System and method of geo-locating mobile apparatus

A system and method are provided for determining a location of a mobile apparatus. The mobile apparatus can include a chassis, a communications module, and a controller including a processor and memory, wherein the processor is programmed to perform instructions that are stored in the memory. The instructions can include defining an offline perimeter surrounding the chassis, locating a chassis position in relation to the offline perimeter, and determining whether the chassis position is outside the offline perimeter. Upon making this determination, the processor is programmed to establish communication between the mobile apparatus and the central location via the communication module, receive an indication from a network that the chassis is located outside an online perimeter that is larger than the offline perimeter, and output a signal upon receiving the indication.

TECHNICAL FIELD

The present invention relates to a system and method of geographically locating a mobile apparatus, such as, but not limited to, a mobile cleaning machine.

BACKGROUND

Mobile cleaning machines, such as floor cleaning machines, are generally known in the art. Many mobile cleaning machines can be commonly divided into two categories: a first category including mobile cleaning machines in which the operator is standing on the floor and walking behind the machine (“walk-behind” machines), and a second category including mobile cleaning machines in which the operator is sitting or standing on the machine itself (“ride-on” machines). Because of the mobility of such machines, it is possible for the machines to be stolen or to go missing. In some geographic locations, up to 20% of mobile cleaning machines go missing annually.

Similar theft and loss issues are common with mobile and portable devices that, for example, are dedicated to a particular facility (e.g., building or other property) but that are susceptible to theft or loss based upon their mobile and portable nature. Examples of such other devices include forklifts, loaders, excavators, scissor lifts, lawnmowers, motorized carts, ATVs, and other wheeled or tracked vehicles.

One solution to the theft and loss issues just described is the use of online geographical location systems. Online geographical location systems utilize online systems such as a global positioning system (GPS), a cellular network, or a radio communication network. GPSs utilize space-based satellites that communicate with a GPS receiver located on the mobile apparatus. The GPS satellites and GPS receiver communicate in order to geographically locate the GPS receiver, and thus the mobile apparatus. In contrast, geographical location systems utilizing cellular networks use the position of a cellular receiver located on the mobile apparatus relative to a plurality of cellular towers. For example, the process of triangulation or trilateration can be used to determine the position of the cellular receiver. Triangulation is the process of determining the location of the cellular receiver by measuring angles between the cellular receiver and two or more cellular towers, whereas trilateration is the process of determining the location of the cellular receiver by measuring the distances between the cellular receiver and two or more cellular towers. Geographical location systems utilizing a radio communication network use similar methods as those used with cellular networks, including but not limited to, triangulation and trilateration.

Online geographical location systems typically require constant online communication. Constant online communication can result in excess drainage of the power source (e.g., the batteries powering the mobile apparatus). Such communication can also utilize communication resources regardless of whether the device being monitored is moving or the extent to which the device has moved. Further, constant online communication can result in excess expenses as a result of data charges.

SUMMARY

It is thus an object of the present invention to provide a system and method for geographically locating a mobile apparatus, such as a cleaning machine in an improved manner, such as by reducing consumption of communications resources, reducing power usage, and/or reducing charges associated with communications performed in the locating process.

In some embodiments, the present invention provides a mobile apparatus operable to communicate with a central location, wherein the mobile apparatus includes a chassis, a communications module, and a controller including a processor and memory, and wherein the processor is programmed to perform instructions stored in the memory. The instructions can include defining an offline perimeter surrounding the chassis, locating a chassis position in relation to the offline perimeter, and determining whether the chassis position is outside the offline perimeter. Upon making this determination, the processor is programmed to establish communication between the mobile apparatus and the central location via the communication module, receive an indication from a network that the chassis is located outside an online perimeter that is larger than the offline perimeter, and output a signal upon receiving the indication, wherein the signal reflects a location of the mobile apparatus outside of the online perimeter.

