Patent application EP18166055A (EP), filed 2018-04-06
Publication number: EP3415064A1
Title: ROBOTIC CLEANING APPARATUS AND RELATED METHODS
Abstract: A robotic cleaning apparatus (100) for cleaning a dirty object (104) includes a cleaning head (124) and an articulated body (116). The articulated body (116) is coupled to the cleaning head (124) and mountable to the dirty object. The body (116) has one or more actuators (136) that collectively move the cleaning head (124) into contact with surfaces of the dirty object (104). The one or more actuators (136), when activated, collectively rotate the cleaning head (124) relative to the dirty object (104) about first and second axes, and translate the cleaning head relative to the dirty object along an extension axis. A method of robotically cleaning is also disclosed.
IPC codes: A47K  17/    00            A I
B25J  11/    00            A I
B25J  13/    00            A I
B25J  18/    02            A I
E03D   9/    00            A I
G05D   1/    02            A I
Claims: number: 1
text: A robotic cleaning apparatus for cleaning a dirty object, the robotic cleaning apparatus comprising:
number: 2
text: The robotic cleaning apparatus of claim 1, wherein
the first axis is a yaw axis, the second axis is a pitch axis, and
the one or more actuators includes a yaw actuator that rotates the cleaning head about a yaw axis relative to the dirty object, and a pitch actuator that rotates the cleaning head about a pitch axis relative to the dirty object.
number: 3
text: The robotic cleaning apparatus of any one of claims 1-2, further comprising:
a controller communicatively coupled to the one or more actuators to send control signals that direct the one or more actuators to rotate and translate the cleaning head.
number: 4
text: The robotic cleaning apparatus of claim 3, further comprising:
a contact sensor communicatively coupled to the controller to send sensor readings to the controller indicative of contact between the cleaning head and the dirty object.
number: 5
text: The robotic cleaning apparatus of any one of claims 3-4, wherein:
in response to a user instruction, the controller sends control signals to the one or more actuators to execute a cleaning operation in which the cleaning head is moved into contact with a surface of the dirty object.
number: 6
text: The robotic cleaning apparatus of any one of claims 1-5, further comprising:
number: 7
text: The robotic cleaning apparatus of claim 6, further comprising:
a rigid arm having a proximal end and a distal end, the proximal end having the connector, and the distal end secured to the body.
number: 8
text: The robotic cleaning apparatus of any one of claims 1-7, wherein:
the cleaning head comprises a plurality of bristles extending outwardly away from the body.
number: 9
text: The robotic cleaning apparatus of claim 1, wherein:
the cleaning head comprises a fluid outlet nozzle.
number: 10
text: The robotic cleaning apparatus of any one of claims 1-9, further comprising:
number: 11
text: The robotic cleaning apparatus of any one of claims 1-10, further comprising:
number: 12
text: The robotic cleaning apparatus of any one of claims 1-9, wherein:
the one or more actuators, when activated, collectively rotate the cleaning head relative to the dirty object about the first and second axes, and telescopically extend the cleaning head outwardly away from the first axis along the extension axis.
number: 13
text: The robotic cleaning apparatus of claim 12, further comprising:
a telescoping arm including an outer elongate member connected to the articulated body, and an inner elongate member connected to the cleaning head, the one or more actuators, when activated, collectively move the telescoping arm along the extension axis between a retracted position and an extended position.
number: 14
text: The robotic cleaning apparatus of claim 13, wherein:
number: 15
text: A method of robotically cleaning an inner surface of a basin, the method comprising:
Office action: search_report, dated 2018-12-19
Rejection reasons: novelty_epc_54
Prior art cited: ref_id: KR20010073433A
ref_type: patent
severity: background
ref_id: DE1138714B
ref_type: patent
severity: background
ref_id: US4944052A
ref_type: patent
severity: background
ref_id: CN105686745A
ref_type: patent
severity: background
ref_id: US2016158942A1
ref_type: patent
severity: background
ref_id: CN106400917A
ref_type: patent
severity: background
ref_id: EP2910695A1
ref_type: patent
severity: background
ref_id: JP2003125979A
ref_type: patent
severity: background
ref_id: DE202012002839U1
ref_type: patent
severity: background
ref_id: JP2003125979
ref_type: patent
severity: background
ref_id: DE202012002839U
ref_type: patent
severity: background
ref_id: EP2910695
ref_type: patent
severity: novelty_destroying
ref_id: US2016158942
ref_type: patent
severity: novelty_destroying
ref_id: CN106400917
ref_type: patent
severity: novelty_destroying
Final disposition: pending (2018-12-19)