.5Hz) that is operable to draw the attention of humans without indicating an emergency or dangerous condition associated with a higher frequency of blinking or pulsing (e.g., greater than or equal to 1.0 Hz). In a preferred embodiment, the light color for indicating an ongoing cleaning operation comprises a neutral color that is separate and distinct from, for example, the turn indicator light and the emergency stop light. In some embodiments, light in the blue spectrum is emitted during standard cleaning operations, and wherein all systems operate normally. Although not shown in fig. 4A-4B, additional lighting elements, such as side panel lighting elements, may be illuminated to indicate that a cleaning operation is occurring (and/or to indicate other activities or states).

Fig. 5A-5C depict the device 2 of the present disclosure providing a warning indication to a person in the vicinity. As shown in fig. 5A-5B, the device 2 includes at least one front lighting element 18 that is pulsed to provide a warning signal. As shown in the progression provided by fig. 5A, 5B, and 5C, the light gradually increases and decreases in intensity. Preferably, the sequence, maximum intensity and color of light emitted during the warning indication provided in fig. 5A-5C is different from the sequence, maximum intensity and color provided in the cleaning operation of fig. 4A-4B, for example. In various embodiments, the device of the present disclosure includes a controller and built-in logic to selectively activate certain lighting features and operations at appropriate times. For example, it is contemplated that the devices of the present disclosure include a camera and/or proximity sensor, and that the warning indicia is provided only if and when the device detects that a person is within a certain radius relative to the device. Similarly, when a human is known not to be within a particular area, the device may save power by reducing lighting functions and features (e.g., the device may determine that a human is not present while operating within a school building after work, and thus reduce or eliminate lighting operations).

Fig. 6A-6C illustrate the device 2 of the present disclosure operating a dynamic signaling function. As shown, the device 2 includes a lower lighting element 18 and an upper lighting element 20 that operate in a manner indicative of dynamic operation. For example, increasing light as shown by the process of fig. 6A-6C can operate to indicate to the user that the device is charging. The static light emission is operable to indicate a fluid fill level. For example, the condition shown in fig. 6B is operable to indicate that a fluid collection container onboard the device includes a certain fill level (e.g., 3/5 full).

Fig. 7 is a perspective view of a light guide 30 or light pipe according to one embodiment of the present disclosure. As shown, the light guide 30 includes an inlet 32 and an outlet 34. The inlet 32 and outlet 34 comprise an entry point and an exit point for light, respectively. The inlet and outlet comprise light transmissive features and may, but need not, comprise apertures. The light-guide 30 also includes an angle or bend 36. The bend 36 of the embodiment of fig. 7 comprises a 90 degree bend such that the outlet 34 is positioned orthogonal to the inlet 32. In various embodiments, the light guides of the present disclosure include a conduit for guiding light from a light source (e.g., an LED). Preferably, the light guide comprises a smooth, highly polished inner surface to maximize light transmission.

Fig. 8 is a cross-sectional plan view of a light-guide 40 according to one embodiment of the present disclosure. As shown, the light guide 40 is provided in combination with at least one lighting element 42. The lighting element 42 of fig. 8 comprises an LED lamp provided on a circuit board 43. The light guide comprises an inner conduit 44, which inner conduit 44 comprises a first portion 46 connected to a second portion 48, and wherein the first and second portions are provided orthogonal to each other. A bend 50 is provided. As shown, the bend 50 comprises a 90 degree bend having an inner surface 52, the inner surface 52 comprising a 45 degree angle having a reflective prismatic inner surface to redirect light energy from the first portion 46 to the second portion 48. Allowing light to exit the light guide at an outlet 54, which outlet 54 may be provided with one or more lenses to produce the desired visual effect. The lens position may vary. For example, embodiments of the present disclosure contemplate providing one or more lenses at various locations along the path of light emitted from an LED or similar light source. The lens may be provided directly in front of the light source and does not have to be positioned at the opposite end of the light guide with respect to the light source.

Fig. 9A is a perspective view of a light guide 60 according to one embodiment of the present disclosure. As shown, the light guide 60 of fig. 9A includes a 90 degree bend 62 formed by a curved portion of the light guide 60. The lighting element 64 is provided in combination with an inlet 66 of the light guide. The exit 68 of the light guide is provided substantially orthogonal to the entrance 66. Fig. 9B is a plan view of the light-guide 60 of fig. 9A, showing the exit area 70 of the light-guide 60 in detail. As shown, the curved and concave inner surface of the curved portion 62 provides a certain amount of reflection, refraction, and transmission of light from the inlet 66 to the outlet 68. The exit area 70 emits light generated by the light source 64. However, the light transmission from the light source 64 to the outlet 70 is partial or incomplete.