Some embodiments of the present invention provide a method of geo-locating a mobile apparatus including a chassis, wherein the method includes defining an offline perimeter surrounding the chassis, monitoring the position of the chassis in relation to the offline perimeter, determining whether the chassis is located outside the offline perimeter, and upon this determination, the establishing communication between the mobile apparatus and a central location, defining an online perimeter surrounding the chassis, wherein the online perimeter has a larger area than the offline perimeter, monitoring the position of the chassis in relation to the online perimeter, determining that the chassis is located outside of the online perimeter, and outputting a signal that the chassis is located outside of the online perimeter, wherein the signal indicates a location of the mobile apparatus outside of the online perimeter.

In some embodiments, the present invention provides a geo-location system for determining a location of a mobile apparatus, wherein the system includes a mobile apparatus having a mobile communications module, a central location including a network communications module and a positioning module, and a controller that has a processor and memory. The processor is operable to perform instructions stored in the memory to define an offline perimeter surrounding the mobile apparatus, locate a position of the mobile apparatus in relation to the offline perimeter, and determine whether the position is outside the offline perimeter. Upon the determination, the processor is operable to perform instructions to communicate with the network communications module via the mobile communications module, receive an indication from the central location that the mobile apparatus is located outside an online perimeter that is larger than the offline perimeter, and transmit a signal upon receiving the indication, wherein the signal is an indication of a location of the mobile apparatus outside of the online perimeter.

Other aspects of the present invention will become apparent by consideration of the detailed description and accompanying drawings.

DETAILED DESCRIPTION

Although the invention is described herein in conjunction with a mobile cleaning machine (e.g., a floor scrubbing machine), the invention may apply to any mobile apparatus, including but not limited to a motor vehicle; a semi-truck trailer; a motorized cart; a forklift, excavator, loader, scissor lift, or other construction equipment; an all-terrain vehicle; a boat or other watercraft; a mowing device (e.g., a lawn mower), a dirt and debris pickup device (e.g., a vacuum), other wheeled or tracked vehicles. Some embodiments of the present invention also apply to other portable equipment and devices.

FIGS. 1, 5, and 6illustrates a geographical location (geo-location) system100that can be used in conjunction with, and to geographically locate, a mobile or portable apparatus. As illustrated, the mobile or portable apparatus is a cleaning machine105, although the geo-location system100can track other apparatus. The apparatus105will be referred to as a “cleaning machine” or purposes of description.

The geo-location system100includes an offline geographical fence110(referred to as an “offline geo-fence” for purposes of description) and an online geographical fence115(referred to as an “online geo-fence” for purposes of description). The offline geo-fence110defines a first perimeter surrounding the cleaning machine105, and the online geo-fence115defines a second, larger perimeter surrounding the cleaning machine105. As illustrated, the first perimeter is circular and has a first diameter, and the second perimeter is also circular and has a second diameter. The illustrated first diameter of the offline geo-fence110is smaller than the second diameter of the online geo-fence115. Although the offline geo-fence110and the online geo-fence115are described and illustrated primarily as circular perimeters, with the first perimeter being smaller than the second perimeter, the geo-fences115can have perimeters of any regular or irregular shape.

FIG. 2illustrates an exemplary mobile cleaning machine105that can be used in conjunction with the system100. As illustrated, the cleaning machine105is a “ride-on” floor cleaning machine, although the machine105can take the form of a “walk-behind” cleaning machine. The cleaning machine105is configured to clean a surface such as a floor and includes, among other things, a frame or chassis120. The chassis120supports several components of the cleaning machine105, including but not limited to, a tank125, a brush unit130, and a suction element (e.g., a squeegee assembly)135.

The tank125holds a liquid (e.g., cleaning solution including water and a cleaning agent) that is used by the cleaning machine105during operation. The brush unit130scrubs the surface to agitate and remove dirt or debris. The suction element135controls and draws liquid and debris up from the surface.

