JP2014147845A - Cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning robot, which performs processing (cleaning) by applying a cleaning liquid on the floor, capable of performing motor drive and autonomous control.SOLUTION: A cleaning robot includes: a differential drive system; a controller configured in such a manner that it can communicate with the differential drive system, differential-control the robot, and make the robot rotate on the spot; a robot housing having the maximum width along a direction vertical to an advance direction of the robot and having a side end in the maximum width direction; a cleaning head arranged in front of a driving member in the advance direction of the robot, and extending to the side end substantially along the maximum width direction; a driven scrub element extending substantially along the maximum width direction to the position substantially within one centimeter from the side end; and cleaning width determined according to the total robot mass of the robot and regulated by the driven scrub element. The cleaning width is 3 centimeters per total robot mass 1 kilogram.

Description

(Citation of related application)
This application is filed in 35U. S. C. §119 (e) claims priority to US Provisional Application No. 60 / 654,838, the entire disclosure of which is hereby incorporated by reference in its entirety. This application also describes 35U. S. C. Under §120, U.S. Patent Application No. 11 / 134,212, U.S. Patent Application No. 11 / 134,213, U.S. Patent Application No. 11 / 133,796, U.S. Patent Application No. 11 / 207,574. , US patent application Ser. No. 11 / 207,575, and US patent application Ser. No. 11 / 207,620, the entire disclosures of which are incorporated herein by reference in their entirety. .

(Background of the Invention)
The present invention relates to a cleaning device, and more particularly to an autonomous surface cleaning robot.

(Description of prior art)
Autonomous robotic floor cleaning devices with a sufficiently low end consumer price to enter the home floor cleaning market are known in the art. For example, Patent Document 1 by Jones et al. Entitled Autonomous Floor Cleaning Robot discloses an autonomous robot, the disclosure of which is incorporated herein by reference in its entirety. The robot disclosed therein includes a housing, a battery power subsystem, a power subsystem, a driving force source subsystem that operates to advance the autonomous floor cleaning robot on the floor for a cleaning operation, the cleaning operation and the Command and control subsystem that operates to control the power source subsystem, a rotating brush assembly to sweep or collect particulate matter released from the surface, aspirates or collects free particulate matter on the surface And a removable debris containment vessel for collecting particulate matter that has been recovered and stored in the robot during operation. A model similar to the device disclosed in U.S. Pat. No. 6,057,017 is marketed by iRobot under the trade names ROOMBA RED and ROOMBA DISCOVERY. These devices clean hard floor surfaces such as floors with no rugs, as well as carpeted floors, so that they can move freely from one surface to the other unattended and without interrupting the cleaning process. Operates on.

In particular, U.S. Patent No. 6,057,031 describes a first cleaning zone that is configured to recover free particulate matter. The first cleaning area includes a pair of counter rotating brushes that engage a surface to be cleaned. The counter-rotating brush is composed of brush bristles that move at a certain angular velocity with respect to the floor surface when the robot moves in the forward movement direction on the surface. The angular movement of the brush bristles relative to the floor surface has the role of repelling free particulate matter on the surface into a container arranged to receive the repelled particulate matter.

Patent Document 1 is further configured to collect the particulate matter released in the container, and when the robot moves in the forward movement direction on the surface, the second cleaning area performs the second cleaning of the surface. Including a second cleaning area positioned at the rear of the first cleaning area; The second cleaning zone includes a vacuum device configured to aspirate remaining particulate matter and place them into a container.

In other examples, the home-use autonomous cleaning device is by Song et al., And both are disclosed in Patent Document 2 and Patent Document 3, which are assigned to Samsung Gwangu Electronics. The disclosures of Patent Document 2 and Patent Document 3 are incorporated herein by reference in their entirety. In these examples, the autonomous cleaning robot is made up of similar cleaning elements that utilize a rotating brush and vacuum device to repel and aspirate free particulate matter and place them into the container.

While each of the above examples provides an affordable autonomous floor cleaning robot to recover free particulate matter, it is affordable to apply cleaning liquid to the floor and wash the floor in the home. There is no teaching of an autonomous floor cleaning robot at a reasonable price. There is a need in the art for such a device, which is addressed by the present invention, various features, features, and benefits described herein in more detail.

Washing floors in the home has long been done manually using a wet mop or sponge attached to the tip of the handle. The mop or sponge is immersed in a container filled with cleaning liquid so that the mop or sponge absorbs a certain amount of cleaning liquid and then moved over the surface to apply the cleaning liquid to the surface. The cleaning liquid can interact with contaminants on the surface and can decompose or emulsify the contaminants into the cleaning liquid. Therefore, the cleaning liquid is transformed into a waste liquid containing the cleaning liquid and the contaminants retained in a suspended state in the cleaning liquid. The sponge or mop is then used to absorb the waste liquid from the surface. While clean water is somewhat effective for use as a cleaning solution applied to the floor, most cleaning is done by a cleaning solution that is a mixture of clean water and soap or detergent that reacts with and emulsifies the contaminant into the water. Done. Also improve the effectiveness of the cleaning process by cleaning the floor surface with a detergent mixed with other agents such as water and solvents, fragrances, disinfectants, desiccants, abrasive particulates and the like. It has been known.

The sponge or mop can also be used as a scrubbing element to polish the floor surface, especially where the contaminants are difficult to remove from the floor. The polishing action serves to stir the cleaning liquid to mix with the contaminants and to apply frictional thrust to release the contaminants from the floor surface. Agitation improves the degradation and emulsification of the cleaning liquid and the frictional thrust helps to break the bond between the surface and the contaminant.

One problem with prior art manual floor cleaning methods is that the waste liquid must be washed away from the mop or sponge after cleaning an area of the floor surface, which is usually filled with the cleaning liquid. This is done by re-immersing in a dry container. The rinsing step contaminates the cleaning liquid with waste liquid, and the cleaning liquid becomes more contaminated each time the mop or sponge is rinsed. As a result, the effectiveness of the cleaning liquid degrades as more of the floor surface is cleaned.

Conventional manual methods are effective for floor cleaning, but are labor intensive and time consuming. Furthermore, if the cleaning liquid is contaminated, the effectiveness of cleaning is reduced. There is a need in the art for an improved method for rinsing a floor surface so as to provide an affordable floor rinsing device for automating the rinsing of floors in the home.

In many large buildings, such as hospitals, large retail stores, cafeterias, and the like, floors need to be washed daily or every night, and this problem is due to the development of commercial floor cleaning “robots” that can wash floors. Has been supported. One example of a commercial floor water washing apparatus is disclosed in US Pat. No. 6,057,049 to Betker et al., Assigned to Windsor Industries. The disclosure of Patent Document 4 is incorporated herein by reference in its entirety. Betker et al. Discloses an autonomous floor cleaning apparatus having a drive assembly that provides a driving force for autonomously moving the water washing apparatus along a cleaning path.

The use of the term “robot” or “autonomous” to describe a Becker et al. Device does not necessarily mean “unmanned” or completely autonomous, and such devices are accompanied by an operator for a number of reasons. One reason that operators are attached to such devices is that they can weigh hundreds of pounds and cause significant damage in the event of sensor failure or unexpected control variables. . More importantly, the device as proposed by Betker et al. Is not physically configured to escape or advance between enclosed areas or obstacles, and between enclosed areas or obstacles. This is because it cannot be programmed to escape or advance. For example, the scrubber disclosed in Betker et al. Often encounters a situation where there is not enough left-right spacing to turn or advance around obstacles according to the required controlled radius. In such a case, “warn the operator that the situation requires assistance” as clearly disclosed by Betker et al. Although the Becker et al. Device is semi-autonomous in a sense, it does not support the principles of autonomous operation, including flexible support for physical structure and its environment, despite its abundant sensor requirements. The Betker et al. Device seems to be able to clean only a few minutes until it gets stuck and requires operator intervention.

The Becker et al. Device comprises a cleaning fluid dispenser for dispensing cleaning fluid to the floor, a rotating scrub brush in contact with the floor surface for polishing the floor with cleaning fluid, and a squeegee and vacuum system for recovering waste liquid from the floor surface. Provide a waste liquid recovery system. Although the device disclosed by Betker et al. Can be used to flush large floor areas autonomously, it is not suitable for the home market and also has many features, performance and the invention as further described herein. Lack of functionality. In particular, the commercial autonomous cleaning device disclosed by Betker et al. Is too large, expensive and complex for home use and consumes too much power to provide a practical solution to the home floor washing market I can't do it. Becker's fundamental drawback is that it is neither physically capable of adapting to a complex environment nor programmed flexibly, and is therefore designed to be frequently “rescued” by its attending operator. It is that. Another is that the cleaning technique may not be effective in a robot that can be carried or manually moved by a person, for example 20 kg or less.

In recent years, an improvement in conventional manual floor rinsing in the home is disclosed in US Pat. No. 5,836,049 by Wright et al., Entitled Method for Mopping and Drying the Floor, assigned to Royal Appliance Mfg. The disclosure of Patent Document 5 is incorporated herein by reference in its entirety. Disclosed there is a low-cost wet mop system for manual use in the home market. The wet mop system disclosed by Wright et al. Is a manual floor cleaning device with a handle having a cleaning liquid replenishment container supported by the handle. The apparatus includes a cleaning liquid dispensing nozzle supported by a handle for spraying cleaning liquid onto the floor, and a floor polishing sponge attached to the tip of the handle for contacting the floor. The apparatus also includes a mechanical device for squeezing waste liquid from the polishing sponge. The squeegee and associated suction device are supported at the tip of the handle and are used to collect waste liquid from the floor surface and place the waste liquid into a waste container supported by the handle separately from the cleaning liquid storage container. The device also includes a battery power source for supplying power to the suction device. Wright et al. Describe a built-in water washing device and an improved water washing method that separates waste liquid from the washing solution, but the device is manually operated, the functionality of the robot (motor drive, autonomous control, etc.) and the present disclosure The other benefits and characteristics identified in
US Pat. No. 6,883,201 US Pat. No. 6,748,297 US Patent Application Publication No. 2003/0192144 US Pat. No. 5,279,672 US Pat. No. 5,968,281

The present invention overcomes the problems previously mentioned by providing, among other things, a low-cost autonomous robot that can be washed on the floor and is affordable for home use. The problems of the prior art are addressed by the present invention that provides an autonomous cleaning robot comprising a mobile drive system configured to autonomously move a cleaning element over a housing and a cleaning surface. The robot is supported on the cleaning surface by wheels in rolling contact with the cleaning surface, and the robot is configured to control the robot to normally pass the cleaning surface in a forward direction defined by a tail axis. And a drive element. The robot is further defined by a horizontal axis that is perpendicular to the success axis.

Specifically, the surface cleaning robot is configured to collect a particulate matter released from the surface, and to clean the surface by applying a cleaning liquid to the surface and then recovering the waste liquid from the surface. And two separate cleaning areas with a second cleaning area. The surface cleaning robot may also include at least two containers or compartments that are carried and store cleaning fluid and waste. In a particular embodiment, one compartment is positioned (relative to gravity) at least partially above the other so that fluid movement from one compartment to the other does not significantly move the center of gravity of the robot. The

The robot housing has a first cleaning zone A with a cleaning element arranged to collect particulate matter liberated over the cleaning width from the cleaning surface. The cleaning element of the first cleaning zone utilizes a spout that is arranged at the lateral end of the robot and is configured to blow an air jet across the cleaning width of the robot toward the opposite lateral width. The vacuum inlet is disposed on the robot so as to face the jet port, and sucks the free particulate matter blown over the cleaning width by the jet port. The cleaning element of the first cleaning zone suctions free particulate matter and utilizes a brush to sweep the free particulate matter into a container or remove the free particulate matter from the surface. Can do.

The robot housing may also have a second cleaning zone B with a cleaning element arranged to apply cleaning liquid to the surface. The second cleaning area may also include a cleaning element configured to recover the cleaning liquid from the surface after being used to clean the surface, to polish the cleaning surface and to make the cleaning liquid more uniform on the cleaning surface May further include an element for smearing.

The robot includes a driving force source subsystem controlled by a main control module and powered by a built-in power module for autonomous movement on a cleaning surface. In one aspect, the present invention is a housing supported to move on a cleaning surface, the housing being defined by a tail axis and a vertical horizontal axis, and attached to the housing, the cleaning over a cleaning width. A first recovery device configured to recover particulate matter liberated from a surface, wherein the cleaning width is disposed generally parallel to a horizontal axis and is attached to the housing. A liquid applicator configured to apply a cleaning liquid to the cleaning surface, and the placement of the first recovery device relative to the liquid applicator moves the housing in a forward direction when the cleaning surface is The present invention relates to an autonomous cleaning robot that causes the first recovery device to precede the liquid applicator.

In one embodiment of the above aspect, the autonomous cleaning robot is also attached to the housing and configured to smear the cleaning liquid applied to the cleaning surface and spread the cleaning liquid more evenly on the cleaning surface. And the disposition of the liquid applicator relative to the smearing element (or spray brush) causes the liquid applicator to precede the smearing element on the cleaning surface when the casing is moved forward. Let In another embodiment, the robot includes a scrubbing element configured to polish the cleaning surface, and the placement of the liquid applicator relative to the scrubbing element moves the housing in a forward direction. Above the liquid applicator precedes the scrub element. In a particular embodiment, the robot is also a second recovery device configured to recover waste liquid from a cleaning surface, the waste liquid being applied by the cleaning liquid applied by the liquid applicator and the cleaning liquid. A second recovery device, including any contaminants removed from the cleaning surface, wherein the scrubbing element arrangement relative to the second recovery device moves the housing in a forward direction and the scrub on the cleaning surface. An element precedes the second recovery device.

In a particular embodiment of the above aspect, the robot is attached to the housing and disposed therein to receive the liberated particulate matter, a compartment or tank, and / or the A second waste storage container attached to the housing and arranged to receive the waste liquid therein; Some embodiments of the autonomous robot of the above aspect include a cleaning liquid storage attached to the housing and configured to store a replenishment of the cleaning liquid therein and supply the cleaning liquid to the liquid applicator Including containers. In some embodiments, the cleaning liquid comprises water and / or water mixed with any of soaps, solvents, fragrances, disinfectants, emulsifiers, desiccants and abrasive particulates. In some embodiments, the first and second waste containers are configured to be removable by the user from the housing and emptied by the user, and / or the cleaning liquid storage container is the user. Is removable from the housing and configured to be filled by a user. A specific embodiment is a composite waste storage container attached to the housing and configured to receive the released particulate matter from the first recovery device and to receive waste liquid from the second recovery device. , Including compartments or tanks. In another embodiment, the waste storage container is configured to be removable from the housing by a user and emptied by the user. Still other embodiments include a cleaning liquid storage container attached to the housing and configured to store a replenishment of the cleaning liquid therein and to supply the cleaning liquid to the liquid applicator, in some examples Then, the cleaning liquid storage container is removable from the housing by a user and is configured to be filled by the user.

In some embodiments of the above aspect, the autonomous cleaning robot is configured to receive therein the released particulate matter from the first recovery device and receive waste liquid from the second recovery device The housing comprising: a storage container part; and a cleaning liquid storage container, compartment, air bag, or tank part configured to store the replenishment of the cleaning liquid therein and supply the cleaning liquid to the liquid applicator It further includes an integrated liquid storage container attached to and formed of two separate container sections, compartments, bladders, or tanks. In another embodiment, the autonomous cleaning robot of the above aspect is removed from the housing by the user so that the cleaning liquid storage container is filled by a user and the waste storage container is emptied. The integrated liquid storage container is configured to be capable. In some embodiments of the above aspect, the robot is a second recovery device configured to recover waste liquid from the cleaning surface, the waste liquid being applied by the liquid applicator and the cleaning liquid A second recovery device comprising any contaminants removed from the cleaning surface by the cleaning liquid, wherein the arrangement of the liquid applicator relative to the second recovery device is said on the cleaning surface when the housing moves in the forward direction. A liquid applicator is preceded by the second collection device. A specific embodiment of the above aspect is a smearing element or spray attached to the housing and configured to smear the cleaning liquid applied to the cleaning surface and more uniformly spread the cleaning liquid on the cleaning surface The arrangement of the liquid applicator with respect to the smear element causes the liquid applicator to precede the smear element on the cleaning surface when moving the housing in a forward direction.

In some embodiments, the robot is attached to the housing and disposed therein for receiving the liberated particulate matter from the first recovery device and receiving waste liquid from the second recovery device. Including a waste storage container, compartment, or tank, and in certain cases, the waste container is configured to be removable from the housing by a user and emptied by the user. Some embodiments of the robot include a cleaning liquid storage container attached to the housing and configured to store the replenishment of the cleaning liquid therein and supply the cleaning liquid to the liquid applicator, In an example of the unit, the cleaning liquid storage container is configured to be removable from the housing by a user and filled by the user. In another embodiment, the robot according to the above aspect is configured to receive a waste liquid from the second recovery device by receiving the released particulate matter from the first recovery device. And a cleaning liquid storage container, compartment, air bag, or tank configured to store the replenishment of the cleaning liquid therein and supply the cleaning liquid to the liquid applicator, and attached to the housing It includes an integrated liquid storage container formed by two separate container parts. In a particular embodiment, the integrated liquid storage container or tank is removable from the housing by a user, the cleaning liquid storage container is filled by the user, and the waste storage container is emptied. Configured.

Some embodiments of the above aspect include a power source subsystem attached to the housing for moving the housing on a cleaning surface and a plurality of power consuming subsystems attached to the housing, respectively. Controlling the power module attached to the housing for supplying the power, the driving force source module, the first recovery device, and the liquid applicator, and autonomously moving the robot on the cleaning surface. A main control module attached to the housing for autonomously cleaning the cleaning surface. Some embodiments also include a sensor module configured to sense a condition outside the robot and sense a condition inside the robot and generate an electrical sensor signal in response to sensing the condition; and A signal line for transmitting to the main control module and a control device incorporated in the main control module for executing a predetermined operation mode of the robot according to the state may be included.

Some embodiments provide a user control module configured to receive an input command from a user and issue an electrical input signal in response to the input command, and to transmit the electrical input signal to the main control module A signal line; and a control device incorporated in the main control module for executing a predetermined operation mode of the robot in response to the input command. In a particular embodiment, the autonomous cleaning robot is attached to the housing and includes an interface module configured to provide an interface between an element external to the robot and at least one element attached to the housing. Including. In some embodiments, the element outside the robot comprises one of a battery charging device and a data processing device. Some embodiments include an interface module attached to the housing and configured to provide an interface between an element external to the robot and at least one element attached to the housing. In some embodiments, the element external to the robot includes a battery charging device, a data processing device, a device for autonomously filling the cleaning liquid storage container with cleaning liquid, and autonomously emptying the waste liquid container. One of the devices for.

A specific embodiment of the robot of the above aspect is an air spout attached to the housing, disposed at a first end of the cleaning width, and an air jet over the cleaning width proximate to the cleaning surface An air spout configured to forcibly separate free particulate matter on the cleaning surface from the first end in a direction parallel to the transverse axis by aspirating and sucking the free particulate matter An air intake port disposed at the second end of the cleaning width that is attached to the housing and is opposite the first end and close to a cleaning surface; and the particulate matter released from the air intake port A waste storage container configured to receive and a fan assembly configured to generate a negative pressure within the waste storage container, compartment, or tank. In some embodiments, the fan assembly is further configured to generate a positive air pressure at the air outlet.

In another embodiment, the second recovery device is attached to the housing, a longitudinal ridge is disposed proximate the cleaning surface, and the liquid recovery volume is provided at the leading edge of the ridge. A squeegee formed to extend over a cleaning width, wherein the longitudinal ridge is adjacent to the squeegee and the longitudinal ridge that collects waste liquid in a liquid collection volume when the housing moves forward. And a vacuum chamber partially formed by the squeegee that is disposed and extending across the cleaning width, and a plurality of liquid paths for fluidly connecting the liquid recovery volume and the vacuum chamber, A plurality of suction ports that pass through the squeegee and a negative air pressure is generated in the vacuum chamber to draw the waste liquid recovered in the liquid recovery volume into the vacuum chamber. And a vacuum generator. Some additional embodiments also include a waste storage container configured to receive the waste liquid from the vacuum chamber and at least one fluidly connecting the vacuum tank and the waste storage container, compartment, or tank Also included is a fluid tube and a fan assembly configured to draw waste liquid from a cleaning surface and generate the waste liquid into the waste storage container by generating a negative air pressure in the waste storage container and the vacuum chamber . Another embodiment of the second recovery device is attached to the housing, wherein a longitudinal ridge is disposed proximate to the cleaning surface, and provides a liquid recovery volume at a leading edge of the ridge. A squeegee formed to extend over a cleaning width, wherein the longitudinal ridge is adjacent to the squeegee and the longitudinal ridge that collects waste liquid in a liquid collection volume when the housing moves forward. And a vacuum chamber partially formed by the squeegee that is disposed and extending across the cleaning width, and a plurality of liquid paths for fluidly connecting the liquid recovery volume and the vacuum chamber, A plurality of suction ports that pass through the squeegee and a vacuum for generating negative air pressure in the vacuum chamber to draw waste liquid recovered in the liquid recovery volume into the vacuum chamber A built-in and the raw device.

Yet another embodiment of the above aspect is directed to at least one waste fluid storage tank (or compartment) configured to receive the waste liquid from the vacuum chamber and fluid connection between the vacuum chamber and the waste storage container. A fluid tube, and a waste storage container and a fan assembly configured to draw the waste liquid from a cleaning surface and generate the waste liquid into the waste storage container by generating a negative air pressure in the vacuum chamber . In some embodiments, the fan assembly is configured to generate positive air pressure at the air outlet.

In another aspect, the present invention is a housing that is supported in rolling contact with a cleaning surface to move the housing in a forward direction defined by a tail axis, further defined by a horizontal axis. And a first cleaning zone comprising a cleaning element attached to the housing and configured to collect particulate matter released from the cleaning surface over a cleaning width, the cleaning width generally being A first cleaning area, disposed vertically, and a cleaning element attached to the housing and configured to apply cleaning liquid to the cleaning surface and to collect waste liquid from the cleaning surface over the cleaning width; A second cleaning area, wherein the waste liquid includes the cleaning liquid and any contaminants removed from the cleaning surface by the cleaning liquid; and the robot on the cleaning surface. A driving force source subsystem controlled by a main control module and powered by a power module, wherein the driving force source subsystem, the main control module and the power module are each configured to move autonomously. An autonomous cleaning robot for moving a cleaning element on the cleaning surface, the driving force source subsystem being electrically interconnected and attached to the housing. In some embodiments of this aspect, the robot is configured with a circular cross section having a vertical central axis, and the tail axis, the horizontal axis and the vertical axis are perpendicular to each other, and the driving force source subsystem Is configured to rotate the robot about the central vertical axis to change the direction of the forward movement direction.

In another aspect, the invention is a housing defined by a tail axis and a vertical transverse axis, the housing being supported and attached to move on a surface along the tail axis. A housing including a first collection device configured to collect particulate matter released from a surface on a cleaning width disposed generally parallel to the horizontal axis, the first collection device comprising: An air spout configured to exhale an air jet over a cleaning width; and an air intake configured to draw in air and free particulate matter, wherein the air spout and the air intake are The present invention relates to a surface cleaning device, which is disposed at an end opposite to a cleaning width, and in which the air jet port discharges an air jet generally parallel to the surface and usually toward the air intake port. In one embodiment of the above aspect, the first recovery device includes generally opposed front and rear ends that generally extend along the transverse axis across the cleaning width, and generally opposed left and generally extending perpendicular to the front and rear ends. It further includes a channel formed at the right end, wherein the air outlet is disposed at one of the left and right ends, and the air intake is disposed at the other of the left and right ends. In another embodiment, the surface cleaning device is arranged on the cleaning width to guide an air jet and free particulate matter on the cleaning width, close to the rear end and from the bottom surface to the surface. A first flexible doctor blade or airflow guide blade fixedly attached to the bottom surface of the extending housing;

In another embodiment of the above aspect, the surface cleaning device is fixedly attached to the bottom surface and leads from the bottom surface to the surface for directing a jet of air and free particulate matter into the air intake. It further includes an extended second flexible doctor blade or airflow guide blade. In yet another embodiment, the apparatus is a rotating fan motor having a fixed frame and a rotating shaft extending therefrom, and a fan impeller configured to move air when rotating about a rotating shaft, the fan motor A fan impeller fixedly attached to the rotating shaft with respect to rotation around the rotating shaft, and for housing the fan impeller in a cavity formed therein and on the motor fixing frame thereon A frame for fixing and supporting an air intake, further comprising an air intake through which air is drawn into the cavity when the impeller rotates, and an air outlet through which air is expelled out of the cavity Fluidly connected between the constructed frame and the fan air intake and the air intake of the first recovery device. And a first fluid conduit is, each of said elements is attached to the housing therein. In some embodiments, the apparatus includes a waste storage container attached to the housing and fluidly connected within the first fluid line between the fan air intake and the air intake. In some embodiments, the waste storage container is configured to be removable from the housing by a user and emptied by the user.

