Detecting degradation of back squeegee water pick-up performance for autonomous floor scrubbers

Abstract

A system and/or method can be provided for detecting the status of one or more components and/or systems of, for example, a manual, semi-autonomous, or fully autonomous cleaning device or the like. For example, systems and methods can be used for detecting degradation of back squeegee performance. In some embodiments, a system and/or method for detecting the status of one or more components is provided for detecting vacuum performance degradation by monitoring the current (amperage) being drawn by a vacuum motor. In addition, one or more other components can be monitored by inspecting images captured by a camera mounted on a back door of the cleaning device to determine, for example, one or more other problems associated with a squeegee mount, water pick up, and/or the like.

What is claimed: 
     
         1 . A method of implementing a corrective action on a floor scrubber, the floor scrubber having a compromised vacuum function, the floor scrubber having at least one vacuum motor, the method comprising:
 determine normal operating parameters for at least one vacuum motor of the floor scrubber;   determine a range of normal operation of the at least one vacuum motor;   monitoring the operating parameters of the vacuum motor;   comparing at least one current operating parameter to the normal operating range;   if the comparison is outside the normal operating range:
 determine that a compromised vacuum function has occurred; 
 generating at least one alert on the floor scrubber indicating a compromised vacuum function has occurred; and 
   implementing at least one corrective action on the floor scrubber based on the alert.   
     
     
         2 . The method of  claim 1  wherein the operating parameter is selected from a list consisting of current draw, operating voltage, operating power, rotational speed, noise and differential suction. 
     
     
         3 . The method of  claim 1  wherein the alert is selected from a list consisting of a visual light, an audio sound, electronic message, an instant message, a text notification, and a tactile vibration. 
     
     
         4 . The method of  claim 1  wherein the compromised vacuum function is selected from a list consisting of a compromised squeegee, a missing squeegee, a poorly functioning vacuum motor, and a clogged vacuum pathway. 
     
     
         5 . The method of  claim 1  wherein the corrective action is selected from a list consisting of stopping the floor scrubber, stopping the vacuum motor, alerting the operator, and wirelessly transmitting the alert to a remote autonomous floor scrubber management system. 
     
     
         6 . A method of detecting a compromised cleaning operation in a floor scrubber, the method comprising:
 capturing an image of a recently cleaned surface, using at least one camera of the floor scrubber;   analyzing the image for evidence of improper cleaning operation;   detecting a compromised cleaning operation by detecting visual artifacts;   generating an alert; and   implementing at least one corrective action on the floor scrubber based on the cause of the alert.   
     
     
         7 . The method of  claim 6  wherein the step of detecting a compromised cleaning operation further comprises detecting water streaks using an edge detection algorithm. 
     
     
         8 . The method of  claim 6  wherein the step of analyzing the image further comprises of the step of processing the image to enhance edges and remove artifacts. 
     
     
         9 . The method of  claim 8  wherein the edge detection algorithm is a canny algorithm or a variation thereof. 
     
     
         10 . The method of  claim 6  wherein the step of detecting a compromised cleaning operation further comprises of detecting a scratch generated by a hard object stuck under the vacuum cleaning system of the floor scrubber. 
     
     
         11 . The method of  claim 6  wherein the step of detecting a compromised cleaning operation further comprises of detecting irregular ripples or pooling of fluid indicating a misplaced or damaged squeegee. 
     
     
         12 . The method of  claim 6  wherein the step of analyzing the image for evidence of improper cleaning operation further comprises comparing the images of the front and rear cameras on the floor scrubber to detect differences in the images. 
     
     
         13 . The method of  claim 6  wherein the corrective action is to recognize that areas of the cleaned surface have not been cleaned properly and to note the locations of those areas for further cleaning. 
     
     
         14 . The method of  claim 6  where instructions are generated to re-clean areas that have not been cleaned properly. 
     
     
         15 . A method of detecting missing or misaligned mechanical components on a floor scrubber, using a computer processor on the floor scrubber, the method comprising:
 storing a list of mechanical components in memory of the floor scrubber;   storing a list of expected locations of the mechanical components in memory of the floor scrubber;   capturing an image of the mechanical component using at least one camera of the floor scrubber;   analyzing the camera image to identify the mechanical components;   analyzing the position of the identified mechanical components relative to the expected locations of the mechanical components in memory;   generating an alert if the identified mechanical components are misaligned or missing; and   implementing at least one corrective action on the floor scrubber based on the alert.   
     
     
         16 . The method of  claim 15  wherein the mechanical component is selected from a list consisting of a squeegee, a squeegee assembly, bolts, carrier, or idler wheels. 
     
     
         17 . The method of  claim 15  wherein the mechanical component is removable, replaceable or disposable. 
     
     
         18 . The method of  claim 15  wherein the corrective action is selected from a list consisting of stopping the floor scrubber, alerting the operator, wirelessly transmitting the alert to a remote autonomous floor scrubber management system, and requesting service maintenance of the floor scrubber. 
     
     
         19 . The method of  claim 15  wherein the camera is located at the underside, rear, front or side of the floor scrubber. 
     
     
         20 . The method of  claim 19  wherein the camera is located above and in view of the visually monitored mechanical components.