With continued reference toFIG. 2, the chassis120is coupled to and supported by a front castor wheel140and one or more rear wheels145. The illustrated cleaning machine105is driven by the rear wheels145and is steerable via the front wheel140, although the machine105can be driven with any suitable combination of drive and driven wheels. The wheels145are powered by one or more motors150(FIG. 3). Although the cleaning machine105described and illustrated in the accompanying drawings includes the wheels140,145for movement of the cleaning machine105over a surface, it will be appreciated that other types of devices can be used to move the cleaning machine105. These other types of devices can include, for example, powered or un-powered tracks. For the sake of simplicity, the term “wheel” as used herein and in the appended claims refers to any and all such moving elements.

FIG. 3illustrates a block diagram of a control system200associated with the cleaning machine105ofFIG. 2. The control system200includes a controller205that is electrically and/or communicatively connected to a variety of modules or components of the cleaning machine105. For example, the illustrated controller205is connected to motors150of the cleaning machine105(for driving wheels of the cleaning machine105, one or more pumps for moving fluid within the cleaning machine105, and the like), a power supply module210, a user interface module215, one or more sensors220, and a communications module225. Each of the motors150, the power supply module210, the user interface module215, the sensors220, and the communications module225is supported upon and coupled to the cleaning machine105.

The controller205can include any suitable combination of hardware and software that is operable to, among other things, control the operation of the cleaning machine105. The exemplary controller205includes a plurality of electrical and electronic components that provide power, operational control and, in some cases, protection to the components and modules within the controller205and/or the cleaning machine105. For example, the controller205can include, among other things, a processing unit230(e.g., a microprocessor, a microcontroller, or another suitable programmable device) and a memory235, and in some embodiments can be implemented partially or entirely on a semiconductor (e.g., a field-programmable gate array (“FPGA”)) chip, such as a chip developed through a register transfer level (“RTL”) design process.

The memory235can include, for example, a program storage area and a data storage area. The program storage area and the data storage area can include one or more different types of memory, such as read-only memory (“ROM”), random access memory (“RAM”) (e.g., dynamic RAM (“DRAM”), synchronous DRAM (“SDRAM”), etc.), electrically erasable programmable read-only memory (“EEPROM”), flash memory, a hard disk, an SD card, or other suitable magnetic, optical, physical, or electronic memory device. The processing unit230can be connected to the memory235for execution of software instructions that are capable of being stored in a RAM of the memory235(e.g., during execution), a ROM of the memory235(e.g., on a more permanent basis), or another non-transitory computer readable medium such as another memory or a disc. Software included in some implementations of the cleaning machine105can be stored in the memory235of the controller205, and can include, for example, firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. In some embodiments, the controller205is configured to retrieve from memory and execute, among other things, instructions related to the control processes and methods described herein. As will be appreciated, the controller205can include additional, fewer, or different components.

The illustrated power supply module210supplies a nominal voltage to the controller205and other components or modules of the cleaning machine105. More specifically, the illustrated power supply module210receives DC power from one or more batteries or battery packs (not shown), and outputs the nominal voltage to the controller205and the other components or modules of the cleaning machine105. The power supply module210can receive power from other grid-independent power sources (e.g., a generator, a solar panel, etc.) in some cases, or an AC voltage from which the nominal voltage is output to the controller205and the other components or modules of the cleaning machine105.

In some embodiments, the power supply module210receives power from the cleaning machine105when the machine105is in operation and supplies the nominal voltage to the components and modules of the cleaning machines105. In these embodiments, one or more batteries or battery packs can be charged (e.g., using a high-speed charger) during operation of the cleaning machine105. When the cleaning machine105is not in operation, the power supply module210does not supply the nominal voltage to the components and modules of the cleaning machine105. Instead, the power supply module210receives power from the batteries or a battery pack and supplies the nominal voltage to the control system200(and possibly other components and modules of the machine105).

