Safety module for a floor cleaning unit
A cleaning unit for cleaning floors comprising a drivetrain, a main controller, a safety module, and one or more cleaning aggregates for cleaning a floor upon which the cleaning unit moves. The main controller may operate the cleaning unit in one of an autonomous mode in which cleaning unit autonomously navigates while cleaning the floor or a manual mode in which the cleaning unit is maneuverable under an applied external force while cleaning the floor. The safety module may be responsive to a plurality of safety inputs such that if a safety input indicates an unsafe condition, the safety module initiates a lockout to stop movement by the cleaning unit. In the autonomous mode, the safety module may be responsive to a first set of safety inputs and in the manual operating mode, the safety module may be responsive to a second set of safety inputs.
1. A cleaning unit for cleaning floors comprising:
a chassis comprising a drive motor, one or more drive wheels, and one or more cleaning aggregates for cleaning a floor upon which the cleaning unit moves;
a main controller adapted to operate the cleaning unit in one of (a) an autonomous mode in which the drive motor causes the one or more drive wheels to navigate the cleaning unit in a direction of travel while the one or more cleaning aggregates cleans the floor or (b) a manual mode in which the cleaning unit is maneuverable under an applied external force while the one or more cleaning aggregates cleans the floor;
a safety module that is responsive to a plurality of safety inputs such that if a safety input indicates an unsafe condition, the safety module initiates a lockout to stop movement by the cleaning unit; and
wherein in the autonomous mode, the safety module is responsive to a first subset of safety inputs that is smaller than the plurality of safety inputs and wherein in the manual operating mode, the safety module is responsive to a second, different subset of safety inputs that is smaller than the plurality of safety inputs.
2. The cleaning unit of claim 1 , wherein the second subset of safety inputs is smaller than the first subset of safety inputs.
3. The cleaning unit of claim 1 , the cleaning unit further comprising a touch sensor that indicates whether the cleaning unit comes into contact with an external object other than the floor, the touch sensor being one of the first subset of safety inputs but not one of the second subset of safety inputs.
4. The cleaning unit of claim 1 wherein the safety module initiates a lockout to stop movement by the cleaning unit if a safety input indicates an unsafe condition persists longer than a predetermined period of time.
5. The cleaning unit of claim 1 , the cleaning unit further comprising a floor sensor that indicates the presence or absence of the floor, the floor sensor being one of the first subset of safety inputs but not one of the second subset of safety inputs.
6. The cleaning unit of claim 1 , the cleaning unit further comprising:
a shell, the shell being exterior to and at least partly covering the chassis, the main controller, and the sensor module;
a shell tilt mechanism, the shell tilt mechanism coupling the shell and the chassis and comprising a lever that is displaceable between a first position in which the shell is constrained against movement with respect to the chassis and a second position in which the shell is not constrained against movement with respect to the chassis and is moveable between at least a first operating position relative to the chassis and a second transport position relative to the chassis; and
a shell tilt mechanism switch that provides a safety input to the safety module indicating whether the shell is in the first operating position or the second transport position.
7. The cleaning unit of claim 6 , wherein the shell tilt mechanism switch is one of the first subset of safety inputs but not one of the second subset of safety inputs.
8. The cleaning unit of claim 1 , the cleaning unit further comprising a manual operating switch that determines whether the cleaning unit is safe to operate in the manual mode, the manual operating switch being one of the second subset of safety inputs.
9. The cleaning unit of claim 8 , wherein the manual operating switch is an enabling switch that must remain engaged for the cleaning unit to operate in manual mode.
10. The cleaning unit of claim 1 , the cleaning unit further comprising a speed sensor indicating a speed at which the cleaning unit is traveling, the speed sensor being one of the first and second subsets of safety inputs, the safety module initiating a lockout to stop movement by the cleaning unit when the speed of the cleaning unit exceeds a first maximum speed in autonomous mode and initiating a lockout to stop movement by the cleaning unit when the speed of the cleaning unit exceeds a second maximum speed in manual mode, the second maximum speed being greater than the first maximum speed.