Yet another embodiment provides the first fluid between the waste storage container and the fan air intake for filtering contaminants liberated from air drawn through the fan air intake. A filter element inserted into the tube and may also include a second fluid tube that is fluidly coupled between the fan outlet and the air outlet of the first recovery device. In another embodiment, the surface cleaning device further includes a second recovery device attached to the housing and disposed at a rear portion of the first recovery device in order to recover liquid from the surface on the cleaning width. . In some embodiments, the second recovery zone is secured to the rear of the housing of the first recovery device to recover liquid in a liquid recovery volume formed between the squeegee and the surface. And a squeegee that extends from the bottom surface to the surface of the housing on the cleaning width, further forms a vacuum chamber, and is disposed on the cleaning width to fluidize the vacuum chamber and the liquid recovery volume. The squeegee that provides a plurality of suction ports to be connected to each other, and draws liquid into the vacuum chamber through a plurality of suction ports that are fluidly connected to the recovery volume by generating negative air pressure inside the vacuum chamber And a vacuum generator.

Another embodiment of the surface cleaning device of the above aspect is a rotating fan motor having a fixed frame and a rotating shaft extending therefrom, and a fan impeller configured to move air when rotating around the rotating shaft. The fan impeller fixedly attached to the rotating shaft for rotation around the rotation axis by the fan motor;
A frame for accommodating the fan impeller in a cavity formed therein and for fixing and supporting the motor fixing frame thereon, and when the impeller rotates, air passes through the cavity. A frame configured to have an air intake drawn into the air and an air outlet through which air is expelled out of the cavity, and between the fan air intake and the air intake of the first recovery device A fluid first fluid pipe and a third fluid pipe fluidly connected between the fan air inlet and the vacuum chamber are mounted on the housing. The surface cleaning device is also attached to the second fluid pipe fluidly connected between the fan outlet and the air outlet of the first recovery device and / or the housing, and is recovered from the surface. A waste storage container or tank configured to store the liquid may be included. Yet another embodiment is a waste storage container attached to the housing and configured to store the liquid recovered from a surface, which is fluidly connected within the third fluid conduit. Use waste storage containers. In some embodiments, the cleaning device is a waste storage container attached to the housing and configured to store the liquid recovered from a surface, wherein the cleaning device is in the first and third fluid conduits. And including the waste storage container fluidly connected at a. In certain cases, the waste storage container or tank is for storing free particulate matter recovered by the first recovery device and for storing liquid recovered by the second recovery device, and A sealed waste container having at least one access port formed therein for emptying the waste from the container, and an air reservoir disposed vertically above the sealed waste container during operation of the cleaning device; An air reservoir incorporated in the top wall of the sealed container, the air reservoir being retracted for fluidly connecting within each of the first, second and third fluid tubes Configured to have a mouth.

In some embodiments, the waste storage container is configured to be removable by a user and emptied by the user. Certain other embodiments include a cleaning liquid applicator assembly attached to the housing between the first recovery apparatus and the second recovery apparatus for applying cleaning liquid to a surface over the cleaning width, A storage container including at least one access port formed for filling the container with the cleaning liquid, and including a sealed cleaning liquid storage container or tank for holding a replenishment of the cleaning liquid therein. In another embodiment, the sealed waste container and the sealed cleaning liquid container are integrated into a liquid storage container module, and the integrated liquid storage container module is used for filling with a cleaning liquid and emptying the waste therefrom. Configured to be removable by a person. In some embodiments, the surface cleaning device is attached to the housing at the rear of the liquid applicator assembly and is configured to smear the cleaning liquid over the cleaning width, and the cleaning width. It further includes a scrub element, scrub brush, wiper, or wipe that is attached to the housing at the back of the smear element or spray brush to polish the surface over. In some embodiments, the surface cleaning device is powered by a power module controlled by a main control module, each attached to the housing for autonomously moving the surface cleaning device over a surface. And a driving force source subsystem. A pad, cloth, or other absorbent wiper that extends essentially across the cleaning width, as needed, before or after the cleaning head to prepare the surface or to absorb moisture behind the cleaning head Can be installed. The entire cleaning head is formed of a material that can withstand water and maximum and minimum temperatures sufficient to make the cleaning head "dishwasher compatible".

In another embodiment, the surface cleaning device senses a state and transmits a sensor module configured to generate an electrical sensor signal in response to the sensing of the state, and transmits the electrical sensor signal to the main control module. And a control device incorporated in the main control module for executing a predetermined operation mode in response to sensing of the state. Yet another embodiment is a driving force source subsystem controlled by a main control module and powered by a power module, each attached to the housing, for autonomously moving the surface cleaning device on a surface including. Another embodiment of the surface cleaning device senses a condition and is configured to generate an electrical sensor signal in response to sensing the condition, and communicates the electrical sensor signal to the main control module. And a control device incorporated in the main control module for executing a predetermined operation mode in response to sensing of the state.

In yet another aspect, the present invention is an element configured to have a cleaning width disposed generally perpendicular to the forward movement direction, all supported on a housing and in accordance with a predetermined mode of operation and An autonomous mobile drive subsystem controlled by a main control module, powered by a power module to move the enclosure on the surface in response to a condition sensed by the sensor module, a sensor for sensing the condition A cleaning module having a module, a power module and a cleaning element, the cleaning element being a first recovery device for recovering particulate matter released from the surface over the cleaning width, wherein the housing moves in the forward movement direction Then, the first recovery device A positioned on the housing so as to advance on the surface first, and the surface over the cleaning width. A cleaning liquid applicator for applying a cleaning liquid to the cleaning liquid applicator, wherein the cleaning liquid applicator is positioned on the casing to advance second on the surface when the casing moves in the forward movement direction; A smearing element for smearing a cleaning liquid to be applied to the surface over the width, and the smear positioned on the housing to advance third on the surface when the housing moves in the forward movement direction. And an active scrubbing element for actively polishing the surface over the cleaning width, and positioned on the housing to advance fourth on the surface as the housing moves in a forward direction. The active scrubbing element, and a second recovery device for recovering waste liquid from the surface, wherein the housing is positioned on the housing to advance fifth on the surface when the housing moves in the forward movement direction. Said first Cleaning device replenishment for storing recovery device, waste particulate matter recovered by said first recovery device and waste storage container for storing waste fluid recovered by said second recovery device, and replenishment of said cleaning fluid An integrated storage container or tank module comprising a container that is removable from the housing by a user, filled with a cleaning liquid by the user, emptied of waste, and reinstalled in the housing It is related with the surface cleaning apparatus provided with the integrated storage container or tank module comprised.

In yet an additional aspect, the present invention is a housing defined by a tail axis and a vertical transverse axis for supporting a cleaning element thereon and for moving the cleaning element on a surface along the tail axis. The housing is arranged to clean across the cleaning width having a left end and a right end that are disposed generally perpendicular to the tail axis and define opposite ends of the cleaning width; and A liquid applicator comprising at least one nozzle disposed at one of the left end and the right end to eject the cleaning liquid in a sufficient amount and pressure so as to be distributed over a cleaning width; The present invention relates to a surface cleaning apparatus. In a particular embodiment of the above aspect, the cleaning liquid comprises any of water and / or soap, solvent, fragrance, disinfectant, emulsifier, desiccant and abrasive particulate matter.

In some embodiments of the above aspect, the apparatus includes a smearing element attached to the housing at the back of at least one nozzle location and extending from the housing to the surface over the cleaning width to smear the cleaning liquid. A scrub element attached to the housing at the rear of the location of at least one nozzle and extending from the housing to the surface over the cleaning width to polish the surface. In some embodiments, the scrubbing element is attached to the housing at the back of at least one nozzle location and extends from the housing to the surface over the cleaning width to polish the surface. The cleaning device may also include a collection device attached to the housing at the rear of the location of at least one nozzle and extending from the housing to the surface over the cleaning width for collecting waste liquid from the surface. In some embodiments, the liquid applicator is ejected from the first nozzle in a sufficient amount and pressure to dispense the cleaning liquid over the cleaning width and at the left end to eject the cleaning liquid therefrom. A first nozzle disposed and a second nozzle disposed at the left end for ejecting the cleaning liquid from the second nozzle in a sufficient amount and pressure so as to distribute the cleaning liquid over the cleaning width. A nozzle, and the first nozzle and the second nozzle are arranged at the same location on the tail axis.

In a specific embodiment of the above aspect, each of the first and second nozzles intermittently ejects a burst cleaning liquid according to a burst frequency, and the burst frequency of the first nozzle is equal to the burst frequency of the second nozzle. In contrast, the phase is substantially opposite. In some embodiments, the surface cleaning device is also all supported by the housing and places the cleaning element on the surface according to a predetermined mode of operation and substantially over the entire surface depending on the condition sensed by the sensor module. Also included is an autonomous mobile drive subsystem, a sensor module for sensing conditions, and a power module controlled by the main control module for autonomous movement. Still other embodiments are all supported by the housing to move the cleaning element on the surface autonomously over the surface in accordance with a predetermined operating mode and in response to a condition sensed by the sensor module. It uses an autonomous mobile drive subsystem, a sensor module for sensing conditions, and a power module controlled by the main control module.

Other embodiments of the above aspects are all supported by the housing to move the cleaning element autonomously on the surface according to a predetermined operating mode and substantially over the surface in response to a condition sensed by the sensor module. And an autonomous mobile drive subsystem controlled by a main control module, a sensor module for sensing conditions, and a power module. In some embodiments, the main control module is configured to vary the burst frequency according to a desired rate for applying cleaning liquid to a surface, and in some examples, the main control module is 1 square foot. The burst frequency is varied to apply a cleaning solution to the surface in a substantially uniform amount of about 2 ml per meter.

In some embodiments, the surface cleaning device is also carried on a housing, in which a liquid storage container for storing the replenishment of the cleaning liquid, and for drawing the cleaning liquid from the container and at least the cleaning liquid A diaphragm pump assembly including a first first pump part for supplying to one nozzle and a mechanical actuator for mechanically operating the first pump part are also included. Still other embodiments are all supported by the housing to move the cleaning element on the surface autonomously over the surface in accordance with a predetermined operating mode and in response to a condition sensed by the sensor module. An autonomous mobile drive subsystem controlled by a main control module, a sensor module for sensing conditions, and a power module, and a liquid storage carried on the housing for storing the replenishment of the cleaning liquid therein A container, a first first pump portion for extracting the cleaning liquid from the container and supplying the cleaning liquid to the first nozzle, and for extracting the cleaning liquid from the container and supplying the cleaning liquid to the second nozzle A diaphragm pump assembly having a second pump part, and the first pump part and the second pump part And a mechanical actuator for actuating the 械的.

In a particular embodiment of the above aspect, the diaphragm pump assembly is a flexible element mounted between a non-flexible upper chamber element and a non-flexible lower chamber element, the first pump chamber and A first actuator nipple attached to the second pump chamber and the flexible element formed by a second actuator nipple attached thereto, and for pivoting between a first actuator position and a second actuator position An actuator coupling pivotably attached to the pump assembly, wherein movement of the actuator coupling toward the first actuator position reduces the volume of the first pump chamber and increases the volume of the second pump chamber; Furthermore, the movement of the actuator connector toward the second actuator position is An actuator coupling fixedly attached to each of the first and second actuator nipples to increase the volume of the chamber and reduce the volume of the second pump chamber; and a circumferential cam profile; A cam element supported to move the actuator coupling between one actuator position and the second actuator position, and controlled by the main controller to rotate the cam element according to a cam rotation drive pattern. And a cam rotation driving unit.

In another aspect, the present invention relates to a method for cleaning a surface with a cleaning device, said method comprising moving the housing over the surface in a forward direction defined by the tail axis, wherein the housing is Moving the cleaning element supported thereon, the cleaning element having a cleaning width disposed generally perpendicular to the tail shaft, and the cleaning width having a left end and an opposing right end; A step of ejecting a certain amount of cleaning liquid from a first nozzle attached to the casing on one of the left end and the right end, wherein the first nozzle is configured to eject the cleaning liquid therefrom, Squirting, wherein the cleaning liquid is squirted in a sufficient amount and pressure to distribute over the cleaning width. In certain embodiments, the method also includes ejecting a volume of cleaning liquid from a second nozzle attached to the housing on the other of the left end and the right end, from which the second nozzle is cleaning liquid. The cleaning liquid is jetted in a sufficient amount and pressure so as to distribute the cleaning liquid over the cleaning width, and the step of spouting according to the burst frequency in intermittent bursts of the cleaning liquid. Ejecting cleaning liquid from each of the one nozzle and the second nozzle, wherein the burst frequency of the first nozzle is substantially opposite in phase to the burst frequency of the second nozzle Can be included.

In yet another embodiment, the method uses a smearing element or spray brush that is spread over the cleaning width and attached to the housing at the rear of the same location of the first nozzle and the second nozzle. And a step of smearing the cleaning liquid over the cleaning width. Other embodiments use a scrub element, scrub brush, wiper, or cleaning cloth that extends over the cleaning width and is attached to the housing at the rear of the same location of the first nozzle and the second nozzle. And polishing the surface over the cleaning width. Further, some embodiments use a collection device that extends over the cleaning width and is attached to the housing at the rear of the same location of the first nozzle and the second nozzle, over the cleaning width. Recovering the waste liquid from the surface. In some embodiments of the method of the above aspect, the housing is an autonomous mobile drive subsystem all supported on and controlled by a main control module, a sensor module for sensing conditions, and power The step of moving the housing over a surface further includes a module to move the cleaning element substantially over the entire surface according to a predetermined mode of operation and in response to a condition sensed by the sensor module. The method further includes controlling the mobile drive subsystem.

According to one aspect of the present invention, a surface treatment robot has an outer periphery formed in a substantially constant width shape, and is administered by the robot body that is driven forward by at least one circulation member. And a dose compartment holding the substance. The rinsing head employs at least one rinsing member to clean the dispensed material along the cleaning line of the robot, and the rinsing head defines a cleaning width. The waste compartment holds material picked up by the robot. Each of the dose compartment and the waste compartment is shaped and positioned to place the center of gravity of the dose compartment volume within half the cleaning width from the center of gravity of the waste compartment volume.

For example, one embodiment of the robot has a cleaning width of about 30 cm, and each of these centroids is within 15 cm of the other. The center of gravity of the volume can be readily understood as the center of the empty volume, but can also be understood as the center of gravity of the amount of fluid that fills the volume (most fluids discussed herein are close to the specific gravity of water). . As discussed herein, surface treatment includes cleaning and other treatments. Constant width shapes are also defined herein, pointing out that not all such shapes are uniform and that one embodiment of the robot is substantially cylindrical. The washing member includes a brush, a sponge, a wiper, and the like. The circulating member includes a rotating wheel, a rotating brush, and / or one or more circulating belts or webs. Most of the material will be, but it doesn't have to be wet with water.

Optionally, each of said dose compartment and waste compartment is shaped and positioned to place a composite center of gravity of said dose compartment volume and said waste compartment volume within half of the cleaning width from the center of at least one circulation member Positioned. The center of the rotating brush is an intermediate point along the axis, and the center of the rotating belt is along the intermediate point of the contact area with the surface. Further optionally, each of the dosage compartment and the waste compartment is shaped and positioned such that the center of gravity of the dosage compartment volume is substantially above or directly below the center of gravity of the waste compartment volume. “Substantially directly above or below” means that in one example, they are above or below each other, and the perpendiculars from each center of gravity are within a quarter of the cleaning width from each other.

According to another aspect of the present invention, a surface treatment robot includes a robot body having an outer periphery formed in a substantially constant width shape, and at least two for driving the robot body forward and manipulating the robot body. One circulation drive member. The dosing fluid compartment holds the fluid to be dispensed by the robot and the electric scrubber is at least one scrub for cleaning with the dosing fluid substantially along a maximum width line of a constant width shape. Driving the element, the driven scrubbing element extends substantially within 1 cm of the tangential end of the robot body. By installing the scrubber along a line of maximum width of a constant width shape such as a cylindrical shape, the end of the cleaning area can be brought to the end of the robot, and the robot can reach the edge within 1 cm of the wall. Allow the corners to be cleaned along. Placing the wheels along the maximum width line prevents this. Again, circulation includes rotating members such as wheels or brushes, but also includes circulation belts or webs.

When the cleaning head is along the maximum width, the widest cleaning head can be obtained by installing a minimum of two circulation drive members along a line where the width of the robot is equal to or less than the maximum width of the robot. Optionally, the robot also has a wet vacuum generator that picks up the dosing fluid after the scrubbing element has been cleaned with the dosing fluid, and a waste compartment that holds the fluid picked up by the wet vacuum generator unit. Including. The waste compartment and dosing fluid compartment may be an integral compartment within the same fluid tank module that is readily removable as a module from the robot body.

According to another aspect of the present invention, a surface treatment robot has an outer periphery formed in a substantially constant width shape, and is a robot body that is driven forward by at least one rotating member; And a dosing fluid compartment that holds the fluid to be dispensed. The electric water washing head employs at least one water washing member and cleans the cleaning width along the cleaning width of the robot using the dispensed fluid. The waste compartment holds waste liquid picked up by the robot. The flush head is per kilogram of total robot mass with respect to the total robot mass consisting of the robot body, the dose compartment when empty, the flush head, and the waste compartment when filled with waste liquid picked up by the robot. It has a cleaning width of 3 cm or more.

An example robot according to the present invention has a cleaning width of about 30 cm and a mass of about 3-5 kg. Such robots have a motorized cleaning width of about 10 cm to about 6 cm per kilogram of full robot, and a less efficient but still acceptable version is a motorized cleaning width of 3 cm per kilogram of robot mass. Can do. This cleaning width allows sufficient work per unit time and the weight is sufficient to provide sufficient traction for the cleaning width. Furthermore, the robot does not grow excessively or become inefficient by limiting weight. This combination provides the best balance of cleaning time versus mobility versus manageability.

Optionally, the electric flush head includes an electric circulating scrubber that polishes the surface with a dosing fluid so that it is cleaned along the cleaning width of the robot. Further, the electric water washing head may include an electric wet vacuum generator for picking up the waste liquid. Each of these contributes to the cleaning width and can contribute to resistance or motive force. The weight added to the cleaning width can be limited to reduce or limit the amount of resistance.

According to another aspect of the present invention, a surface treatment robot has an outer periphery formed as a substantially constant width shape, and a robot body that is driven forward by at least one rotating member; And a rinsing head employing at least one circulating rinsing member to clean the cleaning width along the cleaning width of the robot. A tank that houses the fluid compartment stores fluid, and the robot body includes a cradle for receiving the tank. A fluid connection between the tank and the robot body and a vacuum connection between the tank and the robot body are provided. A joint mechanically engages the tank with the robot body, and the engagement of the joint seals both the fluid connection and the vacuum connection simultaneously.

Under this construction, the robot is ready for use by one joint that completes the shape of the robot, the mechanical integrity of the robot, the vacuum connection (and sealing) and the fluid connection (and sealing). Can be done.

Optionally, the tank forms at least a quarter of the outline of the robot, and engagement of the joint completes a substantially smooth outline of the robot. Alternatively, the tank forms at least a quarter of the outer peripheral surface of the robot including a part of the outer periphery of a constant width shape, and the engagement of the joint substantially completes the outer periphery of the constant width shape. In any case, the robot can change its direction autonomously according to the advantages of the outer shape to escape the sealed sections and corners, and use double and triple walls to accommodate the tank in the robot body. By avoiding, spatial efficiency is maximized.

In one embodiment, a method for controlling a mobile robot includes rotating a brush in a first direction when the mobile robot moves forward, and stopping operation of the cleaning brush when the mobile robot moves in the opposite direction. Can be included. In accordance with another embodiment, a method for controlling a mobile robot includes dispensing fluid through a pump when the mobile robot operates in a cleaning mode, and the pump when the mobile robot is moving forward. Stopping the operation. In accordance with yet another embodiment, a method for controlling a mobile robot includes the steps of dispensing cleaning liquid over a cleaning surface through a cleaning surface during a cleaning cycle, and applying the cleaning liquid onto the cleaning surface during a drying cycle. Passing through the cleaning surface without dispensing. The method may further include the step of transitioning from the cleaning cycle to the drying cycle when the power supply voltage is reduced, or applying a vacuum suction to the cleaning surface when the mobile robot operates in a dry mode. According to another embodiment, a method for sensing fluid in a mobile robot having at least first and second electrodes comprises exchanging polarity between the first and second electrodes, and the first and second Detecting resistance between two electrodes and determining whether fluid is present based on the detected resistance between the first and second electrodes.

In another aspect, the present invention relates to a liquid cleaning agent used by a robot cleaner, wherein the cleaning agent is an alkyl polyglucoside (eg, at a concentration of 1-3%) and ethylenediamine potassium tetraacetate (potassium EDTA) (eg,. 5 to 1.5% concentration).

In another aspect, the invention has a density of about 14 pounds per cubic foot, or about 15 pounds per cubic foot foamed to a bubble size of 0.1 mm plus or minus 0.02 mm. The present invention relates to a tire material containing a chloroprene homopolymer stabilized with thiuram disulfide black. In certain embodiments, the tire has a Shore 00 post-foam hardness of about 69 to 75. In other embodiments of the above aspects, the present invention relates to tires including, for example, those made of neoprene and chloroprene, and other closed cell rubber sponge materials. Polyvinyl chloride (PVC) and acrylonitrile butadiene (ABS) (with or without other extractables, hydrocarbons, carbon black, and ash) may also be used.