The user interface module215is used to control or monitor aspects of the cleaning machine105. For example, the user interface module215of the illustrated embodiment is operably coupled to the controller205to control operation of the cleaning machine105, and can include a combination of digital and analog input or output devices required to achieve a desired level of control and monitoring for the cleaning machine105. For example, the user interface module215includes a display (e.g., a primary display, a secondary display, etc.) and input devices (e.g., a touch-screen display, a plurality of knobs, dials, switches, buttons, etc.). The display can be, for example, a liquid crystal display (“LCD”), a light-emitting diode (“LED”) display, an organic LED (“OLED”) display, an electroluminescent display (“ELD”), a surface-conduction electron-emitter display (“SED”), a field emission display (“FED”), a thin-film transistor (“TFT”) LCD, or a reflective bistable cholesteric display (i.e., e-paper). The user interface module215also can be configured to display conditions or data associated with the cleaning machine105in real-time or substantially real-time. For example, the user interface module215can be configured to display the status of the cleaning machine105, the position and operational status (e.g., rotating or stationary, speed, etc.) of the brush unit130, a fluid level of the tank125, and the like.

With continued reference to the illustrated embodiment, the sensors220include accelerometers220a, position sensors220b, and fluid level sensors220c. The accelerometers220acan sense acceleration of the cleaning machine105in a variety of directions (e.g., an x-direction, a y-direction, a z-direction, and the like). The position sensors220bcan sense the position of the cleaning machine105or the position of various components of the cleaning machine105, such as the position of the cleaning machine105relative to a fixed object (e.g., a wall), or the position of the brush unit130and/or the suction element135relative to the chassis120and/or the floor, or the speed of the cleaning machine105or rotational speed of the brushes. In one non-limiting example, the level sensors220csense a measurement of the fluid contained in the tank125. In another example, the level sensors220measure an angular position of the cleaning machine105relative to a vertical axis. Fewer or more sensors220can be provided on the machine105as desired.

The illustrated communications module225is configured to connect to and communicate with other devices (e.g., a computer, another cleaning machine, etc.) through a network240. The network240can be, for example, a wide area network (“WAN”) (e.g., a global positioning system (“GPS”), a TCP/IP based network, a cellular network, such as, for example, a Global System for Mobile Communications (“GSM”) network, a General Packet Radio Service (“GPRS”) network, a Code Division Multiple Access (“CDMA”) network, an Evolution-Data Optimized (“EV-DO”) network, an Enhanced Data Rates for GSM Evolution (“EDGE”) network, a 3GSM network, a 4GSM network, a Digital Enhanced Cordless Telecommunications (“DECT”) network, a Digital AMPS (“IS-136/TDMA”) network, or an Integrated Digital Enhanced Network (“iDEN”) network, etc.).

The network240can be a local area network (“LAN”), a neighborhood area network (“NAN”), a home area network (“HAN”), or personal area network (“PAN”) employing any of a variety of communications protocols, such as Wi-Fi, Bluetooth, ZigBee, etc. Communications through the network240by the communications module225or the controller205can be protected using one or more encryption techniques, such as those techniques provided in the IEEE 802.1 standard for port-based network security, pre-shared key, Extensible Authentication Protocol (“EAP”), Wired Equivalency Privacy (“WEP”), Temporal Key Integrity Protocol (“TKIP”), Wi-Fi Protected Access (“WPA”), and the like.

The connections between the communications module225and the network240are, for example, wired connections, wireless connections, or any combination of wireless and wired connections. Similarly, the connections between the controller205and the network240or the network communications module225are wired connections, wireless connections, or any combination of wireless and wired connections. In some embodiments, the controller205or communications module225includes one or more communications ports (e.g., Ethernet, serial advanced technology attachment (“SATA”), universal serial bus (“USB”), integrated drive electronics (“IDE”), CAN bus, etc.) for transferring, receiving, or storing data associated with the cleaning machine105or the operation of the cleaning machine105.

The communications module225communicates, through the network240, with a central location or central control station250(referred to as the “central location” for ease of description). The central location250can be one or a combination of a centrally located computer, a network of computers, and one or more centrally located servers, and functions to store, interpret, and communicate data from one or more cleaning machines105. For example, the central location250can receive data from the cleaning machine105through the network240, interpret the received data, and communicate the interpreted data to a user.