Fig. 10A is a perspective view of a light guide 80 according to one embodiment of the present disclosure. As shown, the light guide 80 of fig. 10A includes a 90 degree bend 82 formed by an angled portion of the light guide 80. The lighting element 84 is provided in combination with an inlet 86 of the light guide. The exit 88 of the light guide is provided substantially orthogonal to the entrance 86. Fig. 10B is a plan view of the light-guide 80 of fig. 10A, showing the exit area 90 of the light-guide 80 in detail. As shown, the angled inner surface of the bend 82 (e.g., a planar surface provided at 45 degrees relative to the incident light) provides a certain amount of reflection, refraction, and transmission of light from the inlet 86 to the outlet 88. The exit area 90 emits light generated by the light source 84. Providing the angled inner planar portion of the light guide 80 provides more complete and complete light transmission, at least as compared to the embodiment of fig. 9A-9B. Light guide elements are contemplated for use with various embodiments of the present disclosure. In various preferred embodiments, the light-guide element according to the embodiment of fig. 10A-10B is provided, for example, within a cleaning machine. However, it is also contemplated that the light guide 60 of fig. 9A-9B is provided in the apparatus of the present disclosure, particularly where it is desired to emit a softer or less intense amount of light from the light source.

Fig. 11 is a schematic diagram of a portion of the illumination system 100. As shown, the system 100 includes a power supply 102. In various embodiments, the power source 102 comprises at least one rechargeable battery provided on or in the floor cleaning device. The power supply 102 is connected to a power management device or controller 104 and to a lighting element 108. As discussed, the lighting elements of the present disclosure preferably include one or more LEDs. As shown, a signal processor 106 is provided. The signal processor 106 is operable to receive various information from the cleaning machine (e.g., signals relating to battery status, speed of the device, information about nearby people and objects, etc.) and control at least one of the intensity and color of the lighting elements 108.

FIG. 12 is a graph illustrating percent light transmission as a function of wavelength for materials contemplated for use with certain embodiments of the present disclosure. In various embodiments, a diffusive additive is provided on at least a portion of the light pipe or light guide. One refractive additive contemplated for use with embodiments of the present disclosure is a commercially available additive from RTP company (RTP 0300S-900173). As shown in fig. 12, this additive allows transmission of between about 80% and 90% of light in the wavelength range of 400 to 700 nm. FIG. 13 is a graph of light transmittance as a function of angle of incidence for at least such additives contemplated for use with embodiments of the present disclosure. As shown, an angle of incidence at or below 1 degree provides optimal light transmission, with a percentage range that increases substantially linearly from about 50% at 1 degree to 100% transmission without providing an angle of incidence.

FIG. 14 is a perspective view of a light pipe 120 according to one embodiment of the present disclosure. As shown, light pipe 120 comprises a substantially straight light pipe with no bends or angles along the light path. The light path is generally defined as the depth of the light pipe 120 between the rear portion 122 and the front portion 124. Preferably, at least one lighting element (e.g., LED) is provided at or near the rear portion 122 and at least one lens is provided on the front portion 124 of the light pipe. In various embodiments, at least one light guide 120 as shown in fig. 14 is provided at each of the light locations on the machine.

FIG. 15 is an elevation view of a diffusing material contemplated for use with embodiments of the present disclosure. Specifically, a first material 126 is provided that includes a polycarbonate material that is infused or coated with a refractive additive to diffuse light. For purposes of comparison and illustration, the second material 128 is provided without additives. As shown, the first material 126 includes an enhanced light distribution that is more uniform and generally more aesthetically pleasing than the second material 128.

Fig. 16-17 are perspective views of a light pipe 132 incorporated into a cleaning device 130 according to one embodiment of the present disclosure. As shown, the light pipe 132 is integrated into one or more corners of the chassis of the cleaning device. The light pipe 132 comprises a straight light pipe with no corners or bends along the light path, and includes a body portion 136 and a lens 134. Lens 134 comprises an elongated lens having a curvature and/or rounded corner. However, various sizes, shapes, and orientations are provided for the light guides and lenses of the present disclosure. As shown in fig. 16-17, the light pipe 132 includes elongated or thin lighting elements that do not significantly change the overall appearance of the machine, and are recessed or may be at least partially recessed within a portion of the chassis of the device 130.

