System and method of a semi-autonomous cleaning apparatus with adjustable cleaning parameters
A system and method of a semi-autonomous cleaning apparatus with adjustable cleaning parameters. A floor cleaning system of a semi-autonomous cleaning apparatus adapts the cleaning parameters by way of one or more control systems in order to optimize cleaning performance in the specific context and application of operation. Using sensors, the front or rear sensing modules of the semi-autonomous cleaning apparatus can detect different floor types and adjust the parameters accordingly prior to initiating a cleaning or polishing plan for regular floors and VCT floor finishes. Floor shininess can also be detected by measuring the reflection of a light source (i.e., LED strip) by a camera sensor. Machine learning algorithms can be used to enable floor cleaning or floor polishing.
1 . A semi-autonomous cleaning apparatus configured for adjustable floor cleaning operations, comprising:
a frame;
a processor;
a front sensing module and a rear sensing module, each sensing module including at least one sensor;
a cleaning assembly configured for floor cleaning operations; and
a light source mounted to emit light toward a floor surface and a camera oriented to capture an image of a reflection of the light source from the floor surface;
wherein the processor is configured to:
receive sensor data from at least one of the front sensing module or the rear sensing module;
detect a floor type based on the sensor data;
when the floor type is an incompatible floor type, stop operation of the cleaning apparatus;
when the floor type is a non-Vinyl Composite Tile (VCT) floor type, select an appropriate cleaning setting based on the detected floor type;
when the floor type is a VCT floor type, select an operating mode comprising at least a cleaning mode and a polishing mode;
when the operating mode is the polishing mode, determine a shininess value for the floor surface by processing the captured image of the reflection of the light source, and select a polishing setting based at least on the shininess value;
provide instructions to the cleaning apparatus to initiate cleaning or polishing; and
send instructions to a cleaning assembly module of the cleaning apparatus to execute the instructions.
2 . The apparatus of claim 1 , wherein stopping operation comprises stopping movement of the cleaning apparatus and not executing a cleaning plan or a polishing plan.
3 . The apparatus of claim 1 , wherein at least one sensor of at least one of the front sensing module or the rear sensing module comprises a camera.
4 . The apparatus of claim 3 , wherein the camera comprises an ESP32 camera module and the light source comprises an LED strip.
5 . The apparatus of claim 3 , wherein the front sensing module is mounted on a front of the apparatus at an angle adapted to capture sensing data of the floor and oriented to take images of the floor.
6 . The apparatus of claim 1 , wherein the incompatible floor type includes carpet, astro-turf or grass.
7 . The apparatus of claim 1 , wherein selecting the polishing setting comprises executing, on the processor, a machine learning model trained to predict a gloss value from the captured image.
8 . The apparatus of claim 1 , wherein the cleaning assembly comprises swappable or replaceable cleaning pads.