11. A method of operating a cleaning unit for cleaning floors comprising:
providing a main controller that is configured to operate the cleaning unit in one of:
(a) an autonomous mode in which the main controller receives a plurality of navigation inputs and, responsive to the navigation inputs, the main controller commanding a drive motor to propel one or more drive wheels and navigating the cleaning unit in a direction of travel while cleaning the floor with one or more cleaning aggregates; or
(b) a manual mode in which the main controller is not responsive to the navigation inputs and permitting the cleaning unit to be maneuvered under an applied external force while the one or more cleaning aggregates cleans the floor;
receiving at a safety module a set of safety inputs, including at least a first, a second, and a third safety input, each of the set of safety inputs indicating a normal or unsafe condition;
detecting at the safety module an unsafe condition from the first safety input, and in response to the unsafe condition, the safety module initiating a lockout to stop all movement by the cleaning unit in either of the autonomous mode or the manual mode;
detecting at the safety module an unsafe condition from the second safety input, and in response to the unsafe condition, the safety module initiating a lockout to stop all movement by the cleaning unit in the autonomous mode but not initiating a lockout to stop all movement by the cleaning unit the manual mode; and
detecting at the safety module an unsafe condition from the third safety input, and in response to the unsafe condition, the safety module not initiating a lockout to stop all movement by the cleaning unit in the autonomous mode but initiating a lockout to stop all movement by the cleaning unit the manual mode.
12. The method of claim 11 , wherein the first safety input is selected from the group comprising an emergency stop signal that allows an operator to immediately stop the cleaning unit, a speed sensor indicating a traveling speed for the cleaning unit, and a door position sensor indicating an open or closed state of an exterior door of the cleaning unit.
13. The method of claim 11 , wherein the second safety input is selected from the group comprising an outer shell tilt mechanism switch indicating whether an exterior shell cover of the cleaning unit is in a first operating position or a second transport position, a floor sensor indicating the presence or absence of the floor, and a touch sensor indicating whether the cleaning unit has come into contact with an external object other than the floor.
14. The method of claim 11 , wherein the third safety input is a manual operating switch indicating whether the cleaning unit is safe to operate in the manual mode.
15. A cleaning unit for cleaning floors comprising:
a chassis comprising a drive motor, one or more drive wheels, and one or more cleaning aggregates for cleaning a floor upon which the cleaning unit moves;
a main controller adapted to operate the cleaning unit in one of (a) an autonomous mode in which the drive motor causes the one or more drive wheels to navigate the cleaning unit in a direction of travel while the one or more cleaning aggregates cleans the floor or (b) a manual mode in which the cleaning unit is maneuverable under an applied external force while the one or more cleaning aggregates cleans the floor;
a safety module that is responsive to a plurality of safety inputs, each safety input indicating a normal condition or an unsafe condition, the safety module initiating a lockout to stop movement by the cleaning unit upon detecting an unsafe condition from one of the safety inputs; and
wherein in the autonomous mode, the safety module is responsive to a first set of safety inputs and wherein in the manual operating mode, the safety module is responsive to a second set of safety inputs that is smaller than the first set safety inputs.
16. The cleaning unit of claim 15 , the cleaning unit further comprising a touch sensor that indicates whether the cleaning unit comes into contact with an external object other than the floor, the touch sensor being one of the first subset of safety inputs but not one of the second subset of safety inputs.
17. The cleaning unit of claim 15 wherein the safety module initiates a lockout to stop movement by the cleaning unit if a safety input indicates that an unsafe condition persists longer than a predetermined period of time.
18. The cleaning unit of claim 15 , the cleaning unit further comprising a floor sensor that indicates the presence or absence of the floor, the floor sensor being one of the first subset of safety inputs but not one of the second subset of safety inputs.
19. The cleaning unit of claim 15 , the cleaning unit further comprising:
a shell, the shell being exterior to and at least partly covering the chassis, the main controller, and the sensor module;
a shell tilt mechanism, the shell tilt mechanism coupling the shell and the chassis and comprising a lever that is displaceable between a first position in which the shell is constrained against movement with respect to the chassis and a second position in which the shell is not constrained against movement with respect to the chassis and is moveable between at least a first operating position relative to the chassis and a second transport position relative to the chassis; and
a shell tilt mechanism switch that provides a safety input to the safety module indicating whether the shell is in the first operating position or the second transport position.
20. The cleaning unit of claim 19 , wherein the shell tilt mechanism switch is one of the first subset of safety inputs but not one of the second subset of safety inputs.
21. The cleaning unit of claim 15 , the cleaning unit further comprising a manual operating switch that determines whether the cleaning unit is safe to operate in the manual mode, the manual operating switch being one of the second subset of safety inputs.
22. The cleaning unit of claim 21 , wherein the manual operating switch is an enabling switch that must remain engaged for the cleaning unit to operate in manual mode.
23. The cleaning unit of claim 15 , the cleaning unit further comprising a speed sensor indicating a speed at which the cleaning unit is traveling, the speed sensor being one of the first and second subsets of safety inputs, the safety module initiating a lockout to stop movement by the cleaning unit when the speed of the cleaning unit exceeds a first maximum speed in autonomous mode and initiating a lockout to stop movement by the cleaning unit when the speed of the cleaning unit exceeds a second maximum speed in manual mode, the second maximum speed being greater than the first maximum speed.