FIG. 18 is a perspective view of a light element 140 incorporated into a cleaning device 130 according to one embodiment of the present disclosure. Fig. 18 shows a rear portion of the cleaning device 130, and wherein the rear portion includes a platform 142 for receiving a user. The apparatus of the present disclosure may be provided with or without a chassis. For example, it is contemplated that the fully autonomous device of the present disclosure has no platform. Whether or not a platform is provided, at least one rear facing light element 140 is provided. The light element 140 preferably comprises a light pipe as shown and described herein, wherein at least a portion of the light pipe is recessed or contained within the body of the device, and wherein a lens or outer portion of the light pipe is positioned such that it is operable to emit light from a rear portion of the device.

FIG. 19 is a perspective view of a cleaning device 130 having light elements 150a, 150b, 150c, 150d according to one embodiment of the present disclosure. The provision and location of the lighting elements of fig. 19 are provided for illustrative purposes, and to indicate some contemplated locations of the lighting elements of the present disclosure. Fig. 19 does not provide a limitation as to the total number, size or location of lighting elements. As shown, at least four forward-facing or partially forward-facing light elements 150a, 150b, 150c, 150d are provided. It is contemplated that the lighting elements are comprised of various light guides or light pipe structures as shown and described herein and are capable of emitting various different light colors, patterns, animations and the like.

FIG. 20 is a table showing various light colors contemplated by the present disclosure. As shown in fig. 20, a variety of different colors are contemplated by the present disclosure, and the lighting elements shown and described herein are operable to emit any one or more of the depicted colors, as well as combinations of colors. The different colors are shown to include variations in the intensity of the component colors (i.e., red, green, blue intensities), and where the intensity of each component color ranges between 0 and 255. It is also contemplated that certain colors are specific to and/or associated with certain information or device functions. For example, various colors in the visible spectrum are associated with or assigned to convey information related to the automatic or normal function of the device. In some embodiments, the blue wavelengths shown in fig. 20 are emitted when the device is in normal cleaning operation or normal transport operation. When the device communicates information related to battery operation (e.g., demand for charging, completion of charging, etc.), a green wavelength is associated and emitted. When an error is encountered (e.g., the device is unable to overcome the obstacle, a mechanical failure has occurred, etc.), the red wavelength is correlated and emitted. For the purpose of the indicated warning or warning, visible light in the yellow range is associated and emitted.

FIG. 21 is a table showing different light sequences or animations contemplated by the present disclosure. As shown, four different light "animations" are provided. As used herein, the term "animation" is intended to refer to temporal changes in light emission. This term includes, but is not limited to, the change in light intensity or color over time. The light animation shown in fig. 21 may include any one or more of the different colors of the visible spectrum. Additionally, the four different animations shown in fig. 21 are not meant to be exhaustive, but merely illustrate a few contemplated animations of the present disclosure that may be emitted by the lighting elements of the present disclosure. As shown, a constant light emission is envisaged. The constant emission of fig. 21 is illustrative and includes a substantially constant brightness or intensity over a period of at least about 6 seconds. Such constant light emission is contemplated to include various information depending on the color of the emitted light. For example, a constant blue emission is envisaged to indicate that the device is operating normally. As further shown in fig. 21, a pulsatile animation is provided in which the light intensity varies continuously in a substantially sinusoidal manner. Further, a rise and fall animation is contemplated, wherein the intensity or brightness is varied, and wherein the intensity is maintained or paused at a maximum and a minimum, as shown in fig. 21. Also contemplated are cyclical or cyclical animations in which the light intensity gradually increases or decreases and terminates before reinitiating the cycle. Various additional lighting animations not shown in fig. 21 are contemplated. For example, various "blinking" animations are contemplated. The flashing may comprise a regular single flash of light (e.g. at 1Hz), or may comprise a double flash-pause-double flash animation. Accordingly, one of ordinary skill in the art will recognize that no limitations with respect to light animation are provided herein.

Although the following text sets forth a detailed description of numerous different embodiments, it should be understood that the detailed description is to be construed as exemplary only and does not describe every possible embodiment since describing every possible embodiment would be impractical, if not impossible. Numerous alternative embodiments could be implemented, using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims. To the extent that any term recited in the claims at the end of this patent is referred to in this patent in a manner consistent with a single meaning, that is done for sake of clarity only so as to not confuse the reader, and it is not intended that such claim term by limited, by implication or otherwise, to that single meaning.

While various embodiments of the present invention have been described in detail, it is apparent that modifications and adaptations of those embodiments will occur to those skilled in the art. Moreover, references herein to "the invention" or aspects thereof should be understood to refer to certain embodiments of the invention, and should not necessarily be construed as limiting all embodiments to the specific description. It is to be expressly understood that such modifications and adaptations are within the scope and spirit of the present invention.