The features of the present invention are best understood from the preferred embodiments thereof, selected for purposes of detailed description and illustration of the invention, and shown in the accompanying drawings in which:
FIG. 1 represents an isometric view of the top surface of an autonomous cleaning robot according to the present invention. FIG. 2 represents an isometric view of the bottom surface of the housing of the autonomous cleaning robot according to the present invention. FIG. 3 represents an exploded view of a robot housing having a robot subsystem attached thereto according to the present invention. FIG. 4 represents a schematic block diagram illustrating the interrelationship of the autonomous cleaning robot subsystems according to the present invention. FIG. 5 represents a schematic view of a liquid applicator assembly according to the present invention. FIG. 6 represents a schematic cross-sectional view of a stop valve assembly installed in a cleaning liquid replenishment tank according to the present invention. FIG. 7 represents a schematic cross-sectional view of a pump assembly according to the present invention. FIG. 8 represents a schematic top view of a flexible element used as a diaphragm pump according to the invention. FIG. 9 represents a schematic top view of a non-flexible chamber element used in the pump assembly according to the invention. FIG. 10 represents a schematic assembly exploded isometric view of a scrub module according to the present invention. FIG. 11 represents a conformal rotating scrub brush according to the present invention. FIG. 12A represents a schematic cross-sectional view of a second recovery device used for recovering waste liquid according to the present invention. FIG. 12B represents a schematic cross-sectional view of an alternative recovery device used to recover waste liquid according to the present invention. FIG. 13 is a schematic block diagram showing the elements of a drive module used to rotate the scrub brush according to the present invention. FIG. 14 is a schematic view of a ventilation device according to the present invention. FIG. 15 depicts a schematic exploded isometric view of a fan assembly according to the present invention. FIG. 16 represents a schematic exploded isometric view showing elements of an integrated liquid storage module according to the present invention. FIG. 17 shows an external view of the integrated liquid storage module removed from the cleaning robot according to the present invention. FIG. 18 represents a schematic exploded view of a front wheel module according to the invention. FIG. 19 represents a schematic cross-sectional view of a front wheel assembly according to the present invention. FIG. 20 represents a schematic exploded view of a drive wheel assembly according to the present invention. FIG. 21 depicts an exploded view of a robot housing having a robot subsystem attached thereto, according to one embodiment of the present invention. FIG. 22 depicts an exploded view of a robot housing having a robot subsystem attached thereto, according to one embodiment of the present invention. FIG. 23 depicts an exploded isometric view of a cleaning head or scrub module according to one embodiment of the present invention. FIG. 24 depicts an isometric view of a fan assembly according to one embodiment of the present invention. FIG. 25 depicts an exploded isometric view of a fan assembly according to one embodiment of the present invention. FIG. 26 depicts an exploded isometric view of a fan assembly according to one embodiment of the present invention. FIG. 27 illustrates an exploded view of a robot housing having an integrated tank according to one embodiment of the present invention. FIG. 28 represents a top view of the sealing flaps and wings in the reservoir of the integrated tank represented in FIG. FIG. 29 shows a side cross-sectional view of the sealing flap and wing in the reservoir of the integrated tank represented in FIG. FIG. 30 is an isometric view of the sealing flap, wing, and foam / airflow wall according to one embodiment of the present invention. FIG. 31 is a cross-sectional side view of a sealing flap and air pocket according to one embodiment of the present invention. FIG. 32 is an isometric view of the foam blocking wall in the integrated tank according to one embodiment of the present invention. FIG. 33 is a schematic exploded view of a front wheel module according to an embodiment of the present invention. FIG. 34 shows a side view of the front wheel module of FIG. FIG. 35 is a front view of the front wheel module shown in FIG. FIG. 36 is a series of maintenance steps for maintaining and enabling an embodiment of the robot of the present invention. 37 to 41 show the robot maintenance steps confirmed in FIG. 37 to 41 show the robot maintenance steps confirmed in FIG. 37 to 41 show the robot maintenance steps confirmed in FIG. 37 to 41 show the robot maintenance steps confirmed in FIG. 37 to 41 show the robot maintenance steps confirmed in FIG. FIG. 42 depicts a side schematic view of a cleaning head and squeegee according to another embodiment of the present invention. FIG. 43 is a perspective view of the cleaning head and the squeegee represented in FIG. FIG. 44 represents another schematic side view of the cleaning head and squeegee represented in FIG. FIG. 45 represents a third schematic side view of the cleaning head and squeegee represented in FIG. FIG. 46 shows a cleaning path for a mobile robot according to an embodiment of the present invention. FIG. 47 represents a mobile robot having left and right drive wheels positioned along the central diameter of the enclosure, according to one embodiment of the present invention. FIG. 48 represents a mobile robot having left and right drive wheels positioned at the rear bottom of the housing, according to another embodiment of the present invention. FIG. 49 represents an offset diameter robot positioned at a distance d from the wall. FIG. 50 shows a control sequence for changing the orientation of the robot with respect to the wall. FIG. 51 represents the first stage of the sequence for estimating the wall angle according to one embodiment of the present invention. FIG. 52 represents the second stage of the sequence for estimating the wall angle according to one embodiment of the present invention. FIG. 53 illustrates an obstacle avoidance sequence according to an embodiment of the present invention for moving the robot away from the obstacle. FIG. 54 illustrates a panic rotation order for a mobile robot according to one embodiment of the present invention. FIG. 55 illustrates a wheel drop reaction sequence for a mobile robot according to one embodiment of the present invention. FIG. 56 shows an embodiment of the brush control sequence by the washing robot. FIG. 57 represents a graph of the current drawn by the robot's motor versus time over at least one revolution cycle. FIG. 58 shows an example of a sequence relating to pseudo autocorrelation for pump control for a water washing mobile robot. FIG. 59 shows an example of an order for performing a deadlock operation on the washing robot. FIG. 60 shows an embodiment of a fluid sensing circuit diagram for a water washing mobile robot. FIG. 61A represents one commercial embodiment of the robot of the present invention, including accessories. FIG. 61B represents various views of one commercial embodiment of the robot of the present invention. FIG. 62 represents one embodiment of a control panel and user interface used by one embodiment of the robot. FIG. 63 represents another embodiment of the control panel and user interface used by one embodiment of the robot.

Referring to the figures where like reference numerals identify corresponding or similar elements throughout the several views, FIG. 1 represents an isometric view showing the external surface of an autonomous cleaning robot 100 according to a preferred embodiment of the present invention. The robot 100 is configured with a cylindrical volume having a generally circular cross-section 102 having a top surface and a bottom surface substantially parallel and opposite the top surface. The circular cross section 102 is defined by three mutually perpendicular axes, a central vertical axis 104, a successful axis 106, and a horizontal axis 108. The robot 100 is supported so as to be movable with respect to a surface to be cleaned, which will be referred to as a cleaning surface hereinafter. The cleaning surface is substantially horizontal.

The robot 100 is typically supported in rolling contact with the cleaning surface by a plurality of wheels or other rolling elements attached to the housing 200. In a preferred embodiment, the tail axis 108 defines a movement axis along which the robot advances on the cleaning surface. The robot typically advances in the order designated F or forward movement direction during the cleaning operation. The opposite direction of movement (ie 180 ° opposite) is designated A for the rear. The robot typically does not move backwards during the cleaning operation, but can be steered to move backwards to avoid objects or avoid corners or the like. The cleaning operation can be continued or interrupted during subsequent movements. The horizontal axis 108 is further defined by the indication of R for right and L for left as seen from the top view of FIG. In subsequent figures, the R and L directions coincide with the top view, but may be reversed on the printed page. In a preferred embodiment of the invention, the circular cross section 102 of the robot has a diameter of about 370 mm (14.57 inches) and the height of the robot 100 above the cleaning surface is about 85 mm (3.3 inches). However, the autonomous cleaning robot 100 of the present invention is constructed with other cross-sectional diameter and height dimensions and other cross-sectional shapes such as squares, rectangles and triangles, and volumetric shapes such as cubes, rods and cones. obtain.

Although not shown, the robot 100 may include a user input control panel disposed on an external surface such as an upper surface together with one or more user operation actuators disposed on the control panel. Actuation of the control panel actuator by the user generates an electrical signal that is interpreted to initiate a command. The control board may also include one or more mode status indicators, such as visual or audio indicators that can be perceived by the user. In one example, the user can set the robot to a cleaning surface and actuate a control panel actuator to initiate a cleaning operation. In another example, the user can activate the control panel actuator to stop the cleaning operation.

FIG. 21 shows four main modules in a normal arrangement such as a tank 800, an upper part, a battery 201, a robot body 200, and a cleaning head 600 substantially within the robot body 200. The robot itself supports the battery 201 in a battery socket, and the integrated tank 800 is supported on both the robot and the battery 201. An inner lower surface of the tank 800 and an inner upper surface of the robot body 200 are configured to substantially match the shape of the battery 201. As described herein, the battery 201 can be replaced by levering the tank 800 on its pivot axis, but without necessarily lifting or removing the tank 800. Also, as shown in FIG. 21, the cleaning head 600 can be inserted from the right side of the robot in a sliding motion without removing the tank 800 or the battery 201, and in this structure, during the cleaning cycle or another method. Can be removed from the robot body 200 for cleaning. FIG. 21 also shows the control panel 330 for the robot described in detail below.

As shown in FIG. 21, the tank 800 has a detent click lock and lifts the tank slightly when lifted and in another manner as described, as described in detail herein. There is a handle. When the tank 800 is mounted on the main body 200, the handle is for the entire robot. When the tank 800 is removed from the robot, this handle is for the tank 800 alone. However, as shown in FIG. 21, a second handle is formed in the robot body in the recess below the control panel 330. Accordingly, when the tank 800 and the basic unit 200 are separated, each has its own handle. When the tank 800 and the basic unit 200 are reintegrated, the main handle serves to support both. The same handle is both a latch for tank removal when pushed in one direction and a connection for removal when held in the other direction.

(Example cleaning system)
Referring to FIG. 2, the autonomous robot 100 includes a plurality of cleaning modules supported on a housing 200 for cleaning a substantially horizontal cleaning surface as the robot moves over a cleaning surface. Including. The cleaning module extends and contacts or operates under the robot housing 200 on a cleaning surface during a cleaning operation. More specifically, the robot 100 collects free particulate matter from the cleaning surface and stores the free particulate matter in a container carried by the robot. Consists of A. The robot 100 further includes a second cleaning area B where at least a cleaning liquid is applied to the cleaning surface. The cleaning liquid may be clean water alone or clean water mixed with other raw materials for improving cleaning. Application of the cleaning liquid decomposes, emulsifies, or reacts with contaminants on the cleaning surface to separate the contaminants therefrom. Contaminants may be suspended or combined with the cleaning solution. After the cleaning liquid is applied to the surface, it is mixed with the pollutant and becomes a waste such as a liquid waste with suspension or a pollutant contained therein.

The back surface of the robot 100 is shown in FIG. 2, which represents the first cleaning area A disposed in front of the second cleaning area B with respect to the tail shaft 106. Accordingly, when the robot 100 moves in the forward direction, the first cleaning area A precedes the second cleaning area B on the cleaning surface. The first and second cleaning zones are configured with a cleaning width W that is or substantially along the direction of the horizontal axis 108. The cleaning width W defines a cleaning width or a cleaning footprint of the robot. As the robot 100 advances forward over the cleaning width, the cleaning width is the width of the cleaning surface that is cleaned by the robot in a single pass. Ideally, the cleaning width extends over the entire width of the robot 100 to optimize cleaning efficiency. However, in practical implementation, the cleaning width is limited by the robot housing 200 due to space constraints. It is slightly narrower than the horizontal width of.

According to the present invention, the robot 100 passes the cleaning surface in the forward direction on the cleaning path by both cleaning zones operating simultaneously. In a preferred embodiment, the robot's nominal forward speed is about 4.75 inches per second, but the robot and cleaning device may be configured to clean at faster and slower forward speeds. To cover the room in sufficient time, a reasonable speed range is about 2 to 10 inches per second. The first cleaning area A collects particulate matter released from the cleaning surface over the cleaning width W preceding the second cleaning area B on the cleaning surface. The second cleaning area B applies a cleaning liquid to the cleaning surface over the cleaning width W. The second cleaning zone may also be configured to smear the cleaning liquid onto a cleaning surface to smooth the cleaning liquid into a more uniform layer and to mix the cleaning liquid with contaminants on the cleaning surface. The second cleaning zone B can also be configured to polish the cleaning surface across the cleaning width. The polishing action stirs the cleaning solution and mixes it with contaminants. The polishing action also removes contaminants from the cleaning surface by applying shear forces to the contaminants. The second cleaning zone B may also be configured to collect waste liquid from the cleaning surface over the cleaning width. According to the present invention, a single pass of the robot on the cleaning path first collects particulate matter released from the cleaning surface over the cleaning width and then normally applies a cleaning liquid to the cleaning surface over the cleaning width W. A polishing action can also be applied to interact with contaminants remaining on the cleaning surface and to further remove contaminants from the cleaning surface. A single pass of the robot 100 on the cleaning path can also smear the cleaning liquid more evenly on the cleaning surface. A single pass of the robot on the cleaning path can also recover waste liquid from the cleaning surface. However, the robot may be designed to leave a certain amount of fluid in each or several passes (eg to provide time for the cleaning liquid to be effective against dry material or stubborn dirt).

In general, the cleaning robot 100 is, for example, a floor covered with tile, wood, vinyl, linoleum, smooth stone or concrete, and a processed floor that covers layers that are not very abrasive and do not readily absorb liquid, such as: It is configured to clean indoor hard floor surfaces that are not carpeted. However, other embodiments may be adapted to clean, process, treat, or traverse abrasive, liquid absorbent, and other surfaces. Also in a preferred embodiment of the present invention, the robot 100 is configured to move autonomously on the floor of a small, closed, furnished room typical of homes and small commercial facilities. The robot 100 need not operate beyond a predetermined cleaning path, but under the control of various transport algorithms designed to operate regardless of the surrounding shape or distribution of obstacles, substantially all of the cleaning surface area is achieved. Can move on. In particular, the robot 100 of the present invention is classified as three basic modes of operation: (1) “point range” mode, (2) “wall / obstacle tracking” mode, and (3) “bounce” mode. In order to implement various modes such as patterns of movement that can be performed, the cleaning path is moved according to programmed procedures implemented in hardware, software, firmware, or combinations thereof. Also, the robot 100 is pre-programmed to initiate an action based on a signal received from a sensor incorporated therein, where such action implements one of the above movement patterns, the robot Including but not limited to 100 emergency stops or alarms. Such a mode of operation of the robot of the present invention is specifically described in US Pat. No. 6,809,490 entitled Methods and Systems for Multimodal Range for Autonomous Robots by Jones et al. The entire disclosure is hereby incorporated by reference in its entirety. However, this disclosure also describes alternative modes of operation.

In one embodiment, the robot 100 is configured to clean about 150 cubic feet of the cleaning surface in a single cleaning operation. With larger or smaller tanks, this can range from 100 cubic feet to 400 cubic feet. The duration of the cleaning operation is about 45 minutes in a specific embodiment. The 45 minute example is with one battery. In embodiments loaded with smaller, larger, or more than two batteries, the cleaning time can range from about 20 minutes up to about 2 hours. In response, the robotic system responds to unmanned autonomous cleaning over 45 minutes without the need to recharge the power supply, refill the cleaning solution, or empty the waste collected by the robot. (Physically and as programmed). Although specific embodiments of the robot are designed for small area rooms, there is no minimum square foot or cleaning time. The robot according to the invention can be composed of tanks of virtually any size.

As shown in FIGS. 2 and 3, the robot 100 includes a plurality of subsystems mounted on the robot housing 200. The main robot subsystem is shown schematically in FIG. 4 representing the main control module 300 interconnected for bi-directional communication with each of a plurality of other robot subsystems. Interconnection of the robotic subsystem is provided via a network of conductor elements such as interconnected wires and / or conductive paths formed on an integrated printed circuit board or the like, as is well known. The main control module 300 includes at least a programmable or pre-programmed digital data processor, such as a microprocessor, to perform program steps, algorithms, and / or mathematical and logical operations as needed. The main control module 300 also includes a digital data memory in communication with the data processor for storing program steps and other digital data therein. The main control module 300 also includes one or more clock elements for even generating timing signals as needed.

The power module 310 supplies power to all main robot systems. The power module includes a built-in power source such as a rechargeable battery such as a nickel metal hydride battery or the like attached to the robot casing 200. The power supply is also configured to recharge by any of a variety of recharging elements and / or rechargeable modes, or the battery can be replaced by a user when it is discharged or becomes unusable. . The main control module 300 may also work with the power module 310 to control power distribution as needed, monitor power usage, and initiate a power saving mode.

The robot 100 may also include one or more interface modules or elements 320. Each interface module 320 is attached to the robot housing and provides an interconnecting element or inlet for interconnecting with one or more external devices. The interconnect element and the inlet are preferably accessible to the external surface of the robot. The main control module 300 can also control the interaction of the robot 100 with an external device in conjunction with the interface module 320. In particular, one interface module element is provided for charging the rechargeable battery via an external power source or a power source such as a conventional AC or DC power output. Another interface module element can be configured for one-way or two-way communication over the wireless network, and in addition, the interface module element works in conjunction with one or more mechanical devices to fill the cleaning liquid container, Or it can be configured to exchange liquid and free particulate matter with it, such as to drain or empty the waste container.

Accordingly, the interface module 320 may comprise a plurality of interface ports and connection elements for interworking with active external elements for exchanging operational commands, digital data and other electrical signals therewith. The interface module 320 can further interface with one or more mechanical devices for exchanging liquids and / or solids therewith. The interface module 320 can also work with an external power source for charging the robot power module 310. Active external devices for linking with the robot 100 include floor fixed connection platforms, handheld remote control devices, local or remote computers, modems, portable storage devices for exchanging codes and / or data with the robot, and A network interface for interlocking the robot 100 with a device connected to a network may be included, but is not limited thereto. The interface module 320 may also include passive elements such as hooks and / or latching mechanisms for attaching the robot 100 to a storage wall or attaching the robot to a carrying case or the like.

In particular, an active external device according to an aspect of the present invention confines the robot 100 in a cleaning space such as a room by emitting radiation in a virtual wall pattern. The robot 100 is configured to detect the virtual wall pattern and is programmed to treat the virtual wall pattern as a room so that the robot does not pass through the virtual wall pattern. This particular aspect of the present invention is specifically described in US Pat. No. 6,690,134 entitled Method and System for Robot Localization and Confinement by Jones et al., The entire disclosure of which is Incorporated herein by reference in its entirety.

Another active external device according to a further aspect of the present invention is a robot base station used to interface with the robot. The base station may comprise a fixed unit connected to a household power source such as a wall outlet for AC power and / or other household equipment such as a water supply pipe, a drain pipe and a network interface. According to the present invention, the robot 100 and the base station are each configured for autonomous coupling, and the base station further charges the robot power module 310 and uses the robot in other ways. Can be configured to allow. A base station and autonomous robot configured for autonomous coupling and recharging of the robot power module was filed on January 21, 2004 by Cohen et al., And the autonomous robot self-coupling and energy management system and It is specifically described in US patent application Ser. No. 10 / 762,219 entitled Method, the entire disclosure of which is hereby incorporated by reference in its entirety.

The autonomous robot 100 includes a built-in mobile drive source subsystem 900, which is described in further detail below. The mobile drive 900 includes three wheels that extend below the housing 200 and provides three points of rolling support for the cleaning surface. A front wheel is coaxial with the successful shaft 106 and is attached to the robot housing 200 at its front edge, and a pair of driving wheels are attached to the housing 200 at the rear of the horizontal shaft 108 and are attached to the horizontal shaft 109. It can rotate around the drive shaft along. Each drive wheel is individually driven and controlled to advance the robot in a desired direction. Each moving wheel is also configured to provide sufficient drive friction when the robot operates on a cleaning surface wetted with a cleaning liquid. The front wheels are configured to self-align in the direction of movement. The driving wheel can be controlled to move the robot 100 forward or straight, backward or along an arcuate track.

The robot 100 further includes a sensor module 340. The sensor module 340 includes a plurality of sensors attached to the housing and / or integrated with the robot subsystem to sense external conditions and sense internal conditions. In response to sensing various conditions, the sensor module 340 may generate an electrical signal and transmit the electrical signal to the control module 300. Individual sensors detect walls and other obstacles, detect steep slopes on cleaning surfaces called steps, detect floor dirt, detect low battery levels, detect empty cleaning solution containers, full waste Detection of containers, measurement or detection of driven wheel speed distance or slip, detection of front wheel rotation or step drop, detection of cleaning system problems such as clogging of rotating brushes or clogging of vacuum system, inefficient cleaning, Functions such as detection of cleaning surfaces, surface types, system conditions, temperatures, and many other conditions can be performed. In particular, with respect to some aspects of the sensor module 340 of the present invention and its operation, particularly sensing external elements and conditions, US Pat. No. 6,594,844 entitled Robot Obstacle Detection System by Jones, and Casey Et al., U.S. Patent Application No. 11 / 166,986, filed June 24, 2005, entitled Obstruction Tracking Sensor Mechanism for Mobile Robots. Are incorporated herein by reference in their entirety.

One difference between this robot and either a dry vacuum robot or a large commercial vacuum cleaner is the proximity of the control and sensor components to the water wash components. In most dry vacuum robots, no wet cleaning agent is used and no waste liquid is generated, so neither the sensor nor the control element is prone to getting wet by water or more damaging cleaning liquids or solvents. In large commercial vacuum cleaners, control equipment and sensors are installed as far as necessary from the cleaning element, perhaps a few feet, and the only sensor that needs to accept moisture is for sensing fluid levels.

The present invention is considered for home use (although commercial and commercial use is also considered, such an environment may require a larger version of the robot). Accordingly, home robots should be small and low, for example, within about 4 inches from the ground and about 1 foot in diameter. Much of the volume is occupied by fluid brushing, rotating, spraying, and blowing devices, and fluid and / or bubbles penetrate most of the robot at some point. At maximum, the control and sensor electronics will be several inches away from the closest fluid or bubble torrent.

Accordingly, the present invention provides that the entire control panel is fluid-tight within either a water-resistant or waterproof frame and has at least a JIS third grade (light spray) water / fluid resistance, Taking into account the desirability of strong spraying and grade 7 (temporary soaking) are also desirable. The main control panel consists of (1) a screwed and gasketed cover on the main frame, (2) a welded, caulked, sealed or glued cover fixed to the main frame, and (3) water and watertight. By being pre-assembled in a waterproof or sealed compartment or module, or (4) by being positioned in a volume suitable for embedding or pre-embedding in a resin or the like, within a JIS 3-7 grade frame Should be sealed with.

Many sensor elements have local miniature circuit boards, sometimes with local microprocessors and / or analog to digital converters and the like. The present invention also contemplates that sensor circuit boards distributed across the body of the robot are sealed in a similar manner within JIS 3-7 grade frames. The present invention also contemplates that multiple circuit boards, including at least the main circuit board and a remote circuit board several inches away from the main board, can be sealed by a single conforming frame or cover. For example, all or some of the circuit boards can be placed in a single plastic or resin module with an extension that reaches the local sensor site, and the distributed cover is secured over all of the circuit boards. Can do. Also, exposed electrical connections and terminals of sensors, motors, or communication lines can be sealed in a similar manner by covers, modules, embeddings, shrink fits, gaskets, or the like. In this way, substantially the entire electrical system is separated from the fluid seal and / or the liquid spray or foam. Any and all electrical or electronic elements defined herein as circuit boards, PCBs, detectors, sensors, etc. are candidates for such sealing.

The robot 100 may also include a user control module 330. The user control module 330 provides one or more input interfaces that generate electrical signals in response to user inputs and communicate the signals to the main control module 300. In one embodiment of the present invention, the user control module described above provides a user input interface, but the user can connect via a handheld remote control device, a programmable computer, or other programmable device. The command may be input via a voice command. User commands to start operations such as power on / off, start, stop, etc., or to change the cleaning mode, set the cleaning time, program cleaning parameters such as start time and duration, and / or Or many other user activation commands can be entered. User input commands, functions and components contemplated for use with the present invention are filed on June 24, 2005 by Dubrovsky et al., US Patent entitled Remote Control Scheduler and Method for Autonomous Robotic Devices. Application No. 11 / 166,891 is specifically described, the entire disclosure of which is incorporated herein by reference in its entirety. Specific modes of user interaction are also described here.

(Cleaning area)
Referring to FIG. 2, the bottom surface of the robot housing 200 is shown in an isometric view. As shown there, the first cleaning area A is arranged in front of the second cleaning area B with respect to the tail shaft 106. Accordingly, when the robot 100 moves in the forward direction, the first cleaning area A precedes the second cleaning area B on the cleaning surface. Each of the cleaning areas A and B usually has a cleaning width W arranged along the horizontal axis 108. Ideally, the cleaning width of each cleaning area is substantially the same, but the actual cleaning width of cleaning areas A and B may be slightly different. According to a preferred embodiment of the present invention, the cleaning width W is substantially defined by the second cleaning area B extending close to the right circular periphery of the bottom surface of the robot housing 200 along the horizontal axis 108. Primarily defined, it is about 296 mm or 11.7 inches long, ie about 30 cm or 12 inches long. By positioning the cleaning area B proximate the right circle periphery, the robot 100 steers its right circle periphery close to a wall or other obstacle to clean the cleaning surface adjacent to the wall or obstacle. be able to. Accordingly, the robot motion pattern includes an algorithm for moving the right side of the robot 100 adjacent to each wall or obstacle encountered by the robot during a cleaning cycle. Therefore, it can be said that the robot 100 has a dominant right side. Of course, the robot 100 can alternatively be configured with a dominant left side. The first cleaning area A is positioned in front of the horizontal shaft 108 and has a slightly narrower cleaning width than the second cleaning area B simply due to the circumferential shape of the robot 100. However, the cleaning surface area that is not cleaned by the first cleaning area A is cleaned by the second cleaning area B.