During normal operation, the controller205can be disconnected from the central location250. Disconnection from the central location250can significantly preserve battery power. Therefore, when applicable, it may be desirable to disconnect the cleaning machine105from the central location250.

In some constructions, the controller205can connect with the central location250periodically at least to communicate machine usage data to the central location250. In some exemplary embodiments, the controller205attempts connection with the central location250at predetermined time periods (e.g., every one minute, every five minutes, every ten minutes, etc.). After the controller205successfully connects with the central location250(when the machine105is in operation or not in operation), the communications module225can send a message to the central location250through the network240requesting geographical positioning information, and the online geo-fence115is activated. The controller205may fail to connect with the central location250for a variety of reasons, such as but not limited to the cleaning machine105being positioned 1) within the offline geo-fence110; 2) in an out-of-network area; or 3) in an area where connection to the central location250is impossible.

When disconnected from the central location250, the controller205defines the offline geo-fence110surrounding the cleaning machine105. In some embodiments, the offline geo-fence110is defined using information from the sensors220along with a plurality of mathematical functions. After the offline geo-fence110is defined, the controller205, along with the sensors220, continually tracks the location of the cleaning machine105in relation to the offline geo-fence110. If the cleaning machine105exits the offline geo-fence110, the controller205automatically establishes (or re-establishes) communication with the central location250.

When the communication link between the controller205and central location250has been enabled, the central location250geographically locates the cleaning machine105and can define the online geo-fence115around the cleaning machine105. Thereafter, the central location250can continually track the location of the cleaning machine105relative to the online geo-fence115. The location of the cleaning machine105can be tracked using one of the methods discussed above (e.g., GPS, utilization of a cellular network, utilization of a radio network, etc.). If the cleaning machine105exits the online geo-fence115, the central location250can output a signal, indication, alert, or other communication (referred to as a “signal” for descriptive purposes) to one or more users that the cleaning machine105has exited the online geo-fence115. The signal to one or more users can take the form of one or more of an e-mail, a text message, a phone call, and other digital messages.

The signal can also or instead be communicated to the cleaning machine105. Upon receiving a signal from the central location250, the cleaning machine105can deactivate completely, or partially deactivate while still providing geographical location information to the central location250. For example, the location information can be communicated to the central location250via the user interface module215.

FIG. 4is a flowchart illustrating an exemplary process300of geographically locating the cleaning machine105. It will be appreciated that steps in the process300can differ or vary from what is described below and illustrated in the figures while remaining consistent with a system that can track the location of an apparatus.

With reference toFIGS. 4 and 6, the controller205defines an offline geo-fence110around the cleaning machine105at Step305(or alternatively, an offline geo-fence is at least partially defined by an individual setting up or configuring the cleaning machine at a facility or other location, such as by inputting a perimeter of the offline geo-fence into the memory235of the controller205via the UI module215). At step310, the controller205determines the location of the cleaning machine105in relation to the offline geo-fence110at Step310. The controller205determines whether the location of the cleaning machine105is inside the offline geo-fence110at Step315. If the cleaning machine105is inside the offline geo-fence110, the process300proceeds back to Step315.

If the cleaning machine105is not inside the offline geo-fence110(i.e. the machine105is outside the offline geo-fence110), the controller205activates the communications module225at Step320. At Step325, the controller205sends a message to the central location250through the network240requesting geographical position information for the machine105. The central location250determines a position of the cleaning machine105at Step330and, at Step335, the central location250defines an online geo-fence115around the cleaning machine105based on preset information. For example, the online geo-fence115can be predefined based on the location of the cleaning machine105in relation to one or more cell towers (e.g., defining a cell location or cell ID of the cleaning machine105) or based on one or more distances from a predefined central point. In the cell tower example, a cellular or other signal can be used to ping or locate the cleaning machine105relative to the online geo-fence115. If the cell location or cell ID changes, the system can determine that the cleaning machine has moved outside the online geo-fence115. The online geo-fence115can be defined using only a cell location or cell ID associated with the cell tower, or based on a distance from the cell tower (e.g., within a predefined distance from the cell tower).