(First cleaning area or dry vacuum cleaning)
The first cleaning zone A is configured to collect particulate matter released from the cleaning surface. In a preferred embodiment, an air jet is generated by a ventilation device including an air outlet 554 disposed at the left end of the first cleaning area A. The air spout 554 discharges a continuous jet or flow of compressed air therefrom. The air spout 554 is oriented to direct an air jet across the cleaning width from left to right. The air intake port 556 is disposed at the right end of the first cleaning area A so as to face the air jet port 554. “Air intake” as used herein may mean “vacuum port”, “air inlet”, “negative pressure zone”, and the like. The ventilator generates a negative air pressure band in a conduit connected to the intake 556, which creates a negative air pressure band proximate to the intake 556. The negative air pressure zone sucks free particulate matter and air into the air intake 556, and the ventilator is further configured to put the free particulate matter into a waste container of the robot 100. The Accordingly, the pressurized air discharged from the air outlet 554 moves over the cleaning width in the first cleaning area A and moves toward the negative air pressure zone close to the intake 556. Push the free particulate matter above. The liberated particulate matter is sucked from the cleaning surface through the air intake port 556 and is put into a waste container of the robot 100. The first cleaning area A is further defined by a generally rectangular channel formed between the air jet 554 and the air intake 556. The channel is defined by opposing front and rear walls of a rectangular recess 574 having a contour shape formed on the bottom surface of the robot housing 200. The front and rear walls are substantially lateral to the tail shaft 106. The channel is further defined by a first flexible “doctor” (airflow guide) blade attached to the robot housing 200 that extends from the bottom surface of the housing to the cleaning surface, for example along the rear edge of the recess 574. Is done.

The doctor airflow guide blade is mounted to contact or substantially contact the cleaning surface. The doctor airflow guide blade 576 is preferably formed from a thin, flexible and elastic molding, such as a 1-2 mm thick rod-like element molded from neoprene rubber or the like. The doctor airflow guide blade 576 or at least a part of the doctor airflow guide blade is coated with a low friction material such as a fluoropolymer resin for reducing friction between the doctor airflow guide blade and the cleaning surface. can do. The doctor airflow guide blade 576 can be attached to the robot housing 200 by an adhesive bond or by other suitable means. The air guide blade 576 toward the rear of the robot makes an angle with respect to the direction of movement, approximately 95-120 degrees from the direction of movement. The tip of the blade 576 closest to the vacuum port 556 is further toward the rear. Accordingly, the debris tends to move along each inclined blade 576 as the robot advances. As shown in FIG. 2, the inclined blade 578 substantially moves toward the vacuum inlet in a manner that draws air and debris along the front side of the inclined guide blade 578, which also has a smaller vacuum inlet. Point to. The small dry vacuum blade is positioned to bypass a lighter object that would otherwise be blown over the suction port and returned to the suction port for injection. It also guides larger objects back towards the suction port.

As shown in FIG. 2, the caster front wheel close to the front of the robot is normally limited to 180 degrees of lateral movement. However, certain embodiments benefit from a wider range of exercise. For example, the criteria for a particular embodiment of the caster front wheel is either 360 degrees (free movement) or 180 degrees or less (limited but reversible movement), but for commercial embodiments Is typically 160-170 degrees. A specific range of motion of the caster wheels may cause the wheels to become stuck when moving backwards.

The path of the first cleaning area A provides an increase in volume between the cleaning surface and the bottom surface of the robot housing 200 close to the first cleaning area A. The increased volume leads to an air flow between the spout 554 and the air intake 556, and the doctor air flow guide blade 576 causes the free particulate matter and air flow to escape from the first cleaning zone A in the rear direction. To prevent that. In addition to directing the ejection of air and the free particulate matter across the cleaning width, the first doctor airflow guide blade 576 exerts a frictional thrust against contaminants on the cleaning surface so that the robot can move forward. Moving in the direction can help to release contaminants from the cleaning surface. The first flexible doctor airflow guide blade 576 is sufficiently flexible to accommodate contours that conform to discontinuities in the cleaning surface, such as door catching, molding, and decorative parts, without hindering the robot 100 from advancing. It is configured as follows.

A second flexible doctor airflow guide blade 578 may also be disposed in the first cleaning zone A to further guide the jet of air toward the negative pressure zone surrounding the air intake 554. The second flexible doctor airflow guide blade has the same structure as the first flexible doctor airflow guide blade 576, and is attached to the bottom surface of the robot housing 200 and moves through the channel and free particulate matter. Lead further. In one example, a second recess 579 is formed in the bottom surface of the housing 200, and the second flexible doctor airflow guide blade 576 has an acute angle typically between 30 and 60 degrees with respect to the transverse axis 108, Projecting into the first recess 574. The second flexible airflow guide blade extends from the front edge of the recessed portion 574 and protrudes from about 1/3 to 1/2 of the path succession dimension.

The first cleaning zone A collects particulate matter released along the cleaning width across the cleaning surface along the cleaning path. By recovering the free particulate matter before the second cleaning zone B passes the cleaning path, the free particulate matter before the second cleaning zone applies the cleaning liquid to the cleaning surface. Is recovered. One advantage of removing the free particulate matter in the first cleaning zone is that the free particulate matter is removed while it is still dry. Once the liberated particulate matter absorbs the cleaning liquid applied by the second cleaning zone, they become more difficult to recover. Furthermore, since the cleaning liquid absorbed by the released particulate matter cannot be used for cleaning the surface, the cleaning efficiency of the second cleaning area B may deteriorate. The first cleaning area is usually a pre-treatment, which eliminates the sweeping work before the user mops. However, in an alternative construction, the first cleaning area is a dry vacuum generator that can be operated separately from the water wash functionality of the robot. Furthermore, in such cases, the first cleaning area may comprise a rotating brush or counter rotating brush, or may use only a brush rather than a brush and vacuum generator.

In another embodiment, the first cleaning zone may be comprised of other cleaning elements such as counter-rotating brushes that extend free particulate matter that extends over the cleaning width into the container. In another embodiment, the ventilator may be configured to draw air and free particulate matter from the cleaning surface through an elongated air intake that extends across the cleaning width. In particular, another embodiment that can be used to provide a first cleaning zone according to the present invention is disclosed in US Pat. No. 6,883,201 entitled Autonomous Floor Cleaning Robot by Jones et al., Whose disclosure. The entirety is incorporated herein by reference in its entirety.

FIG. 22 shows elements similar to those shown in FIG. In the following description, somewhat alternative terms are used. The elements shown in FIG. 22 include the main electrical board 300, the “cam” drive pump 706, the front caster 960, the stationary circuit board 300a with IR “stationary” sensors and components (ie, the front wheels are the driven wheels). Indicating that the robot may get stuck), a reed switch PCB 300b, a charging plug PCB 300c for receiving a battery charging cord, and contact with the battery when installed in the robot body Battery contact blade 777, a board gasket / sealing 301 that covers the inside of the edge of the board 300 and fits a cover for waterproofing the board 300, a bumper 220, the main housing 200, and the washing head substantially Flush head motors located in unison with each other And power transmission 608, left power transmission / wheel assembly 909 (showing bias spring, suspension, integrated planet or other power transmission), right power transmission / wheel assembly 908 (arranged similarly), branch dry Vacuum and exhaust pipes 517a, 517b, replaceable filters for the fan assembly (should have sufficiently small pores and surfaces configured to allow both particulate matter and most of the water to enter the fan assembly. The first or left spray nozzle 712, the second or right spray nozzle 714, the nozzle tube for the right spray nozzle, the fan assembly 502, the inner cover of the robot body, and the inner cover are fixed to the casing. It is a wire clip to do.

The static circuit board 300a, the reed switch PCB 300b, and the charging plug 300c may or should be water resistant or waterproof depending on the structure described herein. As shown in FIG. 22, these PCBs tend to be positioned to support the associated sensors and electronic components.

The dry vacuum generator may include a main cleaning brush for repelling garbage in a small garbage can. The trash can can be mounted in front of or behind the brush (with appropriate improvements to the brush shroud). In addition to covering the floor with a thin layer of water that evaporates and raises the relative humidity, the evacuation tube can be directed to constantly blow air through the water in a dirty or clean tank. Air exiting a dirty or clean tank tends to have a higher relative humidity than the air entering it, which can be blown into the room if the room humidity is increased and the cleaning liquid adds perfume.

(Second cleaning area or washing head)
Said second cleaning zone B includes a liquid applicator 700 (or alternatively a jetting head and / or a spraying device) configured to apply cleaning liquid to the cleaning surface, said cleaning liquid preferably being uniform over the entire cleaning width. Applied. The liquid applicator 700 is attached to the housing 200 and includes at least one nozzle configured to spray the cleaning liquid onto the cleaning surface. The second cleaning zone B may also include a scrub module 600 (or an electric brush) for performing other cleaning operations across the cleaning width after the cleaning liquid has been applied to the cleaning surface. The scrub module 600 may include a smearing element disposed across the cleaning width for smearing the cleaning liquid and distributing it more evenly on a cleaning surface. The second cleaning zone B may also include passive or active scrub elements, scrub brushes, wipers or wipes configured to polish the cleaning surface across the cleaning width. The second cleaning zone B is also a second collection device configured to collect waste from the cleaning surface over the cleaning width (or alternatively a wet vacuum generation directed to either a wet surface or a wet brush) The second recovery device is specifically configured for recovering liquid waste.

(Liquid applicator module or jet head)
The liquid applicator module 700, shown schematically in FIG. 5, is configured to apply a measured amount of cleaning liquid over the cleaning surface over the cleaning width. “Liquid applicator module” as used herein may mean “nozzle”, “jet head”, and / or “spray brush / wiper”. The liquid applicator module can also apply fluid by spraying directly on the floor, spraying a brush or roller with fluid, or by dipping or capillary action on the floor, brush, roller, or pad. The liquid applicator module 700 receives replenishment of the cleaning liquid from the cleaning liquid replenishing container S carried in the casing 200 and sends the cleaning liquid through one or more spray nozzles arranged in the casing 200. The spray nozzles are attached to the robot housing 200 at the rear of the first cleaning area A, and each nozzle is directed to apply a cleaning liquid to the cleaning surface. In a preferred embodiment, a pair of spray nozzles are attached to the robot housing 200 at the distal left and right ends of the cleaning width W. Each nozzle is directed to spray a cleaning liquid toward the opposite end of the cleaning width. Each nozzle is fed individually and ejects a spray pattern, and the pump operation of each nozzle is offset by about 180 degrees with respect to the other nozzle so that one of the two nozzles always applies the cleaning liquid. .

Referring to FIG. 5, the liquid applicator module 700 is removable from the user to be carried in the housing 200 (and / or in an integrated tank) to refill the container with cleaning liquid. (Or the container S is refilled with water and the cleaning concentrate is refilled from another compartment or as a solid or powder), including a cleaning liquid replenishment container S. The replenishing container S is composed of a discharge or exit hole 702 formed through the base surface. The fluid pipe 704 receives the cleaning liquid from the outlet hole 702 and supplies the cleaning liquid to the pump assembly 706. The pump assembly 706 includes left and right pump sections 708 and 710 driven by rotating cams as shown in FIG. The left pump unit 708 sends cleaning liquid to the left injection nozzle 712 via the conduit 716, and the right pump unit 710 sends the cleaning liquid to the right injection nozzle 714 via the conduit 718.

The stop valve assembly shown in a sectional view in FIG. 6 includes a female upper portion 720 mounted inside the refill container S, and a male portion 721 attached to the housing 200. The female mold part 720 nominally closes and seals the exit hole 702. The male part 721 opens the emission hole 702 so that the cleaning liquid in the replenishing container S can be used. The female mold 720 includes an upper frame 722, a spring bias movable stop 724, a compression spring 726 for biasing the stop 724 to a closed position, and a gasket 728 for sealing the emission hole 702. The upper frame 722 may also support a filter element 730 in the refill container S for filtering contaminants from the cleaning liquid before fluid exits the refill container S.

The stop valve assembly male part 721 includes a hollow male attachment part 732 that is formed so as to be inserted into the emission hole 702 and penetrate the gasket 728. By inserting the hollow male appendage 732 into the emission hole 702, the movable stop 724 is pushed upward with respect to the compression spring 726 to stop the stop valve. The hollow male appendage 732 is formed by a flow tube 734 along its central longitudinal axis, the flow tube 734 having one or more openings at its uppermost end for receiving cleaning liquid in the flow tube 735. Part 735. At its lower end, the flow tube 734 is in fluid communication with a hose appendage 736 that is attached to or integrally formed with the male appendage 732. The hose appendage 736 includes a tube element having a hollow fluid passage 737 therethrough, and attaches a hose or fluid tube 704 that receives fluid from the hose appendage 736 and supplies the fluid to the pump assembly 706. The flow tube 734 may also include a filter element 739 that is removable by a user mounted thereon for filtering the cleaning liquid upon exiting the refill container S.

According to the present invention, the stop valve male mold part 721 is fixed to the casing 200 and engages with the female mold part 720 fixed to the container S. When the container S is mounted on the housing in its operating position, the male part 721 engages with the female part 720 to open the emission hole 702. A replenishment of cleaning fluid flows from the refill container S to the pump assembly 706, which can be gravity assisted or aspirated by the pump assembly, or both.

Although not shown, the hose attachment portion 736 further includes a pair of conductive elements disposed on the inner surface of the hose attachment portion flow passage 737, and the pair of conductor elements in the flow tank are electrically connected to each other. Insulated from each other. Although not shown, the measurement circuit creates a potential difference between the pair of conductive elements, and when there is cleaning liquid in the flow path 737, power flows through the cleaning liquid from one electrode to the other, The measurement circuit senses current flow. If the container S is empty, the measurement circuit cannot detect the power flow and sends a refill container empty signal to the main controller 300 accordingly. In response to receiving the refill container empty signal, the main controller 300 takes appropriate measures.

The pump assembly 706 as represented in FIG. 5 includes a left pump portion 708 and a right pump portion 710. The pump assembly 706 receives a continuous flow of cleaning liquid from the replenishing container S and alternately supplies the cleaning liquid to the left nozzle 712 and the right nozzle 714. FIG. 7 shows the pump assembly 706 in a cross-sectional view, and the pump assembly 706 is shown mounted on the top surface of the housing 200 in FIG. The pump assembly 706 includes a cam element 738 mounted on a motor drive shaft for rotation about an axis of rotation. Although not shown, the motor rotates the cam element 738 at a substantially constant angular velocity under the control of the controller 300. However, the angular velocity of the cam element 738 can be increased or decreased to change the pump frequency of the left and right injection nozzles 712 and 714. In particular, the angular velocity of the cam element 738 controls the mass flow rate of the cleaning liquid applied to the cleaning surface. According to one aspect of the present invention, the angular speed of the cam element 738 can be adjusted in proportion to the forward speed of the robot for applying a uniform amount of cleaning liquid to the cleaning surface, regardless of the speed of the robot. Alternatively, the change in angular velocity at the cam element 738 can be used to increase or decrease the mass flow rate of the cleaning liquid applied to the cleaning surface as desired.

The pump assembly 706 includes a rocking element 761 that is mounted to pivot about a pivot axis 762. The rocking element 761 includes a pair of opposed cam tracking elements 764 on the left and 766 on the right. Each cam track 764 and 766 maintains constant contact with the circumferential profile of the cam element 738 as the cam element rotates its axis of rotation. The rocking element 761 further includes a left pump actuator connector 763 and a right pump actuator connector 765. Each pump actuator coupler 763 and 765 is fixedly attached to a corresponding left pump chamber actuator nipple 759 and right pump chamber actuator nipple 758. As will be readily appreciated, rotation of the cam element 738 causes each of the cam tracking elements 764 and 766 to follow the cam circumferential profile, and the motion determined by the cam profile is controlled by the rocking element 761. The left and right actuator nipples 759 and 758 are moved. As will be described below, the movement of the actuator nipple is used to pump cleaning liquid. The cam profile is specifically shaped so that the rocking element 761 pushes the right actuator nipple 758 downward while simultaneously lifting on the left actuator nipple 759, and this action occurs during the first 180 degrees of the cam. . Alternately, the second 180 degrees of cam rotation pushes the left actuator nipple 759 downward while lifting the rocking element 761 onto the right actuator nipple 758.

The rocking element 761 further includes a sensor 767 that supports a permanent magnet 769 attached to the end thereof. The magnetic field generated by the magnet 769 interacts with an electrical circuit 771 that is supported in close proximity to the magnet 769, which generates a signal in response to a change in magnetic field directionality. The signal is used to track the operation of the pump assembly 706.

With reference to FIGS. 7-9, the pump assembly 706 further comprises a flexible membrane 744 mounted between opposing upper and lower inflexible elements 746 and 748, respectively. With reference to the cross-sectional view of FIG. 7, the flexible element 744 is captured between an upper inflexible element 746 and a lower inflexible element 748. Each of the upper inflexible element 746, the flexible element 744, and the lower inflexible element 748 is formed as a substantially rectangular sheet with a generally uniform thickness. However, each element also includes a pattern consisting of raised ridges, indentations and other surface contours formed on the opposing surfaces thereof. 8 represents a top view of the flexible element 744 and FIG. 9 represents a top view of the lower inflexible element 748. The flexible element 744 is formed from a flexible membrane material such as neoprene rubber or the like, and the non-flexible elements 748 and 746 are each non-flexible such as a hard molding plastic or the like. It is formed from a hard material.

As shown in FIGS. 8 and 9, each of the flexible element 744 and the non-flexible element 748 is in contrast about a central axis designated E in the figures. In particular, the left side of each of the elements 746, 744 and 748 combine to form a left pump portion, and the right side of each of the elements 746, 744 and 748 combine to form a right pump portion. The left and right pump parts are substantially identical. When the three elements are assembled together, the raised ridges, indentations, and surface contours of each element cooperate with the raised ridges, indentations, and surface contours of the other contact surface of the elements to provide fluid sources and passages. produce. The source and passage may be formed between the upper element 746 and the flexible element 744 or between the lower inflexible element 748 and the flexible element 744. In general, the flexible element 744 acts as a gasket layer to seal the source and passage and uses its flexibility to react to pressure changes and to respond to local pressures when the pump is activated. To seal and / or open the passageway. A hole formed through the element also allows fluid to flow into or out of the pump and to flow through the flexible element 744.

Using the right pump portion as an example, cleaning fluid is drawn into the pump assembly through an opening formed in the center of the lower inflexible element 748. The opening 765 receives cleaning fluid from the fluid replenishment container via the conduit 704. Incoming fluid fills passage 766. Ridges 775 and 768 form a recess therebetween, and the mating raised ridge on flexible 744 fills the recess between said ridges 775 and 768. This confines fluid within the passage 766 and pressure seals the passage. An opening 774 passes through the flexible element 744 and is in fluid communication with the passage 766. When the pump chamber described below expands, the expansion reduces the local pressure and draws fluid through the opening 744 into the passage 776.

The fluid drawn through the opening 774 fills the source 772. The source 772 is formed between a flexible element 744 and the upper inflexible element 746. A ridge 770 surrounds the source 772 and combines with the features of the upper flexible element 746 to contain fluid in the source 772 and pressure seal the source. The surface of the source spring 772 is flexible so that when the pressure in the source spring 772 decreases, the base of the source spring rises to open the opening 774 and draw fluid through the opening 774. However, when the pressure in the source spring 772 decreases, the opening 774 is pressed against the raised upper surface 773 that is directly aligned with the opening due to the contraction of the pump chamber, and the source spring 772 serves as a trap valve. A second opening 776 passes through the flexible element 744 to allow fluid to pass through the flexible element 744 from the source 772 into the pump chamber. The pump chamber is formed between the flexible element 744 and the lower inflexible element 748.

Referring to FIG. 7, the right pump chamber 752 is shown in cross section. The chamber 752 includes a dome-shaped bend formed by an annular loop 756. The dome-shaped bend is the surface contour of the flexible element 744. The annular loop 756 passes through a large opening 760 formed through the upper inflexible element 746. The volume of the pump chamber is expanded when the pump actuator 765 pulls up the actuator nipple 758. Volume expansion reduces the pressure in the pump chamber and fluid is drawn from the source 772 into the chamber. The volume of the pump chamber decreases when the pump actuator 765 pushes down the actuator nipple 758. Decreasing the volume in the chamber increases the pressure, and the increased pressure expels fluid from the pump chamber.

The pump chamber is further defined by a source 780 formed in the lower inflexible element 748. The source 780 is surrounded by a recess 784 formed in the lower inflexible element 748 shown in FIG. 9, and a ridge 778 formed on the flexible element 744 is coupled to the recess 784. And pressure-sealing the pump chamber. The pump chamber 752 further includes an exit hole 782 formed through the lower inflexible element 748 through which fluid is expelled. The exit hole 782 supplies fluid to the right nozzle 714 via the conduit 718. The exit hole 782 also faces a stop surface that acts as a check valve to close the exit hole 782 when the pump chamber is reduced.

Therefore, according to the present invention, the cleaning liquid is drawn from the cleaning replenishing container S by the operation of the pump assembly 706. The pump assembly 706 includes two individual pump chambers for feeding the cleaning liquid to two individual ejection nozzles. Each pump chamber is configured to supply cleaning liquid to one nozzle in response to a rapid increase in pressure in the pump chamber. The pressure in the pump chamber is determined by the cam profile configured to propel fluid to each nozzle to spray a substantially uniform layer of cleaning liquid onto the cleaning surface. In particular, the cam profile is configured to supply a substantially uniform amount of cleaning liquid per unit length of the cleaning width W. Typically, the liquid applicator of the present invention applies a cleaning liquid at a volumetric flow rate in the range of about 0.2-5.0 ml per cubic foot, preferably in the range of about 0.6-2.0 ml per cubic foot. Configured to do. However, depending on the application, the liquid applicator of the present invention can apply a desired volume layer to the surface. The fluid applicator system of the present invention can also be used to apply other liquids such as waxes, paints, disinfectants, chemical coatings, and the like to the floor surface.

As described further below, the user can remove the refill container S from the robot housing and fill the refill container with a measured amount of clean water and a corresponding measured amount of cleaning agent. The water and cleaning agent can be poured into the refill container S through a refill container access opening 168 covered by a removable cap 172 shown in FIG. The refill container S is configured with a liquid volume capacity of about 1100 ml (37 fluid ounces) and the desired amount of cleaning agent and clean water can be poured into the refill tank at a rate suitable for a particular cleaning application. .

(Cleaning module, electric brush and / or electric wiper)
The scrub module 600 is shown in an exploded isometric view of FIG. 10 and a bottom view of the robot shown in FIG. 2 according to a preferred embodiment of the present invention. The scrub module 600 can be configured as a separate subassembly that attaches to the housing 200 but can be removed therefrom by a user to enable cleaning or its cleaning elements. Other arrangements can be constructed without departing from the invention. For example, in an alternative construction, the top wall of the scrub module 600 is essentially a part / integral part of the body of the robot, but the scrub module is open as shown for brushes, squeegees, and internal cavities. Allows cleaning (in such cases, “scrub module” remains a suitable term). An easily removable scrub module can be referred to as a “cartridge”, such as a scrub cartridge or a cleaning head cartridge. The scrub module 600 is installed and fastened at a place in a cavity 602 formed on the bottom side of the housing 200. The outer shape of the cavity 602 is displayed on the right side of the casing 200 in FIG. The cleaning element of the scrub module 600 is positioned at the rear of the liquid applicator module 700 and performs a cleaning operation on a wet cleaning surface.

In a preferred embodiment, the scrub module 600 includes a passive smearing or spreading element (or alternatively “spraying” or “spraying brush”) 612 that is attached to its leading edge and disposed across the cleaning width. The smearing or spreading brush 612 extends downward from the scrub module 600 and is configured to contact or substantially contact a cleaning surface across the cleaning width. When the robot 10 moves in the forward direction, the smearing brush 612 moves on the pattern of the cleaning liquid applied by the liquid applicator and smears or spreads the cleaning liquid more evenly on the cleaning surface. The smearing or spreading brush 612 shown in FIGS. 2 and 10 includes a plurality of supple flexible smears in which the first end of each bristle is captured by a holder, such as a crimped metal path, or other suitable holding element. Bristles 614 are provided. The second end of each smear bristles 614 can bend freely as each bristles contacts the cleaning surface. The diameter of the smearing or spreading bristles 614, as well as the nominal interference dimension that the smear bristles make to the cleaning surface, can be varied to affect the smearing action by adjusting the stiffness of the bristles. In a preferred embodiment of the present invention, the smearing or spreading device 612 comprises nylon bristles having an average bristle diameter in the range of about 0.05 to 0.2 mm (0.002 to 0.008 inches). The nominal length of each bristles 614 is about 16 mm (0.62 inches) between the retainer and the cleaning surface, and the bristles 614 are configured with an interference dimension of about 0.75 mm (0.03 inches). The The smear brush 612 can also collect excess cleaning liquid applied on the surface and distribute the recovered cleaning liquid to other locations. Of course, other smearing elements or spray brushes such as flexible and elastic blade members, sponge elements, or rolling members in contact with the cleaning surface can also be used. A plurality of evenly spaced jets or nozzles directing the fluid in a regularly spaced pattern (spraying, dipping, or flow) without a smear brush said evenly spaced The plurality of jets function as “spreading devices”.

The scrub module 600 may include, for example, a scrub element, scrub brush, wiper, or hood 604, although the present invention may be used without a scrub element. The scrubbing element contacts the cleaning surface during a cleaning operation to stir the cleaning liquid and to emulsify, decompose, or mix it with contaminants to chemically react with the contaminants. The scrubbing element, scrubbing brush, wiper or wipe also generates shear forces when moved against the cleaning surface, which helps to break adhesion and other adhesions between contaminants and the cleaning surface. The scrubbing element may also be a passive element or active and may move in contact with or without contact with the cleaning surface, with or without contact with the cleaning surface. Can be configured to be able to.

In one embodiment according to the present invention, a passive scrub element, scrub brush, wiper, or wipe is attached to the scrub module 600 or other attachment point on the entire housing 200 and contacts the cleaning surface over the cleaning width. Arranged so that. As the robot moves forward, a force is generated between the passive scrubbing element and the cleaning surface. The passive scrubbing element, scrubbing brush, wiper, or wipe is a plurality of scrub bristles, woven or non-woven material held in contact with the cleaning surface, e.g., a scrub pad held in contact with the cleaning surface or There may be provided a sheet material, or a flexible solid element such as a sponge, or other flexible porous solid foam element held in contact with the cleaning surface. In particular, a conventional scrubbing brush, sponge, or scrub pad used for polishing is fixedly attached to the robot 100 and the liquid so that the cleaning surface is polished as the robot 100 advances over the cleaning surface. The cleaning notation can be held in contact with the cleaning notation over the cleaning width at the rear of the applicator. The passive scrubbing element can also be replaced by a user or automatically replenished, for example, using a supply roll and a take-up roll to advance a clean cleaning agent in contact with the cleaning surface. Can be configured.

In another embodiment according to the present invention, one or more active scrub elements are movable relative to the cleaning surface and relative to the robot housing. The movement of the active scrubbing element increases the work performed between the scrubbing element, scrubbing brush, wiper, or hood and the cleaning surface. Each movable scrub element is propelled for movement relative to the housing 200 by a drive module that is also attached to the housing 200. The active scrub element is also a scrub pad or sheet material that is held in contact with the cleaning surface, or a soft solid element such as a sponge, or other that is held in contact with the cleaning surface and is vibrated by a vibrating support element. A flexible porous solid foam element may be provided. Other active scrub elements may also include a plurality of scrub bristles for polishing and / or a traditionally movably supported scrub brush, sponge, or scrub pad, or a polishing action using an ultrasonic emitter Can also be generated. The relative movement between the active scrub element and the housing may comprise a linear or rotational movement, and the active scrub element may be configured to be replaceable or cleanable by a user.

10-12, the preferred embodiment of the present invention includes an active scrubbing element. The active scrubbing element is disposed across the cleaning width at the rear of the liquid applicator nozzles 712, 714 to actively polish the cleaning surface after the cleaning liquid has been applied thereon. Is provided. The rotating brush assembly 604 includes a cylindrical bristle retainer 618 for supporting scrub bristles 616 extending radially outward therefrom. The rotating brush assembly 604 corresponds to rotation about an axis of rotation that extends substantially along the cleaning width. Since the scrub bristles 616 are long enough to interfere with the cleaning surface during rotation, the scrub bristles 616 will bend upon contact with the cleaning surface.

Scrub bristles 616 are installed in the brush assembly in groups or chunks, each chunk comprising a plurality of bristles held by a single attachment device or retainer. The positions of the lumps are arranged along the longitudinal length of the bristle holder element 618 in one pattern. The pattern places at least one bristle mass in contact with the cleaning surface across the cleaning width during each rotation of the rotating brush element 604. Since the rotation of the brush element 604 is clockwise when viewed from the right side, the relative movement between the scrub bristles 616 and the cleaning surface tends to repel loose contaminants and waste liquid in the rearward direction. Further, the frictional thrust generated by the clockwise rotation of the brush element 604 tends to propel the robot in the forward direction, thereby adding the forward driving force of the robot's moving drive system. Due to the nominal size of each scrub bristles extending from the cylindrical holder 618, the bristles interfere with the cleaning surface and thus bend when they come into contact with the surface. The interference dimension is the length of the bristles that have extra length to contact the cleaning surface. These dimensions and the nominal diameter of the scrub bristles 616 can be varied to affect the stiffness of the bristles and the resulting polishing action. Applicants have a bend dimension of about 16-40 mm (0.62-1.6 inches), a bristle diameter of about 0.15 mm (0.006 inches), and an interference of about 0.75 mm (0.03 inches). It has been found that constructing the scrub brush element 604 with nylon bristles with dimensions provides good polishing performance. In another example, scrub material stripes may be disposed along the longitudinal length of the bristle holder element 618 in one pattern attached thereto for rotation therewith. FIG. 23 represents a second generally assembled exploded isometric view of a cleaning head or scrub module similar to that represented in FIGS. In FIG. 23, the arrangement of the upper cover 638, the stationary brush 614, the cartridge body 634, the squeegee 630, and the spray brush 604 can be seen more clearly. The upper cover 638 and the cartridge body 634 are joined together by a metal rod 640 so as to be capable of rotational movement, and the double helical brush 604 is placed in the cartridge body 634 but is removable, as shown in FIG. The squeegee 630 is one squeegee having a path through which the vacuum generator draws fluid to draw.

(Details of squeegee and wet vacuum generator)
The scrub module 600 may also include a second collection device (or alternatively a “wet vacuum generator”) configured to collect waste liquid from the cleaning surface over the cleaning width. The second collection device is typically located at the back of the liquid applicator nozzles 712, 714, the back of the smear brush, and the back of the scrub element. In the preferred embodiment of the present invention, the scrub module 600 is shown in cross section in FIG. 12A. The smear element 612 is shown attached to the scrub module at its leading edge, and the rotating scrub brush assembly 604 is shown mounted in the center of the scrub module. At the rear of the scrub brush assembly 604, the squeegee 630 contacts the cleaning surface across its entire cleaning width and collects waste liquid as the robot 100 advances forward. The vacuum system draws air through the intake port in the squeegee and sucks waste liquid from the cleaning surface. The vacuum system puts the waste liquid into a waste storage container carried on the robot casing 200. The robot can take turns to recirculate all or part of the fluid, i.e., remove some of the waste from the waste, or the waste can be filtered or unfiltered, It can be returned to a single clean / waste tank.

As detailed in the cross-sectional view of FIG. 12A, the squeegee 630 includes a vertical element 1002 and a horizontal element 1004. Each of the elements 1002 and 1004 is formed from a substantially flexible and flexible material such as neoprene or other sponge rubber, silicone or the like. A one-part squeegee structure can also be used. In a preferred embodiment, the vertical element 1002 comprises a more flexible durometer material and bends and is more flexible than the horizontal element 1004. When the vertical element 1002 bends slightly towards the rear due to interference with the cleaning surface, the vertical squeegee element 1002 contacts the cleaning surface at the lower edge 1006 or along the forward tangent surface of the vertical element 1002 To do. The lower edge 1006 or the front surface collects waste liquid along the front surface while remaining in contact with the cleaning surface during the forward movement of the robot. The waste liquid accumulates along the entire length of the front surface and the lower edge 1006. The horizontal squeegee element 1004 includes a spacer element extending rearward from the body 1010, and the spacer element 1008 defined a suction channel 1012 between the vertical element 1002 and the horizontal squeegee element 1004. The spacer element 1008 is a discrete element that is disposed along the entire cleaning width and provides a passage through which waste liquid is drawn through the space between adjacent spacer elements 1008.

The vacuum interface port 1014 is provided on the top wall of the scrubber module 600. The vacuum port 1014 draws air through the vacuum port 1014 through the robot ventilator. The scrubber module 600 includes a sealed vacuum chamber 1016 extending from the vacuum port 1014 to the suction channel 1012 and extending along the cleaning width. Air drawn from the vacuum chamber 1016 reduces air pressure at the outlet of the suction channel 1012, and reduced air pressure draws waste liquid and air from the surface. The waste liquid drawn through the suction channel 1012 enters the tank 1016 and is sucked out of the tank 1016 and is finally put into a waste container by the robot's ventilator. Each of the horizontal squeegee element 1010 and the vertical squeegee element 1002 forms a wall of the vacuum chamber 1016, and the squeegee interface with the surrounding scrub module elements is configured to pressure seal the vessel 1016. In addition, the spacer 1008 is formed with sufficient rigidity to prevent the suction channel 1012 from closing.

The squeegee vertical element 1002 includes a bend loop 1018 formed at its midpoint. The bend loop 1018 provides a pivot axis about which the lower end of the squeegee vertical element pivots when the squeegee lower edge 1006 encounters a bump or other discontinuity in the cleaning surface. Accordingly, the edge 1006 can be bent when the robot changes its moving direction. If the squeegee lower edge 1006 is not raised or discontinuous, it returns to its normal operating position. As described below with respect to FIG. 10, the waste liquid is further drawn into the waste liquid storage container, compartment or tank.

In the alternative shown in FIG. 12B, the second recovery device comprises a squeegee 630 interconnected with a vacuum system. The squeegee 630 collects waste liquid in a liquid collection volume 676 formed between the vertical end of the squeegee and the cleaning surface when the robot 100 moves forward. The vacuum system sucks the waste liquid from the cleaning surface in conjunction with the liquid recovery volume, and puts the waste liquid into a waste storage tank carried by the robot housing 200. The squeegee 630 is shown in the cross-sectional views of FIGS. 10 and 12B.

As shown in FIG. 12B, the squeegee 630 is substantially molded from neoprene rubber, silicone rubber, or the like, attached to the rear end of the scrub module 600 and disposed across the cleaning width. With flexible and flexible elements. The squeegee extends downward from the housing 200 and contacts or substantially contacts the cleaning surface. In particular, the squeegee 630 extends downwardly at the scrubber module lower frame element 634 to the rear end of the scrubber module 600 and contacts or substantially contacts the cleaning surface. As shown in FIG. 12B, the squeegee 630 includes a substantially horizontal lower portion 652 that extends rearward or downwardly from the lower frame element 634 toward the cleaning surface. The front edge of the squeegee horizontal lower portion 652 includes a plurality of through holes 654 arranged uniformly over the cleaning width. Each of the plurality of through holes 654 is interlocked with a corresponding attachment finger 656 formed on the lower frame element 634. The combined through-hole 652 and mounting finger 654 position the front edge of the squeegee 630 with respect to the lower frame 634, and the adhesive layer between the combined elements is at the front edge at the squeegee lower frame joint portion. To seal.

The squeegee 630 in FIG. 12 further includes a rear portion 658 attached to the rear end of the lower frame element 634 along the cleaning width. A plurality of rearwardly extending attachment fingers 660 are formed on the lower frame element 634 to receive corresponding through holes formed on the squeegee rear portion 658. The combined through-hole 662 and rear attachment finger 660 position the squeegee rear portion 658 with respect to the lower frame 634, and the adhesive layer between the combined elements is at the rear end at the squeegee lower frame joint portion. To seal. Of course, any attachment means can be employed.

12B, the vacuum chamber 664 is formed by the surface of the squeegee lower portion 652, the squeegee rear portion 658, and the surface of the lower frame element 634. The vacuum chamber 664 extends in the longitudinal direction along the squeegee and the lower frame joint portion over the cleaning width, and a waste liquid storage tank and a fluid carried in the housing by one or more fluid pipes 666 described below. Connected. In the preferred embodiment of FIG. 12B, the two fluid tubes 666 are interlocked with the vacuum chamber 664 at their distal ends. Each of the fluid pipes 666 is connected to the vacuum chamber 664 through an elastic sealing gasket 670. The gasket 670 is installed in the opening of the lower frame 634 and is held therein by an adhesive bond, an interference fit, or other suitable holding means. The gasket 670 includes an opening therethrough and is sized to receive the tube 666 therein. The outer wall of the tube 666 is tapered to enter the gasket 670. The tube 666 is integral with the waste liquid storage container, and when inserted completely into the tube 666, the gasket 670 is hermetically sealed with liquid gas.

The squeegee of FIG. 12B includes a longitudinal ridge formed at the junction between the horizontal lower portion 652 and the rear portion 658 across the cleaning width. The ridge 672 is supported in contact or near contact with the cleaning surface during normal operation. In front of the ridge 672, the horizontal lower portion 652 is shaped to provide the waste collection volume 674. A plurality of suction ports 668 extend from the collection volume 674 through the squeegee horizontal lower portion 652 and into the vacuum chamber 664. When negative air pressure is generated in the vacuum chamber 664, waste liquid is drawn from the liquid recovery volume 674 into the vacuum chamber 664. The waste liquid is further sucked into the waste liquid storage container or tank as described below.

A third squeegee structure is shown in FIGS. 42 represents a side schematic, FIG. 43 represents a perspective view, FIG. 44 represents another side schematic, and FIG. 45 represents a third schematic. The squeegee is a split squeegee, with a front notched panel providing separation to create a vacuum channel, and a rear squeegee wiper maintaining ground contact and collecting fluid to the vacuum generator. These members are installed in different parts of the cleaning head and come together when the cleaning head is closed.

As shown in FIG. 42, the cartridge frame or shroud opens around a hinge point 613 (to the right above the stationary brush 612). The stationary brush 612 (for example, the spray brush) is mounted on the lower portion of the shroud. The rotating brush 604 (eg, the electric brush or wiper) is also supported by the lower portion of the shroud. The front squeegee 1004 is attached to the shroud bottom. As shown in FIG. 42, the front squeegee 1004 is shown in a position to take when not in contact with the rear shroud, that is, the front squeegee 1004 is elastic or biased toward the rear squeegee 1006. Either being applied, in this case a resilient elastomer. When the rear squeegee 1006, which can be sheathed against the top of the shroud, is closed with the shroud top or cover, the two squeegees settle in the operating position (as shown in the cross-sectional view of FIG. 44). The resilient rear squeegee 1006 is moved toward the rear, and the front squeegee 1004 is moved to slide slightly along the rear squeegee 1006 and is moved only slightly toward the front. The anchored position is slightly bent to provide the vacuum channel directly above the floor surface with sufficient floor contact of the squeegee 1006. As shown in FIG. 43, the front squeegee 1004 is formed as a panel with a notch that is bent from a vertical line and extends along the working width, and points in the same direction along the working width that turns a corner. The notched panel leading to the bend corner 1009 enters the horizontal panel for mounting with a curve downward and forward. The notches or ribs 1008 that can be seen in FIG. 43 maintain the correct flow path between the leading squeegee 1004 and the tracking squeegee 1006. The bend angle provides a good range of motion and flexibility, both forward and backward, for the two squeegees that interlock (as described herein, the height of the robot's ground contact interval). Can overcome obstacles).

The rear squeegee 1006 shown in the cross-sectional view of FIG. 45 is approximately 1 mm thick (with other dimensions as described herein), is vertically arranged, and is thinner than the working width, flat panel as well Inverted C-curve bend loop 1018 extending along the working width and a flat panel extending along snap retaining feature 1019 (held and shown in FIG. 44). In the operating position, the rear squeegee 1006 typically bends between the snap retaining element 1019 and the flat panel 1006, with the majority of the bend occurring along the height of the C-curve bend loop 1018. Other structures such as hinges or various materials can be used as the flexible element and are considered to be included in this terminology. As shown in FIG. 42, the rear squeegee 1006 can be formed to extend to the uppermost part or more in the vacuum chamber. When a through-hole is formed or created in the rear upper squeegee material, the entire rear squeegee is configured such that the resilient rear squeegee material comes into close contact with the vacuum conduit tissue when the cleaning head cartridge is mated with the robot. And can serve both as a seal for the wet vacuum port at the top of the wet vacuum chamber 1016. In other situations, when the rear squeegee 1006 is made of a material different from all or part of the upper portion of the rear squeegee 1006, or when the rear squeegee 1006 does not extend to the top or the periphery of the vacuum chamber Alternative seals can be provided.

In general, FIG. 44 shows the operating position, with the rear squeegee 1006 bent back and both bends positioned to allow bending of the squeegee combination. The rear squeegee 1006 is formed as a flat panel wall (and an alternative as described herein) with a flat bottom, but in the operating position when bent back by the front squeegee 1004, The edge contacts the ground rather than the planar bottom. Contact force, area, corners, flatness, and the edge profile of this contact contribute significantly to the drag of the cleaning element, and can still be wiped with a squeegee of water on a flat or uneven surface, as described herein. While still allowing a sufficiently low level of drag to be towed.

As described, one squeegee is divided front and back to facilitate disassembly and cleaning. This allows the user to easily remove the front and back parts of the squeegee and the accompanying vacuum chamber, and occasionally remove obstacles or obstructions in the way of the vacuum generator. . For example, a user can place the cleaning head in a dishwasher for more thorough cleaning and disinfection. However, the squeegee can be selectively divided into left and right as the robot rotates at the same location or corner. It can be inferred that the squeegee has a structure in which one side bends backward and one side bends forward. The point of the switch that bends from the back to the front can effectively act as a solid column, collecting it highly and hindering mobility. By dividing at the center of the squeegee, this tendency can be reduced or eliminated and the mobility can be enhanced.

Referring to FIG. 10, the scrub module 600 is composed of separate subsystems and is removable from the robot housing. The scrub module 600 includes the support element and includes a molded two-part frame composed of the lower frame element 634 and the mating upper frame element 636. The lower and upper frame elements incorporate a rotatable scrub brush assembly 604 therein and are configured to support for rotation relative to the housing. The lower and upper frame elements 634 and 636 are mounted together at their front ends by a hinged attachment process. Each frame element 634 and 636 includes a plurality of intersecting hinge elements 638 and receives a hinge bar 640 therein to form a hinged connection. Of course, other hinged procedures can be used. The lower and upper frame elements 634 and 636 form a longitudinal hole in which the rotating scrub brush assembly 604 is secured, and the scrub module 600 is opened by a user when removed from the robot 100. be able to. The user can then replace the rotating scrub brush assembly 604 or remove it from the frame to clear the clog.

The rotating scrub brush assembly 604 includes a cylindrical bristle holder 618 and can be formed of a solid element such as a commercially available shaft formed of glass filled ABS plastic or glass filled nylon. Optionally, the bristle holder 618 comprises a forming shaft with a central support shaft 642 inserted through a longitudinal hole formed through the forming shaft. The center support shaft 642 can be mounted by press fitting or other suitable connection means to fix and connect the bristle holder 618 and the center support shaft 642 together. The central support shaft 642 is provided to reinforce the brush assembly 604 and is therefore formed from a hard material such as a stainless steel rod having a diameter of about 10-15 mm (0.4-0.6 inches). . The center support shaft 642 is formed with sufficient rigidity and prevents excessive bending of the cylindrical brush holder. Further, the central support shaft 642 can be configured to withstand corrosion and / or wear during normal use.

An electric brush is used as described herein. The brush itself can be easily removed from the cleaning head. This makes it possible to replace with a different brush without removing the entire cleaning head. The present invention contemplates a set of brushes having different physical structures (eg, narrow bristle spacing, loose, stiff bristle wipers and bristles, etc.) for board floors, grout lines, and stepped floors. . Each bristle tuft can be composed of a different number and type of bristles. The tuft size and bristle configuration affects its cleaning ability, energy consumption, and ability to handle different floor textures and fluid management. At the outer corner, the tuft setting allows cleaning beyond the center edge of the brush, and at the tangent angle, the tuft setting allows the bristle tip to strike the floor more intensely, and the crack / grout line It is possible to clean deeper areas.

The bristle holder 618 is embedded in a plurality of bristle receiving holes 620 that are embedded together with the rotation shaft of the scrub brush assembly 604 or that are vertically formed separately. The bristle receiving hole 620 is filled with a mass of scrub bristles 616 and is glued or otherwise mounted therein. In one embodiment, the two helical pattern receiving holes 620 are attached with the bristles 616. The first spiral pattern has a first mass 622 and a second mass 624, followed by a bristle mass that follows a helical passage 626 around the outer diameter retainer. The second helical pattern 628 begins with a first clamp 630 that corresponds substantially diametrically to the mass 622. Each bristle mass pattern is supplemented along the longitudinal axis of the bristle holder to contact different points through the clean width. However, the pattern is arranged to polish the entire cleaning width with each full rotation of the bristle holder 618. In addition, the pattern reduces the pressing force on the scrub brush assembly 604 and the rotational force required to rotate the scrub brush assembly 640 at the same time with only a small number of bristle masses (eg, 2) Arranged to be in full contact. Of course, other scrub brush configurations with different bristle patterns, materials and insertion angles can be used. In particular, the bristles are inserted at an angle at the right end of the scrubbing element, and the cleaning operation of the scrubbing brush can be extended further toward the right end of the robot in order to clean the vicinity of the wall end.

The scrub brush assembly 604 is coupled to a scrub brush rotation drive module 606 shown schematically in FIG. The scrub brush rotation driving module 606 includes a DC brush rotation driving motor 608 and is driven by a motor driver 650 at a constant angular velocity. The motor driver 650 is set to start the motor 608 at a voltage and direct current level and provides a preferred angular velocity of the rotating brush assembly 604, which in an embodiment is about 1,500 RPM, with a minimum value of about A maximum value of about 3,000 RPM is considered at 500 RPM. The drive motor 608 is connected to the mechanical transmission 610 to increase the drive torque, and the rotation of the scrub brush assembly 604 located below the housing 200 from the drive motor 608 located above the housing 200. The rotational drive shaft is moved to the shaft. A drive coupler 642 extends from the mechanical transmission 610 and couples with the rotating scrub brush assembly 604 at its left end. The action of sliding the scrubber module 600 into the cavity 602 connects the left end of the rotating scrubbing brush assembly 604 with the drive coupler 642. The rotation scrub brush assembly 604 is connected at its left end with a desired rotation axis, supports the left end for rotation, and provides a rotational driving force to the left end. The right end of the brush assembly 604 includes a brush or other rotational support element 643 and is joined to a seating surface provided on the module frame elements 634, 636.

The scrubber module 600 includes a molded right end element 644 that surrounds the right end of the module to prevent debris and spray from leaking out of the module. The right end element 644 terminates on its outer surface and integrates in the form and mold of the adjacent external surface of the robot 100. The lower frame element 634 is set to provide an attachment function for attaching the smear brush 612 to its leading edge and attaching the squeegee 630 to its trailing edge. A central latch element 646 is shown in FIG. 10 and is used to latch the scrubber module 600 in its operating position when it is correctly installed in the cavity 632. The latch 646 is biased in the closed position by a torsion spring 648 in connection with an attachment function provided on the upper side of the housing 200. A latch pawl 649 passes through the housing 200 and grips a hook element formed on the upper frame 636. The structural elements of the water washing module 600 may be molded from a suitable plastic material such as polycarbonate, ABS, or other material or composition of materials. In particular, these include the lower frame 634, the upper frame 636, the right end element 644, and the latch 646.