When the online geo-fence115is defined by one or more predefined distances relative to a cell tower or another central point, the geo-fence115can be defined by a radial distance from the central point. Other exemplary online geo-fences115can be defined by polygonal shapes or non-uniform distances relative to the central point. Although the offline geo-fence110is illustrated as circular inFIGS. 1 and 6, and the online geo-fence115is illustrated as circular or square inFIGS. 1 and 6respectively, it will be appreciated that the offline geo-fence110and the online geo-fence115can have any size and shape. The offline geo-fence110and the online geo-fence115can have the same shape (e.g., concentric shapes) or different shapes (e.g., a round or circular offline geo-fence110and a trapezoidal online geo-fence115, etc.). In addition, the center of the offline geo-fence110and the online geo-fence115can share a common central point or have different central points.

The central location250tracks the position of the cleaning machine105at Step340and, at Step345, the central location250determines whether the cleaning machine105is within the online geo-fence115. If the cleaning machine105is within the online geo-fence315, the process300proceeds to Step340and continues to track the position of the cleaning machine105. If the cleaning machine105is not within the online geo-fence115(i.e. the machine105is outside the online geo-fence115), the central location250outputs a signal at Step350. For example, the signal can be or include an indicator of the location of the cleaning machine105.

When the offline geo-fence110is defined by the perimeter of a building, for example, the controller205activates the communications module225upon the cleaning machine105leaving the building. Upon activation, the communications module225sends a message to the central location250through the network240requesting geographical positioning information. The online geo-fence115also is activated.

The geo-location system100defines a perimeter or area in which a cleaning machine can be used, and triggers a notification when the machine105is outside the perimeter. The overall perimeter is defined by the offline geo-fence110that encompasses a first area, and the online geo-fence115that encompasses a second, larger area. In some embodiments, the first area is defined by mathematical function (e.g., a polygon) and acts as a sub-fence within the larger, second fenced area. The offline geo-fence110works off the machine105and knowledge of the specific location of the machine105. That is, when the machine105is in the first area, no machine location data is or need be communicated between the machine105and the central location250. Instead, data need only be sent when the machine105leaves the first area.

The illustrated system100activates the online geo-fence115after the machine105leaves the first area defined by the offline geo-fence110, and then actively monitors (e.g., continuously or at predetermined intervals) the machine's location. The system can notify the central location250or appropriate personnel when the machine105is located outside the offline geo-fence110, when the machine105is outside the online geo-fence115, or both. In some circumstances, the system can deactivate the machine105after the machine has left the first area, the second area, or both so that loss of the asset (i.e. the machine105) can be avoided.

With the geo-location system100, the need to transmit data through a third-party communications system, such as a GPS, cellular network, and the like, only exists when the machine105is located outside the offline geo-fence, which in some cases can be set so that any movement of the machine105outside of the offline geo-fence is (or is most likely) unauthorized. Until that point, communication is not required between the machine105and the central location250regarding the location of the machine105. Even if location data communication is provided, (e.g., when the central location250is owned and/or controlled by personnel located within the perimeter defined by the offline geo-fence110), the need and expense associated with a third-party communications system would only exist if, for example, the machine is stolen or otherwise moved from the within the offline geo-fence110without authorization.

The illustrated online geo-fence115encompasses and is larger than the offline geo-fence110, although the offline and online geo-fences110,115can coincide and have the same or substantially the same perimeter. In other words, the offline and online geo-fences110,115can be the same. In such cases, as soon as movement of the machine outside of the offline geo-fence110is detected, the online geo-fence115is activated, and actively monitors (e.g., continuously or at predetermined intervals) the machine's location while also sending a signal to indicate that the machine105has left the online geo-fence115and/or automatically triggering deactivation of the machine105. In such embodiments, movement of the machine105through a larger online geo-fence is not required before provide notification to appropriate personnel and/or authorities that the machine105has been moved outside of an acceptable area (e.g., a facility or other property boundary).