(Ventilation subsystem or vacuum generator and blower assembly)
FIG. 14 is a schematic diagram of an interface between the wet and dry vacuum module 500 and the cleaning element of the robot 100. The wet / dry vacuum module 500 is joined to a first recovery device that sucks particulate matter released from the cleaning surface and a second recovery device that sucks waste liquid from the cleaning surface. The wet / dry vacuum module 500 is also joined to an integrated cleaning liquid storage container 800 attached to the housing 200, and is put into one or more waste containers containing therein the free particulate matter and waste liquid.

Referring to FIGS. 14 and 15, the wet and dry vacuum module 500 includes a single fan assembly 502, but more than one fan can be used without departing from the invention. The fan assembly 502 includes a rotating fan motor 504 having a fixed frame 506 and a rotating shaft 508 extending therefrom. Fixed motor frame 506 is attached to fan assembly 502 on the outer surface of rear shroud 510, such as by screw parts. The motor shaft 508 extends through the rear shroud 510 and the fan impeller 512 is attached to the motor shaft 508 by press fitting or another suitable attachment method such that the fan impeller 512 rotates with the motor shaft 508. The front shroud 514 connects to the rear shroud 510 to accommodate the fan impeller 512 in a gap cavity formed between the front and rear shrouds. The fan front shroud 514 includes a circular air intake 516 integrally formed therewith and disposed substantially coaxially with the motor shaft 508 and the axis of rotation of the impeller 512. Both the front and rear shrouds form an air outlet 518 at the distal radial end of fan assembly 502.

The fan impeller 512 generally includes a plurality of blade elements disposed around its central rotational axis, and as the impeller 718 rotates, it draws air inward along the rotational axis. It is configured to discharge air to the outside. The rotation of the impeller 512 creates a negative pressure region or vacuum on its input side and a positive pressure region on its output side. The fan motor 710 is configured to rotate the impeller 715 at a substantially constant rotational speed, such as 14,000 RPM, for example, and produces a higher airflow speed than a conventional fan of a vacuum cleaner or wet vacuum cleaner. . Depending on the fan configuration, low speeds up to about 1,000 RPM and high speeds up to about 25,000 RPM are envisioned. The flywheel can be concentric with the fan impeller 715, particularly when the fan is located near the center of gravity of the robot.

The fan air velocity is about 60-100 CFM in free air, and approximately 60% of this flow rate is dedicated to the wet vacuum generator portion of the robot, so it can be in the range of about 60 CFM for the robot. This percentage can be adjusted either manually by the user or during manufacture. Adjusting the flow rate between wet and dry vacuum systems allows the user to configure the user to meet the specific needs of certain applications. In addition, the multi-stage fan design helps maintain airflow because the airflow speed is the same, but static pressure and speed can be higher. Also, the higher the speed, the more the instrument can take in the dry particulate matter and lift and draw in the liquid. The multiple ribs and channels of the squeegee help to create a local high speed region to take up particulate matter. In one embodiment, the total cross-sectional area is 180 square mm for wet and dry vacuum (squeegee and suction port), respectively.

As shown in FIGS. 24 and 25, an example of an impeller 512 includes a floor plate 512a with a hub or nose formed therein, and a vane assembly 512b with an inducer 512c and an exducer 512d formed therein. It is an assembled two-stage fan. As shown in FIG. 24, the inducer 512c includes a forward curved inlet blade, which increases flow rate and efficiency compared to a fan design that does not use an inducer. The blades of the extender extend rearward and become part of the centrifugal flow. Further, as shown in FIG. 24, the balance pins 512e whose sizes are specified are arranged around the rim of the blade assembly 512b at a constant angle interval. This pin is used to assist in material removal to balance as a fan assembly designed to sustain 14,000 RPM operation of the plastic fan. The floor board 512b and the blade assembly 512b are made of resin or plastic, and have various irregularities and variations in density. After the floor plate 512b and the blade assembly 512b are assembled, a balancing machine is used to balance the impeller and identify the number of pins to be removed at a particular location. As shown in FIGS. 15 and 26, the impeller 512 is disposed within a scroll formed from front and rear shrouds 512, 514. The scroll is for static pressure recovery and airflow recovery for use in the “blow” part of the dry vacuum system. As shown in FIG. 26, the front scroll 514 and the rear scroll 510 are assembled to secure the impeller 512 and a seal 516 seals the end of the inducer of the impeller 512. Impeller 512 provides a vacuum to the wet and dry vacuum generator portions, and a portion of the output is divided to provide an air jet to the dry vacuum generator portion. The branch 515 uses the rear duct 517b to separate a small portion of the output airflow, but most of the output airflow is exhausted from the exhaust duct and muffler. As shown in FIG. 26, a circuit board 504a for the fan motor 504 is located near the fan motor. This circuit board is a circuit that can be made water-resistant or waterproof by the structure studied in this specification.

In the blower shown in FIGS. 24-26, the scroll design folds on itself to allow a 30 percent larger impeller without losing any scroll amount while maintaining the same package size. The inducer is the part of the fan blade that is dedicated to the inflow. Alternatively or in addition, a passive or active bypass system (e.g., to a governor) can be used to balance the blower exhaust to the suction inlet in order to optimize performance in various system situations. A blade, or a blade on a motorized actuator) may be provided. Alternatively or in addition, a “moat” (ie, channel or wall) prevents water from entering the impeller in front of the impeller. Impellers used for air treatment move air through the system at a significant rate so that water drawn from the sewage tank can be returned to the floor through the impeller. The moat is designed to prevent or limit this.

As shown, the main outlet is collinear with the cleaning head. That is, the cleaning head extends to the dominant end of the robot, but the space up to 1/5 of the robot on the cleaning head side of the radius of the robot is protected. As described above, a cleaning head gear train and / or a brush or wiper operated by a motor can be placed in this space. Furthermore, the main exhaust port can be arranged in this space. Fairly powerful (most of the outlets of wet and dry vacuum generators, only a part is used to blow the debris in the dry vacuum generator) the main exhaust outlet is collinear with the cleaning head Arrangement prevents the non-dominant side from applying cleaning liquid, brushing and / or wiping away from the robot's surroundings. Furthermore, since the interior of the cartridge frame is dry, it is a characteristic of the cleaning head (it is not connected to any liquid generating device and is generally sealed against moisture). When removed, the user is directed to a dry surface when handling the cleaning head. The exhaust port can also be arranged behind the cleaning head to assist in drying. In such a case, the exhaust can be spread by appropriate ducts and channels.

As shown schematically in FIG. 14, a closed air duct or conduit 552 connects between the fan frame outlet 518 and the air outlet 554 of the first cleaning zone A to allow high pressure air to air. It supplies to the spout 554. On the opposite side of the first cleaning zone A, a closed air duct or conduit 558 connects the air intake 556 to the integrated liquid storage container module 800 at the container intake opening 557. A conduit 832 integral with the integrated storage container or tank 800 connects the container intake opening 557 with an air reservoir 562 as detailed below. The air reservoir 562 includes a coupling location for receiving a plurality of air ducts connected thereto. The air reservoir 562 is disposed on the waste liquid storage container portion of the integrated liquid storage container or tank module 800. The air reservoir 562 and the waste liquid storage container are configured to allow the free particulate matter aspirated by the air intake 556 to enter the waste container. An air reservoir 652 is connected between the fan assembly and the container air outlet opening 566, and via a closed air duct or conduit with a conduit 564 (not shown), It communicates with. The container air discharge opening 566 is fluidly connected to the air reservoir 562 by an air conduit 830 incorporated within the integrated liquid storage tank module 800. The rotation of the fan impeller 512 creates a negative pressure or vacuum inside the air reservoir 560. The negative pressure generated in the air reservoir 560 sucks air and free particulate matter from the air outlet 556.

As further schematically shown in FIG. 14, a set of closed air ducts or conduits 666 joins the second normal zone B scrub module 600. The air conduit 666, shown in cross section in FIG. 10, comprises an outer tube extending downward from the integrated liquid container module 800. This outer tube 666 is inserted into a gasket 670 on the frame above the scrubber module.

As shown in FIG. 14, conduits 834 and 836 each fluidly connect external tube 666 to air reservoir 652. The negative pressure generated in the air reservoir 652 sucks air from the vacuum tank 664 via the conduits 834, 836 and 666, and passes through the suction port 668 passing from the vacuum tank 664 to the waste liquid recovery volume 674. Aspirate the waste liquid from the cleaning surface. The waste liquid is sucked into the air reservoir 562 and placed in the waste liquid storage container.

Of course, other wet and dry vacuum configurations are envisioned without departing from the invention. In one example, the first fan assembly can be configured to collect free particulate matter from the first cleaning zone and place the free particulate matter in a first waste container or tank. Further, the second fan assembly can be configured to collect waste liquid from the second cleaning area and place the waste liquid in a second waste container or tank. The elements of the integrated liquid storage tank integrated liquid storage container module 800 are shown in FIGS. 1, 12, 14, 16 and 17. Referring to FIG. 16, the integrated liquid storage container 800 is formed of at least two liquid storage containers or tank portions. One container part comprises a waste container part and the second container part comprises a cleaning liquid storage container or tank part. In another embodiment of the present invention, the two storage containers are attached to the housing 200 and are removable from the housing for the user to empty the waste container portion and fill the cleaning liquid container portion. Formed as an integrated unit. In an alternative embodiment, the integrated storage container can be autonomously filled and emptied when the robot 100 is docked to a base base configured to transfer cleaning fluid and waste from and to the robot 100. It is. The cleaning liquid container portion S includes a sealed supply tank for storing a supply of cleaning liquid. The waste container part W is a sealed waste tank for storing the free particulate matter recovered by the first recovery device and for storing the waste liquid recovered by the second recovery device. Prepare.

Waste tank D (or compartment D) includes a first molded plastic element formed with a bottom surface 804 and an integrally formed outer wall 806 disposed generally perpendicular to the bottom surface 804. The bottom surface 804 varies to accommodate the space available on the housing 200 and to provide a detent area 164 that is used to place the integrated liquid storage container or tank module 800 in the housing 200. It is formed with a simple contour. The detent 164 is attached to the housing 200 and includes a set of grooves 808 that interface with corresponding array rails 208 formed on the hinge elements 202, described below. The outer wall 806 includes a painted outer surface 810 that is colored and formed to match the style and type of the outer surface of other robots. The waste tank D may also include a tank level sensor framed therein, and communicates a tank level signal to the master controller 300 when the waste tank D (or section D) is full. It can be constituted as follows. The level sensor may include a set of conductive electrodes disposed inside the tank and separated from each other. The measurement circuit applies a potential difference between the electrodes from the outside of the tank. When the tank is empty, no current flows between the electrodes. However, if both electrodes are immersed in the waste liquid, current flows from one electrode to the other through the waste liquid. Thus, the electrode can be placed in the tank to sense the liquid level in the tank.

The cleaning liquid storage container or tank S is formed in part by the second molded plastic element 812. The second shaping element 812 is generally circular in cross section and is formed with a substantially uniform thickness between the upper and lower surfaces. Element 812 pairs with the outer wall 810 of the waste container and is glued or otherwise attached to seal the waste container, compartment, or tank D. The air reservoir 562 is incorporated into the second forming element 812 and is disposed vertically upward of the waste container, tank D (or compartment D) while the cleaning robot is in operation. The air reservoir 562 can also include other forming elements.

The second shaping element 812 is shaped to provide a second container portion for containing a supply of cleaning liquid. The second container portion is formed in part by a forwardly inclined front portion having a integrally formed first outer wall 816 that is generally disposed vertically upward. The first outer wall 816 forms a first portion of the outer wall that surrounds the liquid storage container S. The molding element 812 is further molded to fit the available space on the housing 200. The forming element 812 also includes a container air intake opening 840 for mating with the first cleaning zone air conduit 558. Molding element 812 also includes a container air exhaust opening 838 for joining with fan assembly 502 from conduit 564.

A molded cover assembly 818 is attached to the molded element 812. Cover assembly 818 includes a second portion of the supply tank outer wall formed therein and provides a wall 824 above the supply tank enclosure. Cover assembly 818 is attached to first exterior wall portion 816 and other surfaces of molding element 814 and is glued or otherwise attached thereto to seal supply container S. The supply vessel S can include a tank empty sensor attached thereto, and can be configured to communicate a tank empty signal to the master controller 300 when the upper tank is empty.

Cover assembly 818 includes a molded plastic cover element having painted exterior surfaces 820, 822 and 824. The painted exterior surface is painted to match the style and type of other robot exterior surfaces and can therefore be appropriately colored and / or styled. Cover assemblies 818 include waste container tank D and user access ports 166, 168 to supply container S, respectively. Also, the cover assembly 818 is attached thereto and includes an operable handle 162 and handle pivot element 163 for unlatching the integrated solution storage tank 800 from the housing 200 or for lifting the entire robot 100. Including.

In accordance with the present invention, the air reservoir 562 and each of the air conduits 830, 832, 834 and 836 are inside the cleaning liquid supply container S, and the internal connections of each of these elements are mixed together with cleaning liquid and waste. To prevent this, the fluid and gas are sealed. Since the air reservoir 562 is formed vertically at the top of the waste container, compartment, or tank D, the waste liquid sucked into the air reservoir 562 and the released particulate matter are separated from the waste tank D ( Or fall into compartment D). The air reservoir side surface 828 includes four openings formed therethrough for interconnecting the air reservoir 562 with four closed air conduits joined thereto. Each of the four closed air conduits 830, 832, 834 and 836 may comprise a molded plastic tube element formed at the end configured to join with a suitable pair of openings.

As shown in FIG. 16, the container air discharge opening 838 is generally rectangular and the conduit 830 connecting the container air discharge opening 838 and the air reservoir 562 is generally rectangular. Form the end. This configuration provides a large exhaust opening 838 for receiving the air filter associated therewith. An air filter is attached to the fan intake conduit 564 to filter the air drawn by the fan assembly 502. Even if the integrated storage tank 800 is removed from the robot, the air filter can remain attached to the air conduit 564 and remain attached or removed for cleaning or replacement as needed. The area of the air filter and the container discharge opening 838 is large enough to allow operation of wet and dry vacuum generator systems even when about 50% or more of the airflow passing through the filter is blocked by debris that stays inside. It is formed.

FIG. 27, like FIG. 16, represents a second substantially exploded isometric view displaying the elements of the integrated tank. FIG. 27 represents many of the same or similar elements as FIG. In the following description, some terms are used. The elements shown in FIG. 27 include a handle, an air reservoir 830 and a connecting tube including tubes 832, 834, 836 (in this embodiment, the air reservoir and air flow conduit are all essential. In other embodiments, the air flow is The conduit is replaced by a rubber guide tube), a pump filter and a magnetic lead. FIG. 27 shows flexible rubber tank caps in the shape of D for clean tanks, similar to the tank caps of waste tanks (these rubber tank caps are represented in FIG. An internal circular seal that varies depending on the shape of the tube leading to the compartment, including an outer portion of the D shape with a receiver that matches the lid of the tank). When the tank is placed in a U-shaped holder or pivot clamp, the holder can help keep both D-shaped flexible rubber tank caps tightened. The figure also represents the bottom of the tank (forming the waste compartment), the middle of the tank, and the top of the tank (forming the clean compartment). As shown, a reservoir and / or conduit for a dry and / or wet vacuum generator extends through the clean tank. In general, large equipment has space to place vacuum and / or other airflow conduits outside the tank of clean water or sewage, so this is not found in large equipment. Alternatively, only a portion of the vacuum generator conduit can extend through the clean water tank (eg, wet only, dry only, one wet and one dry). Alternatively, some or all of the conduit can be extended through the sewage tank. Alternatively, it is possible to extend one or more conduits through both tanks. Still alternatively, the conduit can be formed in a separate layer. That is, it can be sandwiched between the intermediate plates of the two tanks. FIG. 27 also shows an O-ring for sealing the pipe passing through the upper part of the tank from the upper part of the tank through the middle of the tank to the sewage compartment. 28-30 show the sealing flap 598, wings, foam / airflow walls, and balls 594 within the integrated tank 592. FIG. FIG. 31 is an isometric view of the foam block wall in the integrated tank 592.

28-30 show the sealing flap 598, wings, foam / airflow walls, and balls 594 within the integrated tank 592. FIG. FIG. 31 is an isometric view of the foam block wall in the integrated tank 592.

As shown in FIG. 27, the opening 562a at the bottom of the air pocket (in this example, “bottom” refers to the direction of operation) allows particulate matter and waste liquid to fall into the waste tank D. Forgive. As shown in FIG. 16A, this opening is relatively large. When the tank or robot is lifted and leaves the direction of operation, the collected waste will not enter the fan, or the collected waste will not wet the user or floor. Must be stored in waste tank D. As shown in FIGS. 28-30, a hinge flap 598 is provided to seal the opening 562a.

The hinge flap 598 is hinged to one side of the opening 562a and opens downward. That is, when the robot operates, the flap 598 remains open, allowing waste to enter the waste tank D. However, as the airflow passes over the flap 598 toward the vacuum side of the fan assembly 502, a low pressure zone is created on the flap 598 (Venturi / Bernoulli effect), and in certain operating conditions it can be lifted and closed with the flap. You will be able to. The wing 596 attached to the flap 598 in the air pocket 562 is guided by this air flow, and the flap 598 opens whenever there is significant air flow because the effect of the downward force of the wing 596 dominates the venturi effect. Will remain. The wing 596 is shaped as a generally horizontal (and, in certain embodiments, warped upward) wings 596a mounted on vertical fins 596b, similar to a T-assembly airplane tail. Wings 596 warp in a direction that creates a downward force or force to open the flaps during robot operation.

As shown in FIGS. 28-30, hinge flap 598 is not allowed to open further than ball 594, however. The ball 594 moves under the flap 598 to close the flap 598 when the tank or robot moves away from movement in a vertical or partially vertical direction (eg, when only the tank or the robot is carried). Provided to. Instead, the ball 594 can prevent the flap 598 from moving beyond a predetermined distance from the opening. Regardless of the angle of movement of the flap 598, the placement of the ball 594 and the flap 598 provides for the flap 598 to open and close at the appropriate time. An upper cone 598a that opens downward is formed in the bottom of the hinge flap, and a lower cone 592 that opens upward is formed in the waste tank D. The walls of each cone are less than 45 degrees from the horizontal direction, and the walls of the lower cone 592 are shallower than the walls of the upper cone 598a and less than 30 degrees from the horizontal direction. In the normal direction of motion, the ball 594 is in the lower cone 592 and the waste passes through the opening 562a and falls around the ball 594. When the tank or robot moves in a direction other than horizontal, the ball 594 moves away from the shallow lower cone 592 and travels along the converging walls of the upper and lower cones, pushing on the flap 598 and closing. The matching hole edge seals 562b-598a around the opening 562a and the flap 598 prevent waste from leaking from the waste tank D when the flap 598 is closed by the ball 594.

However, the role of the vertical fins 596b is not just supporting the wings 596a. The vertical fins 596b form a vertical wall that extends far beyond the length of the flap 598. This wall begins at or near the entrance of the wet vacuum conduit 832 and dry vacuum conduits 834, 836 to the air reservoir 562 and, as previously described, extends substantially over the length of the air reservoir 562 as well as the flap. Over a length of 598, the dry vacuum air stream is separated from the wet vacuum air stream. Accordingly, particulate matter generally tends to remain dry while falling into the waste tank D. The air stream on the dry side moves at a faster speed than the air stream on the wet side entering the air pocket. Keeping the foam on the low speed side makes it easier for the foam to move to the tank.

As shown in FIGS. 28-30, the flap, ball and wing arrangement uses gravity and existing airflow to open and close the flap / opening, depending on the environment. Also, it generally avoids mud accumulation or recovery problems, which can adversely affect more complex operations. This combination consists of a member that closes the opening (flap), a member that helps open the flap during operation (wing), and a member that helps close the flap when the robot moves to the inoperative position (ball). If the robot is not operated but remains horizontal, gravity may prevent waste fluid leakage, so it may not be necessary to close the flap. In addition, there are certain advantages to keeping the flaps open to prevent liquid in the puddle from leaking into the waste tank after the airflow has stopped. However, if the flap must remain closed while it is not operating, other mechanical means (such as wings, springs, balls or weights) may close the flap as soon as the airflow stops . For example, a member that attempts to close the flap except during operation is included or is included instead. The fact that such a mechanism works without a power source and other than electricity does not require an independent power supply, and the combination of flaps, balls and wings is simple, sturdy and durable. warn. In any case, operation powered by electricity and / or fluid can, however, be used instead of or in addition to mechanical devices such as wings, balls, springs (including elastomers) and weights.

As shown in FIG. 31, one special alternative technique for maintaining proper opening and closing of the flaps allows the flaps to be opened or opened during operation and the tank or robot is non-horizontal Adopt a pendulum or vertical weight that is placed so that it flaps as it moves in the direction. The pendulum or vertical weight can be hung freely from a position near the bottom of the flap, or attached to a relatively hard multi-directional arm or “hat” bent at an angle from the “shaft” of the pendulum And the pendulum substantially pivots around a corner, preferably around a multi-directional ball, shoulder or loosely coupled axis that allows the arm to tilt relative to the flap. One support that provides a suitable axis is a conical shape with a small hole at the end of the cone, which is open at the bottom and the pendulum shaft is relatively loose in the hole at the end of the cone. is there. If the hat or arm is over this hole and the weight is movable in the cone, the assembly keeps the arm horizontal until the robot or tank moves from the horizontal position. In this case, the pendulum shaft tilts inside the hole and cone and pushes at least part of the hat or arm and then closes the flap. The flap can include a hat or arm pedestal that bends inwardly against the hat to allow proper space and free movement. The pendulum weight pivots the arm or hat so that the arm or hat is substantially horizontal when the robot or tank is horizontal (if the robot or tank is horizontal, it can be pulled open or relatively A part of at least one arm or hat that pushes the flap against the pedestal when the robot or tank is not horizontal (closed for walks other than vertical or horizontal) Press the relatively elastic flaps). The pendulum weight must move freely and can be placed as far as possible from the flap (approximate to the farthest wall of the tank) to lengthen the moment arm.

FIG. 32 is an isometric view of the foam block wall 580 in the integrated tank D. FIG. Here, a waste liquid (WTF) sensor is used above the waste liquid tank. The waste sensor is conductive and when waste reaches the top of the tank, current can pass between the two wire electrodes at the top of the compartment, and the robot visually indicates that the waste compartment is full. Or an auditory signal is transmitted. However, during cleaning, depending on the cleaning liquid and what is being cleaned, bubbles may be generated in the waste liquid compartment, and the bubbles can carry an electric current. . Foam tends to be generated before or during the waste liquid enters the opening or entrance to the waste compartment. As shown in FIG. 32, a wall is provided between the separated portion 579 of the waste compartment (where there is one or both electrodes) and the rest of the tank D. The wall 580 includes a gap or liquid inlet 578 at the bottom of the tank D, but otherwise is a wall that completely separates the electrode tank 579, where water can easily enter the tank and then accumulate therein. There is enough airflow to be able to. Although bubbles may be present in the main tank D, they generally remain free of bubbles and do not move to the separated electrode layer 579. Thus, the sensor generally does not register the presence of bubbles in this configuration.

Returning to FIGS. 16 and 28, each container opening 840 and 838 is comprised of a gasket (not shown) and is located outside the container opening. The gasket provides a substantially hermetic seal between the container assembly 800 and the conduits 564 and 558. In some embodiments, the gasket remains attached to the housing 200 when the integrated liquid supply container 800 is removed from the housing 200. When container assembly 800 is latched into place in the robot housing, a seal is formed. In addition, some container openings may include flap seals or the like to prevent liquid from leaking from the container while being transported by the user. The flap seal remains attached to the container.

FIG. 28 shows that the air conduit is connected to the air reservoir with a flexible (eg, elastomeric) tube. These tubes help to cause manufacturing variations. Alternatively, as described, the entire reservoir and conduit set can be formed as a unit, for example, hollow molding. Alternatively, the air reservoir and conduit can coincide with top and bottom injection or other molding units.

Thus, in accordance with the present invention, the fan assembly 502 generates a negative pressure vacuum that empties the air conduit 564, sucks air from the air filter located at the end of the air conduit 564, and the fan intake conduit 830 and the air The reservoir 562 is emptied. The vacuum created in the air reservoir 562 draws air from each of the conduits connected to the bottom, draws free particulate matter near the air intake 556, and via the air conduits 834, 836, 666, and The waste liquid is sucked from the cleaning surface via the vacuum chamber 664 and the suction port 668. The released particulate matter and waste liquid are sucked into the air reservoir 562 and fall into the exhaust container, compartment, or tank D.

With reference to FIGS. 1, 3, 16 and 17, the integrated liquid storage container or tank 800 is attached to the top surface of the robot housing 200 by a hinge element 202. The hinge element 202 is attached to the robot housing 200 so that it can pivot at its rear end. The liquid storage container 800 can be removed from the robot housing 200 by the user, and the user can fill the cleaning liquid supply container S with a measured amount of cleaning liquid such as clean water and soap or detergent. Further, the user can take out the waste liquid from the waste liquid container, the compartment or the tank D, and can wash away the waste liquid container if necessary.

To facilitate handling, the integrated liquid storage tank 800 includes a user graspable handle 162 that is integrated with the cover assembly 818 at the tip of the robot 100. The handle 162 includes a pivot element 163 attached to the cover assembly 818 by a hinge arrangement. In a mode of operation, the user can grab the handle 162 to lift the entire robot 100. In the preferred embodiment, the robot 100 weighs approximately 3-5 kg (6.6-11 pounds) when filled with liquid and can be easily carried by the user with one hand.

In the second mode of operation, the handle 162 is used to remove the integrated tank 800 from the housing 200. In this mode, when the user presses the rear end of the handle 162, the handle first pivots downward. The downward pivoting action releases the latch mechanism (not shown) that attaches the forward end of the liquid storage container or tank 800 to the robot housing 200. When the latch mechanism is released, the user grasps the handle 162 and lifts it vertically upward. When the lifting force is applied, the entire container assembly 800 pivots about the pivot axis 204 by a hinge element mounted to pivot to the rear tongue of the housing 200. The hinge element 202 supports the rear end of the integrated liquid storage container 800 on the housing 200, and further lifting the handle rotates the hinge element 202 to an open position to facilitate removal of the container assembly 800 from the housing 200. Is done. In the open position, the forward end of the liquid container 800 is further raised to lift the handle 162, lifting the liquid storage tank 800 from attachment by the hinge element 202 and separating from the robot 100.

As shown in FIG. 17, the integrated liquid storage container 800 is formed from an embedded rear outer surface that forms a detent area 164. This detent area 164 is formed to coincide with the receiving area of the hinge element 202. As shown in FIG. 3, the receiving area of the hinge element comprises a crevasse-like cradle that mates with a detent area 164 of the storage container or tank and has opposing upper and lower facing walls 204 and 206. Due to the arrangement of the detent area 164 and the hinge walls 204 and 206, the integrated storage container 800 is aligned with the robot housing 200 and the latch mechanism used to attach the front end of the container to the housing 200. In particular, the lower wall 206 includes an array rail 208 formed in conformity with a groove 808 formed on the shroud at the bottom of the detent area 164. In FIG. 3, the hinge element 202 is shown pivoted to a fully open position for installation and removal of the storage container or tank 800. The mounting and removal positions are rotated approximately 75 degrees from the closed or operating position, but other mounting and removal directions are envisioned. In the loading and unloading position, the detent area 164 of the storage container is easily attached or removed from a cradle such as a crevasse of the hinge element 202. As shown in FIG. 1, the integrated liquid storage tank 800 and hinge element 202 are configured to provide a painted exterior surface that integrates smoothly and stylishly with the other exterior surfaces of the robot 100. More importantly, as mentioned above, the robot can operate autonomously without sharp or corners such as those found in the corners of walls, hallways, obstacles or rooms, while the internal storage volume of the integrated liquid storage tank Is maximized.

Two access ports are provided in the detent area 164 on the upper surface of the liquid storage container or tank 800. These are shown in FIGS. The access port is located in the detent area 164 such that when the liquid storage tank assembly 800 is installed in the robot housing 200, it is hidden by the wall 204 above the hinge element. The left access port 166 provides the user access to the waste container, compartment or tank D from the air reservoir 562. The right access port 168 provides the user access to the cleaning liquid storage container S. The left and right access ports 166, 168 are sealed by a user-removable tank cap, which may be colored or coded to be distinguishable in advance.

(Mobile drive system 900)
In the preferred embodiment, the robot 100 is supported by a three-point transport system 900 for moving the surface being cleaned. The moving system 900 includes a pair of independent rear moving drive wheel modules 902 on the left side and 904 on the right side and is attached to the housing 200 behind the cleaning module. In the preferred embodiment, rear independent drive wheels 902 and 904 are supported for rotation about a common drive shaft 906 substantially parallel to the transverse shaft 108. However, each drive wheel can change direction relative to the horizontal axis 108 such that each drive wheel has its own drive axis direction. Drive wheel modules 902 and 904 are independently driven and controlled by the master controller 300 to advance the robot in any desired direction. 3 shows that the left drive module 902 protrudes from the lower side of the housing 200, and FIG. 4 shows that the right drive module 904 is attached to the upper surface of the housing 200. In the preferred embodiment, as shown in FIG. 3, left and right drive modules 902 and 904 are each pivotally attached to the housing 200 and come into contact with the cleaning surface by leaf springs 908. The leaf spring 908 is attached obliquely to each of the rear drive modules and pivots downward relative to the cleaning surface when the drive wheel advances past the precipice, but is lifted from the cleaning surface otherwise. . A wheel sensor associated with each drive wheel senses when the wheel pivots down and sends a signal to the master controller 300.

The drive wheels of the present invention are particularly configured for operation on wet, smooth surfaces. As shown in FIG. 20, in particular, each drive wheel 1100 includes a wheel element 1102 in the shape of a cup that is attached to drive wheel modules 902 and 904. The drive wheel module includes a drive motor and a drive train transmission device for driving the drive wheel for transportation. The drive wheel module may also include a sensor for detecting wheel slip with respect to the cleaning surface.

The cup-shaped wheel device 1102 is formed from a hard material, such as a hard molded plastic, to maintain the wheel shape and provide rigidity. The cup-shaped wheel element 1102 provides an outer diameter 1104 sized to receive an annular tire element 1106 thereon. The annular tire element 1106 is configured to provide a non-slip, high friction drive surface to contact the wet cleaning surface and to maintain static friction on the wet and smooth surface. .

In one embodiment, the annular tire element 1106 has an inner diameter 1108 of approximately 37 mm and is sized to approximately fit the outer diameter 1104. The tire is glued to the outer diameter 1104, taped or interference fitted to prevent slipping between the inner diameter 1108 and the outer diameter 1104 of the tire. The tire radius thickness 1110 is approximately 3 mm. The tire material is a chloroprene homopolymer stabilized with thiuram disulfide black, foamed to a bubble size of 0.1 mm +/− 0.02 mm and a density of 14-16 pounds per cubic foot, or cubic feet Approximately 15 pounds. The tire has a hardness of about 69 to 75 Shore 00 after foaming. The material of the tire is sold by Monmouth South Rubber and Plastics Corporation and the trade name is DURAFOAM DK5151 HD.

Depending on the particular application, other tire materials are envisioned, such as those made from neoprene and chloroprene, and other closed cell rubber sponge materials. PVC (polyvinyl chloroid) or ABS (acrylonitrile butadiene) (with or without other extractables, hydrocarbons, carbon black, ash, etc.) tires can also be used. Further, shredded foam tires can provide certain squeegee-like functions when the tires are driven on a wet surface being cleaned. Tires made from materials sold under the trade names RUBATEX R411, R421, R428, R451 and R4261 (manufactured and sold by Rubatex International, LLC), ENSOLITE (manufactured and sold by Armacell LLC), and American Converters / VAS, Inc. The product manufactured and sold by the company is also a functional substitute for the above-mentioned DURAFOAM DK5151 HD.

In one embodiment, the tire is made of, for example, nitrile rubber (acrylonitrile), styrene butadiene rubber (SBR), ethylene / propylene rubber (EPDM), silicone rubber, fluorocarbon rubber, latex rubber, silicone rubber, butyl rubber, styrene rubber, The material can include natural rubber and / or synthetic rubber such as polybutadiene rubber, hydrogenated nitrile rubber (HNBR), neoprene (polychloroprene) and mixtures thereof.

In certain embodiments, the tire material is, for example, polyacrylic acid (ie, polyacrylonitrile and polymethyl methacrylate (PMMA)), polychlorocarbon (ie, PVC), polyfluorinated carbon (ie, polytetramethylene fluoride), polyolefin. Contain one or more elastomers (ie polyethylene, polypropylene and polybutylene), polyesters (ie polyethylene terephthalate and polybutylene terephthalate), polycarbonate, polyamide, polyimide, polysulfone and mixtures and / or copolymers thereof. Can do. Elastomers can include homopolymers, copolymers, polymer blends, osmotic networks, chemically processed polymers, grafted polymers, surface coated polymers and / or surface treated polymers.

In certain embodiments, the tire material is a reinforcing agent such as carbon black or silica, a non-reinforcing filler, sulfur, a cross-linking agent, a binder, clay, silicate, calcium carbonate, wax, oil, antioxidant. One or more fillers such as (that is, paraphenylene diamine ozone depletion inhibitor (PPDA), octylate diphenylamine, and polymeric 1,2-dihydro-2,2,4-trimethylquinoline) and other additives Can be included.

In certain embodiments, the tire material is, for example, the desired static friction, stiffness, modulus, hardness, tensile strength, impact strength, density, tear strength, burst energy, crack resistance, elasticity, kinetic properties, bending Strength, abrasion resistance, abrasion resistance, color retention and / or chemical resistance (ie resistance to cleaning fluids and substances present on the surface being cleaned, eg dilute acids, dilute alkalis, oils and fats, fats Can be devised to have advantageous properties such as aromatic hydrocarbons, aromatic hydrocarbons, halogenated hydrocarbons and / or alcohols).

Note that the size of the bubble in a closed-cell tire can affect its function in other factors such as static friction, resistance to contaminants and durability. Bubble sizes in the range of approximately 20 μm to approximately 400 μm can provide satisfactory performance depending on the weight of the robot and the conditions of the surface being cleaned. Specific ranges include approximately 20 μm to 120 μm, with an average bubble size of 60 μm, and more specifically, approximately 20 μm to 40 μm for satisfactory friction at various surface and contaminant conditions.

A wider tire can increase static friction, but in certain embodiments, the tire is approximately 13 mm wide. Tires with a thickness of 4 to 5 mm or more can be used to increase static friction, but as mentioned above, the tire thickness is approximately 3 mm. A thin tire of approximately 1-1 / 2 mm and a thick tire of approximately 4-1 / 2 mm can have advantages depending on the robot's weight, operating speed, movement pattern and surface texture. Thicker tires are susceptible to compression set. Nevertheless, larger tires may be preferred when the cleaning robot is heavy. Tires with rounded or square ends can also be used.

To increase the static friction, it is possible to sipe the outer diameter of the tire. Introducing sipes generally (a) reduces the transport distance for fluid removal from the joining patch by providing a space for fluid to flow in, and (b) allows the tire to touch the floor more. Thus, static friction is provided by increasing the mobility of the tread and (c) providing a wiping mechanism to assist in fluid removal. In at least one example, the term “sipeed” refers to cutting the tire material to provide a shallow groove 1110 pattern in the outer diameter of the tire. In one embodiment, the depth of each groove is approximately 1.5 mm and the width is approximately 20 to 300 microns. Inserting a sipe means that the base of the tire is less than ½ mm, and for example, a sipe of 3½ mm enters a tire having a thickness of 4 mm. The groove pattern is a substantially equally spaced groove with a space of approximately 2 to 200 mm between adjacent grooves. “Equally spaced” can mean, in one example, that the repeated pattern is spaced apart, and the sipe cut is not necessarily the same distance as the neighbor. The cutting axis of the groove makes an angle G with the longitudinal axis of the tire. In certain embodiments, the angle G is in the range of 10-50 degrees.

In another embodiment, the sipe pattern is diagonally parallel to the diamond shape at intervals of 3.5 mm and can be cut alternately from the rotation axis at an angle of 45 degrees (+/− 10 degrees). When a substantially circumferential sipe is inserted, the fluid is moved away through the groove, but other sipe insertion patterns are also expected. The depth and angle of the sipe can be changed according to the specific application. In addition, increasing the depth and width of the sipe can increase static friction, but this advantage should be balanced against the overall structural impact of the tire announcement. In certain embodiments, for example, it has been determined that a 3 mm to 4 mm thick tire with diamond cross sipes spaced 7 mm apart provides excellent tire static friction. Larger tires allow finer patterns, deep sipes, and / or wider sipes. Furthermore, particularly wide tires or tires made from certain materials may not require any siping for effective stiction. A pattern that puts a constant sipe may be more useful on wet or dry surfaces, or another type of surface, but putting a sipe that provides a constant static friction in various applications, It may be most desirable for general purpose robot cleaners.

Various tire materials, sizes, configurations, sipes, etc. will affect the static friction of the robot in use. In certain embodiments, the robot wheels rotate directly through the spray of cleaning fluid and thus affect static friction as well as contaminants that come into contact during cleaning. Losing the wheel's static friction may cause operational inefficiency in the form of the degree of wheel slipping and may cause the robot to deviate from the predicted path. This deviation can increase the cleaning time and shorten the battery life. Therefore, the robot wheel must be the smallest, depending on the size of the motor, and be configured to provide optimal to excellent static friction on all surfaces.

Typical contaminants that come into contact during cleaning include chemicals discharged from a robot or non-robot. Whether in the fluid state (eg, pine oil, hand-washing soap, ammonium chloride, etc.) or in the dry state (eg, laundry powder soap, talcum powder, etc.), these chemicals can degrade the tire material. Thus, robot tires can contain wet or wet food contaminants (eg, soda, milk, honey, mustard, eggs, etc.), dry contaminants (eg, bread crumbs, rice, flour, sugar, etc.) ) And oils (eg, corn oil, butter, mayonnaise, etc.). All of these contaminants can be contacted as a residue, a pooled or smooth portion of liquid, or a dry mottle. The tire materials described above have proven effective in resisting material degradation caused by these various chemicals and oils. Furthermore, the described bubble sizes and tire sipes have proven to be advantageous in maintaining static friction while in contact with both wet and dry contaminants, chemicals, and the like. A constant concentration of dry contaminants, however, can become retained inside the sipe. The chemical cleaners used in the equipment described below also help to emulsify some of the contaminants, so diluting these chemicals can be caused by other chemical contaminants. Can reduce potential damage.

In addition to contaminants that can come into contact during use, various cleaning parts of the device (eg, brushes, squeegees, etc.) affect the static friction of the device. The resistance created by these devices, the characteristics of the contact surface of the device (ie round, sharp, smooth, flexible, bumpy, etc.) and the possibility of slipping due to contaminants vary depending on the surface being cleaned . Limiting the contact area between the robot and the surface being cleaned reduces contact friction and improves tracking and movement. A thrust of 3 to 5 pounds against a resistance of 1.5 pounds has proven effective in a robot weighing approximately 5 to 10 pounds. Note that these numbers vary depending on the weight of the robot cleaner, but satisfactory performance occurs with less than about 50% resistance and improves with less than about 30% resistance.

Tire material (and corresponding foam size, density, hardness, etc.), siping, robot weight, contact contaminants, robot autonomy, floor material, etc. Affects the coefficient. In certain robotic cleaners, the coefficient of static friction (COT) for the minimum motion threshold is established by dividing 2 pounds of resistance by 6 pounds of normal drag, as applied to the tire. Thus, this minimum motion threshold is approximately 0.33. The target threshold of 0.50 was determined by measuring the performance of the shredded black bubble tire. The resistance coefficients of many of the above materials are in a satisfactory range between the motion threshold and the target threshold because they are in the COT ranging from 0.25 to 0.47. Furthermore, considering the various working conditions experienced by cleaning robots, tires with little variation in resistance coefficient between wet and dry surfaces are desirable.

Robotic cleaning equipment can also be advantageous by utilizing a cover or boot that at least partially or completely wraps the tire. In order to increase resistance, absorbent materials such as cotton, hemp, paper, silk, porous leather, and chamois can be used in combination with the tire. Alternatively, these covers can be replaced completely by simply attaching to the outer diameter 1104 of the cup-shaped ring element 1102. Whether used as a rubber tire cover or as a complete replacement for a rubber tire, this material can be replaced by the user or can be automatically removed and replaced at the base or charging station. Furthermore, the robot can be equipped with a set of tires of different materials and provided to the end user with instructions to use a specific tire on a specific floor.

Cleaning fluids used in robot cleaners must be able to easily emulsify contaminants and peel dry waste from the surface without damaging the robot or the surface itself. Given the adverse effects described above for robot tires and certain chemicals, the aggressiveness of the cleaning fluid must balance the short-term and long-term negative effects on the tire and other robot components. In view of these issues, cleaning robots can use almost any cleaning material that meets specific cleaning requirements. In general, for example, a solution containing both a surfactant and a chelating agent can be used. In addition, liquids that balance pH such as citric acid can be added. Adding fragrances such as eucalyptus, lavender and / or lime, for example, can improve the merchantability of such detergents and give consumers the impression that the equipment is effectively cleaning. give. Blue, green, or other prominent colors also help distinguish the cleaning agent for safety or other reasons. Also, the liquid can be diluted and still effectively cleaned when used with a robot cleaner. During operation, the need for using full strength cleaning agents is reduced because the robot cleaner is likely to pass through a particular floor section many times. The diluted cleaning agent also reduces the wear problems of tires and other components as described above. Such cleaning agents have proven effectiveness in cleaning without causing damage to robotic components, such as alkylpolyglucosides (eg, 1 to 3% concentration) and ethylenediamine potassium tetraacetate (eg, potassium EDTA) (eg, potassium EDTA) , 0.5-1.5% concentration). During use, the cleaning solution is diluted with water to make a cleaning solution, such as 3-6% cleaning agent and approximately 94-97% water. Therefore, in this case, the actual cleaning liquid applied is only 0.03% to 0.18% surfactant and 0.01 to 0.1% chelating agent. Of course, it can be used with robot cleaners that disclose other cleaning agents and concentrations.

For example, the series of surfactants and chelating agents disclosed in US Pat. No. 6,774,098 is also suitable for use in robots having the disclosed tire materials and configurations, the disclosure of which is generally Incorporated herein by reference. However, to balance the aggressiveness of the cleaning agents disclosed in the '098 patent with the wear that occurs on machine components, the detergents are (i) solvent-free or alcohol-solvent chelating agents. Or a disclosed solvent has a concentration of 1/2 to 1/100 of the concentration and / or (ii) 20% + / − 15% of the disclosed concentration, respectively (+/− 15%) Single path), 10% + / − 8% (repeated path), and 5% to 0.1% (random multiple paths), the robot's single path of determinism, repeated path of determinism, or Further dilute for use in random multiple passes, and / or (iii) in percent below commercial carpet cleaner, eg, less than 5% of silicone emulsion Further mixing with anti-foam agents known to be compatible with selected surfactants and chelating agents, and / or (iv) mixing with or compatible with general bacterial culture odor removers preferable.

In certain embodiments, cleaning fluids utilized in robotic vacuum cleaners include (or are examples of) one or more of the “paint surface cleaners” described in US Pat. No. 6,774,098. ), Preferably according to (i), (ii), (iii) and / or (iv) above. Certain examples of “paint surface cleaners” in US Pat. No. 6,774,098 are described in the following paragraphs.

In one embodiment, the painted surface cleaner comprises (a) a surfactant system, but has the following general formula (I) amine oxide:

または、次の一般化学式（ＩＩ）の第四アミン塩、

Or a quaternary amine salt of the general formula (II):

または、前述の酸化アミンと第四アミン塩の混合を含む。さらに、（ｂ）０．１から１．０重量パーセントの範囲の水溶性を持つ非常にわずかな水溶性極性有機化合物であり、この非常にわずかな水溶性極性有機化合物の界面活性剤システムに対する重量比は、約０．１：１から約１：１であるが、Ｒ^１とＲ^２は同じまたは別であり、メチル、エチル、プロピル、イソプロピル、ヒドロキシエチルおよびヒドロキシプロピルから構成されるグループから選択される。Ｒ^３は、直鎖アルキル、分鎖アルキル、直鎖へテロアルキル、分鎖へテロアルキルおよびアルキルエーテルから構成されるグループから選択され、それぞれ、約１０から２０の炭素原子を持つ。Ｒ^４は、１から約５の炭素原子を持つアルキルグループから構成されるグループから選択され、Ｘはハロゲン原子である。

Alternatively, it includes a mixture of the aforementioned amine oxide and quaternary amine salt. And (b) a very slight water soluble polar organic compound having a water solubility in the range of 0.1 to 1.0 weight percent, and the weight of this very slight water soluble polar organic compound relative to the surfactant system. The ratio is from about 0.1: 1 to about 1: 1, but R ¹ and R ² are the same or different and are selected from the group consisting of methyl, ethyl, propyl, isopropyl, hydroxyethyl and hydroxypropyl Is done. R ³ is selected from the group consisting of linear alkyl, branched alkyl, linear heteroalkyl, branched heteroalkyl and alkyl ether, each having about 10 to 20 carbon atoms. R ⁴ is selected from the group consisting of alkyl groups having 1 to about 5 carbon atoms, and X is a halogen atom.

In another embodiment, the painted surface cleaner is (a) (i) a nonionic surfactant and a quaternary ammonia surfactant, or (ii) a surfactant that is present on both sides. The total amount of the agent is about 0.001 to 10%, and the nonionic surfactant can be an alkoxylated alkylphenol ether, an alkoxylated alcohol, or a single long chain alkyl, a two short chain trialkylamine acid, an alkylamido dialkylamine acid. A surfactant selected from the group consisting of a semipolar nonionic surfactant selected from the group of phosphinic acid and sulfoxide, (b) at least 1 having a vapor pressure of at least 0.001 mm Hg at 25 degrees Less than 50% of one water-soluble or hydratable organic solvent, (c) as a chelating agent, tetraammonium ethylenediamine- 0.01-25% tetraacetate (tetraammonium EDTA), and (d) water.

In another embodiment, the coating surface cleaning agent comprises: (a) an anionic nonionic surfactant, optionally mixed with a quaternary ammonia surfactant, and the total amount of surfactant present. An active agent selected from active agents having a weight of about 0.001 to 10%, (b) at least one water-soluble or hydratable organic solvent having a vapor pressure of at least 0.001 mm Hg at 25 ° C. A hydratable organic solvent selected from the group consisting of alkanols, diols, glycol ethers, and mixtures thereof, in an amount of about 1% to 50% by weight of the detergent, (c) ethylenediamine as a chelating agent Potassium tetraacetate (EDTA potassium), which comprises about 0.01-25% by weight of the detergent, and (d) water.

In another embodiment, the painted surface cleaner is (a) a nonionic surfactant, optionally with a quaternary ammonia surfactant, the total amount of surfactant present being about 0.001 to At 10%, the nonionic surfactant is selected from the group of alkoxylated alkyl phenol ethers, alkoxylated alcohols, or single long chain alkyls, dishort chain trialkylamine acids, alkylamido dialkylamine acids, phosphinic acids and sulfoxides. A surfactant selected from the group consisting of: a semipolar nonionic surfactant; (b) at least one water-soluble or hydratable organic having a vapor pressure of at least 0.001 mm Hg at 25 ° C. Less than 50% solvent, (c) as a chelating agent, tetraammonium ethylenediamine-tetraacetate (teto Raammonium EDTA) 0.01-25%, and (d) water.

In certain embodiments, the painted surface cleaner has a viscosity of less than about 100 cps and is (a) at least about 85% water dissolved in (b) at least about 0.45 equivalent inorganic per kilogram. When mixed with calcium ions, anions form a salt that does not dissolve more than 0.2 g in 100 g water at 25 ° C., where the anion is carbonate, fluoride, metasilicate ion, or such A mixture of anions, (c) based on the weight of the composition, a detergent surfactant comprising at least 0.3% by weight of an amic acid in the form RR ¹ R ² N-> O, wherein R is in C ₆ -C ₁₂ alkyl, ^{R 1} and the ^{R 2} is _{C 1-4} alkyl or _{C 1-4} hydro oxyalkyl, respectively, and the weight of (d) the composition to the base, of at least about 0.5 percent by weight White agents, cleaning composition is alkaline, the chelating agent, the phosphorus-containing salt and abrasives included essentially.

In certain embodiments, the cleaning fluid utilized in the robot cleaner is U.S. Pat. Nos. 5,573,710, 5,814,591, 5,972,876, 6,004,916, 6,200,941 and Including (or being an example of) one or more of the painted surface cleaners described in US Pat. No. 6,214,784, all of which are incorporated herein by reference.

U.S. Pat. No. 5,573,710 discloses an aqueous multi-sided cleaning composition that can be used to remove oils and stains from hard surfaces or hard fibers such as carpets and carpets. This composition comprises (a) a surfactant system, but has the following general formula (I) amine oxides:

または、次の一般化学式（ＩＩ）の第四アミン塩、

Or a quaternary amine salt of the general formula (II):

または、前述の酸化アミンと第四アミン塩の混合物、および（ｂ）非常にわずかに水溶性極の有機物質を含む。この非常にわずかに水溶性極有機物質は、０．１から１．０重量パーセントの水溶性範囲を持ち、非常に僅かに水溶性極有機物質の界面活性システムに対する重量比率は、約０．１：１から約１：１の範囲にできる。Ｒ^１とＲ^２は、メチル、エチル、プロピル、イソプロピル、ヒドロキシエチルおよびヒドロキシプロピルから構成されるグループから選択できる。Ｒ^１とＲ^２は同じまたは別にできる。Ｒ^３は、直鎖アルキル、分鎖アルキル、直鎖へテロアルキル、分鎖へテロアルキル、およびアルキルエーテルから構成されるグループから選択でき、それぞれは、約１０から２０の炭素原子を持つ。Ｒ^４は、１から約５の炭素原子を持つアルキル群から構成されるグループから選択できる。Ｘは、ハロゲン原子である。

Or a mixture of the aforementioned amine oxide and quaternary amine salt, and (b) a very slightly water soluble polar organic material. This very slightly water soluble polar organic material has a water solubility range of 0.1 to 1.0 weight percent, and the weight ratio of very slightly water soluble polar organic material to the surfactant system is about 0.1. : 1 to about 1: 1. R ¹ and R ² can be selected from the group consisting of methyl, ethyl, propyl, isopropyl, hydroxyethyl and hydroxypropyl. R ¹ and R ² can be the same or different. R ³ can be selected from the group consisting of linear alkyl, branched alkyl, linear heteroalkyl, branched heteroalkyl, and alkyl ether, each having about 10 to 20 carbon atoms. R ⁴ can be selected from the group consisting of alkyl groups having 1 to about 5 carbon atoms. X is a halogen atom.

In certain embodiments, the composition further includes an aqueous organic material in an amount effective to reduce streaking. The aqueous organic material can be selected from water-soluble glycol ethers and water-soluble alkyl alcohols. The water soluble organic material can have a solubility of at least 14.5 weight percent. The ratio of the surface active system to water-soluble organic material can range from about 0.033: 1 to about 0.2: 1.

U.S. Pat. No. 5,814,591 describes an aqueous painted surface cleaner with improved mud removal. This detergent comprises (a) (i) a nonionic, double-sided surfactant, or a mixture thereof, or (ii) a quaternary ammonia surfactant in which the surfactant is present in a cleaning effective amount. Either (b) at least one water-soluble or hydratable organic solvent present in a solubilizing or liberating effect amount, having a vapor pressure of at least 0.001 mm Hg at 25 degrees, (c) cleaning agent mud Ammonia ethylenediaminetetraacetate (ammonia EDTA) as a chelating agent, and (d) water, present in an effective amount to enhance removal. In total, the surfactant may be present in an amount of about 0.001 to 10%. In concentrated products, the surfactant can be present up to 20% by weight. Nonionic surfactants include alkoxylated alkyl phenol ethers, alkoxylated alcohols or single long chain alkyls, dishort chain alkyls, trialkylamine oxides, alkylamido dialkylamine oxides, phosphinic acids and sulfoxides. It can be selected from the group consisting of semipolar nonionic surfactants selected from the group consisting. The at least one water soluble or hydratable organic solvent can be present in a weight less than 50% of the detergent. The ammonia EDTA can be tetraammonia EDTA and can be present in a weight of about 0.01-25% of the total cleaning agent.

U.S. Pat. No. 5,972,876 discloses an aqueous painted surface cleaner, which is optionally selected from (a) anionic, nonionic surfactants, and mixtures thereof. And a surfactant selected from the group consisting of quaternary ammonia surfactants, wherein the total amount of surfactant is present in an amount effective for cleaning, (b) at least 0.001 mm Hg at 25 ° C. At least one water-soluble or hydratable organic solvent present in an amount of solubilizing or liberating effect, (c) present in an amount effective to enhance mud removal of the detergent And ethylenediaminetetraacetic acid potassium (EDTA potassium) as an agent, and (d) water. The total surfactant can be present from about 0.001 to 10% by weight. The at least one organic solvent can be selected from the group consisting of alkanols, diols, glycol ethers, and mixtures thereof and is present in a weight of about 1% to 50% of the detergent. EDTA potassium can be present in a weight of about 0.01-25% of the detergent.

U.S. Pat. No. 6,004,916 discloses an aqueous painted surface cleaner, which is either (a) a non-ionic or double-sided surfactant, optionally a quaternary ammonia surfactant. Surfactant (b) present in an amount effective for cleaning (b) at least one water-soluble or water present in an amount of solubilizing or freeing effect with a vapor pressure of at least 0.001 mm Hg at 25 degrees A compatible organic solvent, (c) ammonia ethylenediaminetetraacetate (ammonia EDTA) as a chelating agent, and (d) water, present in an amount effective to enhance mud removal of the detergent. The surfactant can be a nonionic surfactant and, optionally, a quaternary ammonia surfactant. Nonionic surfactants include alkoxylated alkyl phenol ethers, alkoxylated alcohols or single long chain alkyls, dishort chain alkyls, trialkylamine oxides, alkylamido dialkylamine oxides, phosphinic acids and sulfoxides. It can be selected from the group consisting of semipolar nonionic surfactants selected from the group consisting. The total amount of surfactant can be present from about 0.001 to 10%. The at least one water-soluble or hydratable organic solvent can be present in an amount less than 50% by weight of the cleaning agent. The ammonia EDTA can be tetraammonia EDTA and can be present in a weight of about 0.01-25% of the total detergent.

U.S. Pat. No. 6,200,941 discloses the composition of a diluted painted surface cleaner. The cleaning composition includes (a) at least about 85% water, dissolved in (b) inorganic anions equivalent to at least about 0.45 per kilogram, when mixed with calcium ions, 25 degrees It comprises an inorganic anion that forms a salt that dissolves in less than 0.2 g in 100 g of water, and (c) at least 0.3% by weight of a detergent surfactant based on the weight of the composition. The composition preferably has a viscosity of less than about 100 cps. The anion can be carbonate, fluoride, or metasilicate, or a mixture of these anions. The cleaning surfactant may comprise an amine oxide in the form RR ¹ R ² N-> O. Here, R is C ₆ -C ₁₂ alkyl, and R ¹ and R ² are independent C _1-4 alkyl or C _1-4 hydroxyalkyl. The composition can further comprise at least about 0.5 weight percent bleach based on the weight of the composition. In some cases, the cleaning composition is alkaline and essentially free of chelating agents, phosphorus-containing salts and abrasives.

US Pat. No. 6,214,784 describes a composition similar to the disclosure of US Pat. No. 5,972,876. The composition can include dipotassium carbonate as a buffer.

Optionally, a cleaning solution can be used to cool the motor. Alternatively, the motor can be used to heat the cleaning solution. The motor used to rotate the main cleaning brush releases considerable energy in the form of heat. Heat reduces the life of motors and electronic components. It is possible to pass a cleaning fluid tube around the motor so that heat is converted from the motor to heat. Thereby, the cleaning performance is improved and the load on the motor is reduced. The structure includes heat transfer material for tubes, heat exchange composites, tubes and / or motor parts in contact with the tubes. In addition, the use of a cleaning liquid pump or a wet rotary motor for brush drive allows the motor to be placed in a cleaning tank, so that exhaust heat can be put into the cleaning liquid, not just connected. .

The front wheel module 960 illustrated in the exploded view of FIG. 18 and the cross-sectional view of FIG. The front wheel module 960 is attached to the housing 200 in front of the cleaning module and provides a third support element for supporting the housing 200 against the cleaning surface. The vertical support assembly 966 is pivotally attached to the caster frame 964 at the lower portion of the caster frame 964 so that when the housing is lifted from the cleaning surface or the front wheel moves in the vertical plane, the caster frame is Pivot away from the housing 200. The upper end of the vertical support assembly 966 passes through the housing 200, and when the robot 100 passes over the cleaning surface by the rear moving drive wheels 902 and 904, the entire front wheel module 960 is substantially free around the vertical axis. So that it can be rotated. Accordingly, the front wheel module is self-aligned with respect to the direction of robot transportation.

The housing 200 is equipped with a front wheel attachment port 968 for receiving the front wheel module 960. The mouth 968 is formed at the bottom of the housing 200 at the front circumferential end. The upper end of the vertical support assembly 966 is captured in the hole to pass the hole from the housing 200 and attach the front wheel to the housing. The upper end of the vertical support assembly 966 also joins the sensor element attached to the housing 200 on the upper side.

The front wheel assembly 962 is formed of a molded plastic wheel 972 having an axle protrusion 974 extending therefrom, and is rotated relative to the caster frame 964 by a common axle shaft hole 970 on the opposite side forming a drive wheel rotation axis. To be supported. The plastic wheel 972 includes three circumferential grooves on the outer diameter. A central groove 976 is provided to receive a cam follower 998 there. The plastic wheel further includes a set of symmetrically opposed peripheral tire grooves 978 for receiving the elastomeric O-ring 980 therein. Since the elastomeric O-ring 980 contacts the cleaning surface during operation, the characteristics of the O-ring material are selected to provide a desired coefficient of friction between the front wheel and the cleaning surface. The front wheel assembly 962 is a passive element that is in rotational contact with the cleaning surface via the O-ring 980 and rotates around the rotation axis formed by the axle protrusion 974 as the robot 100 moves over the cleaning surface.

Caster frame 964 is formed of a set of opposing crevasse surfaces with co-aligned opposing pivot holes 982 formed therein for receiving vertical support assembly 966 therein. The vertical mounting member 984 includes a pivot element 986 at the bottom end for installation between the crevasse surfaces. The pivot element 986 includes a bibot shaft hole 988 formed therein for alignment with the co-alignment pivot hole 982. Pivot rod 989 extends through co-located pivot hole 982 and is pressed firmly against pivot shaft hole 988 and captured therein. A torsion spring 990 is installed on the pivot rod 988 and pushes the front wheel 962 to a downwardly extended position to rotate the front wheel 962 in a direction to place it further below the bottom surface of the housing 200. A spring force is provided to bend the caster frame 964 and front wheel assembly 962. The position extended downward is a position other than the operation. The spring constant of the torsion spring 990 is sufficiently small so that when the robot 100 is placed on a cleaning surface for cleaning, the weight of the robot 100 overcomes its bending force. Alternatively, when the front wheel assembly advances in a vertical plane or is lifted from the cleaning surface, the bending force of the torsion spring pivots the front wheel to a position other than the extended operation. This state is sensed by a sensor under the wheel and a signal is sent to the master controller 300 to stop transportation or start some other operation, as will be described next.

The vertical mounting member 984 includes a hollow vertical shaft portion 992 extending upwardly from the pivot element 986. The hollow shaft portion 992 passes through the hole in the housing 200 and is captured therein by an E-ring fixture 994 and a thrust washer 996. Thereby, the front wheel assembly 960 is attached to the housing and can freely rotate around the vertical axis while the robot is transported.

The front wheel module 960 is equipped with a sensing element that generates a sensor signal that is used by the master control module 300 to count the rotation of the wheel, determine the rotational speed of the wheel, and sense the situation under the wheel. The That is, the caster 964 pivots downward by the force of the torsion spring 990. The sensor uses a cam follower 998 that includes a sensor element that moves in response to wheel rotation to generate a wheel rotation signal. The cam follower 998 includes an “L” shaped bar in a vertical position that is supported to be movable inside the hollow shaft 992, so that it passes through the hole in the housing 200 and is on the top surface thereof. It grows up. The lower end of rod 992 forms a cam follower that fits within the central circumferential groove 976 of the wheel and is movable relative thereto. The cam follower 998 is supported in contact with the offset hub 1000 shown in FIG. The offset hub 1000 includes an eccentric feature formed asymmetrically around the front wheel rotation axis inside the circumferential groove 976. Each time the ring 962 makes one revolution, a force is applied to the offset hub 1000, and the vibration of the cam follower 998 reciprocates substantially along the vertical axis.

33-35 show an alternative structure for the front caster. As shown in FIGS. 33 to 34, the front caster is generally structured as described above, and the function of the stationary sensor (in order to determine that the front caster that is not driven is rotating). And wheel drop switch (to determine that it is not in contact with the ground) can be designed to be integrated. A fishhook-shaped member 998 with a vertical shaft and a horizontal hook is bent around an eccentric protrusion 999 formed in the middle of the caster wheel. While the caster wheel rotates about its axis of rotation for advancement and rotation of the support 984, the center member 998 of the fishhook member can rotate freely within the support 984 (without disturbing the rotation of the caster), It can slide vertically within the support 984. As the actuator moves up and down sinusoidally, a sensor (as described, generally an optical or magnetic "stationary" sensor near member 998) tracks whether the robot is moving forward. Can be used for Alternatively, two sensors are used at each longitudinal end of the possible movement of member 998, i.e., at a spacing of substantially twice the offset of protrusion 999. Two sensors improve resolution. Alternatively, the two sensors can be modeled or replaced as a linear sensor that provides an analog profile of the time of wheel rotation (eg, if only two sensors are carefully placed, optical, magnetic Or, the analog output intensity of electrical detection can provide an opposite end of the sinusoidal signal during rotation, thus giving information on speed and limited mileage). These are arranged according to the position of the front caster of the suspension during normal use of the robot. Furthermore, the wheel drop center (again, optics, magnetism, etc.) is located below the stationary sensor. As previously described, the wheel is biased by the support frames 984, 970, so that it moves within a longitudinal range that pivots to provide a spring suspension. When the front wheel of the robot falls on a vertical surface or lifts the robot, the member 998 moves within or below the wheel drop sensor, which may be detected. Thus, the assembly with member 998 and sensor functions as a stationary sensor and a wheel drop sensor. Also works as a speed sensor. As mentioned above, putting sipes into the tire material is an oblique cut of an oblique parallel cut. These cuts can be made at an angle of 20-70 degrees from the robot's advance line.

One wheel sensor per revolution includes a permanent magnet 1002 attached to the upper end of an “L” shaped bar by a mounting element 1004. The magnet 1002 vibrates periodically in a vertical motion every rotation of the front wheel. Magnet 1002 generates a magnetic field that is used to interact with a reed switch (not shown) attached to housing 200 at a fixed location with respect to magnet 1002 in motion. The reed switch is switched on whenever the magnet 1002 is in the top position of its movement. As a result, one signal is generated per rotation which is sensed by the master controller 300. The second reed switch is placed near the magnet 1002 and measured to generate a wheel drop signal. The second reed switch is placed at a position affected by the magnetic field when the magnet 1002 is lowered to the non-operating wheel drop position.

(Basic shape elements)
In one embodiment of the robot of the present invention, the diameter of the robot's circular cutting surface 102 is 370 mm or 14.57 inches, i.e., approximately 35-40 cm or 12-15 inches, high from the cleaning surface of the robot 100. The length is 85 mm or 3.3 inches, i.e. approximately 70-100 mm or 3-41 / 2 inches. This size cleans the back of many typical chairs, desks, portable tables, round chairs, toilet seats, sinks, and other porcelain furniture, through the door entrances and gaps in the home. However, the autonomous cleaning robot 100 of the present invention is not limited to other cutting shapes such as a square, a rectangle, a triangle, and a shape having a capacity such as a cube, a rectangular parallelepiped, and a triangular pyramid. Can be created with height dimensions. The height of the robot is preferably less than a toe kick under a 10 inch cabinet (approximately a wheelchair accessible toe kick or a European toe kick) and less than a 4 inch cabinet toe kick (American minimum standard). Alternatively, the height of that portion of the robot that cleans the toe kick may be so limited by increasing the rest of the robot.

One embodiment of a robot according to the present invention can be manufactured as a mass-produced commercial product using highly integrated physical structures. As shown in FIG. 1B, such an embodiment includes several parts such as a robot body, a liquid tank, a battery and a cleaning head. The tank can be a structural element (for example, the robot is carried by the tank handle even when the liquid is full). Alternatively, the robot can be set in a housing-body structure or a self-supporting monocoque structure. As defined in some circumstances, the monocoque can be “substantially monocoque” or “at least partially monocoque”. Also, other alternative definitions are not excluded (e.g., load bearing bodies that can also have elements like housings, such as robots that support ribs or frames, or cantilever supports for other elements). Robots with various components are within the scope of the present invention. Such a cleaning robot includes a motor-driven brush or wiper, a first frame that includes a liquid tank, and a second frame that includes a rotatable operating mechanism. The joint mechanism connects the first frame to the second frame to form the outer surface of the substantially cylindrical cleaning robot. The cleaning robot dispenses liquid from the liquid tank and brushes or wipes the wet surface.

In another embodiment, the cleaning robot includes a motor driven brush or wiper, a tank formed as an upper cylindrical section for storing liquid, and a platform formed as a lower cylindrical section. The platform supports a rotatable driving mechanism. The coupling mechanism couples the tank to the platform and aligns the upper cylinder portion of the tank with the lower cylinder portion of the platform to form a substantially cylindrical outer surface of the cleaning robot.

Due to the integration of the liquid tank as part of the cylindrical body, wet cleaning can be performed with the maximum possible cleaning time by an autonomous robot. If the entire body is not cylindrical, that is, if it does not have a circular circumference, it will affect the spontaneity, making it more difficult to escape from a corner or corridor that is slightly larger than the robot. By integrating the liquid tank into the robot body, the capacity of the tank can be maximized. Other shapes of constant width (Ruleau triangles or polygons of constant width) are also possible as surrounding shapes, and for the purposes of this use are considered to be in the meaning of the term “tubular”, but circular The perimeter of has a maximum internal area with a constant width shape, so it has the potential for maximum liquid capacity.

Another embodiment of the cleaning robot described herein includes a waste compartment, a diluent compartment, a partially monocoque tank with at least one waste compartment or diluent compartment, and a rotatable operating mechanism. The part includes a monocoque platform. The joint mechanism connects the partly monocoque tank to the partly monocoque platform to form the outer surface of the substantially cylindrical cleaning robot. The cleaning robot brushes the surface that is at least partially wetted by the liquid dispensed by the cleaning robot.

Another example includes a motor driven brush or wiper, a tank that supports a liquid compartment that stores liquid, a platform that includes a cradle to receive the tank, a liquid connection between the tank and the platform, and a vacuum connection between the tank and the platform. The joint mechanically engages the tank with the platform. The engagement of the joint seals the liquid connection and the vacuum connection to form a substantially cylindrical outer surface of the cleaning robot. The cleaning robot brushes a surface that is at least partially wetted by liquid from the liquid compartment. Liquid from the liquid compartment can be aspirated by a vacuum generator (aspirating dry particulate matter before the brush or wiper), but this is not necessary.

Another embodiment includes a motorized brush or wiper, a monocoque tank that contains a liquid compartment, and a platform that includes a pivoting platform that is rotatable to receive one end of the tank and align the monocoque tank with the platform. ,including. Since the joint mechanically engages the monocoque tank with the platform, the engagement of the joint forms a substantially cylindrical outer surface of the cleaning robot. The cleaning robot brushes a surface that is at least partially wetted by liquid from the liquid compartment. A pivoting cradle can optionally be arranged to receive the tank at the same angle that the user carries. Due to the handle configuration, if the tank is lowered from the user's hand, the tank is another example of a robot cleaner, a motor driven brush or wiper, a tank containing a liquid compartment for storing liquid, a cradle for receiving the tank Includes platform, liquid connection between tank and platform, tank and platform vacuum connection. As the joint mechanically engages the tank with the platform, the engagement of the joint seals the liquid and vacuum connections to form a substantially cylindrical outer surface of the cleaning robot. The cleaning robot brushes a surface that is at least partially wetted by liquid from the liquid compartment.

In yet another embodiment, the cleaning robot includes a tank containing a liquid compartment for storing liquid, a cleaning head including a motor driven brush and vacuum generator, and a platform. The platform includes a first container that receives a battery. Since the cradle receives the tank, the tank covers the battery. The battery need not be under the tank and can be attached directly to the body at the top or shroud. Further, in certain embodiments, the tank and associated components can be interlocked by the cleaning head once the tank is properly installed, so that the cleaning head can be removed or replaced as long as the tank does not rotate and move upward. Is possible.

The cleaning head can be considered as part of the platform. Or, optionally, the second container can receive a cleaning head from one side of the platform. The robot connects the liquid connection between the tank and the platform (in one example, so that the platform can drain the liquid) and the vacuum connection between the tank and the platform and / or the cleaning head (in one example, the material aspirated by the platform is Including) so that it can be put in a tank. Either or both of the vacuum connection and the liquid connection can be made directly between the tank and the cleaning head, for example by matching the tank and cleaning head seals. The joint can mechanically engage the tank to the platform and can seal the liquid and vacuum connections.

Although all of the above embodiments can use brushes or wipers, the use of brushes produces less friction than wipers. Furthermore, the rotation of multiple bristles still provides contact with a continuous surface and connection with a continuously repeating surface. The term “brush” includes pads, brushes, sponges, cloths, and the like that can rotate, reciprocate, start up, belt drive, and move with the robot.

Although different rates are possible, it is useful to maximize the capacity of the liquid tank if the liquid tank is greater than 50% of the top surface of the robot, up to 50% of the side walls, and less than 50% of the bottom surface. . However, if the liquid tank is less than 25% of the bottom surface and greater than 75% of the top surface, this is more useful as it balances the need to support the tank with most capacities.

As described above, the motor driven brush is in a cleaning head that is removably inserted into the shroud of the first frame, and further includes a lock, click lock, click in / click out or detent mechanism There is so it stays in the correct position and maintains a seal and connection. With this structure, the cleaning head can be removed without removing the tank. If the battery is above the body under the tank, the cleaning head can also be removed without removing the battery. Batteries can be similarly positioned using similar structures, so there is an optional lock, click lock, click-in / click-out, or detent mechanism so they can be removed from the robot shroud while maintaining electrical connection Insert as possible. Also, the battery can be integrated into either the tank or the body and can include one or more replaceable, rechargeable, rechargeable batteries, fuel cells, or fuel tanks, or combinations thereof.

The joint mechanism for securing the tank to the body may include a handle for the liquid tank, a robot that is substantially cylindrical in shape, or a tank in which only the tank is portable from the liquid tank handle. The handle also includes a lock, click lock, click in / click out or detent mechanism. The handle shown includes a push button that click locks the tank to the body, another push button that disengages from the tank body, and a mechanism that supports the pull-up used as a handle. The joint mechanism can include a pivot and a lock that receives one side of the tank and rotates the tank to lock.

Many of the above embodiments utilize a tank structure that functions as both the fluid compartment and the support or structural element of the robot. Furthermore, the tank can accommodate both the clean liquid compartment and the sewage compartment as in the illustrated embodiment. Alternatively, an additional tank can be provided for separating the cleaning liquid and sewage and / or for the concentrate mixed with the water of one of the tanks. Many more compartments may be provided (eg, compartment for antifoam, compartment for fuel, etc.). The examples show how tanks or mixing tanks can function as self-supporting or structural members, and those skilled in the art will recognize that the same type of fittings and supports can be easily modified in more than one tank Recognize

As described herein, the two compartments of the tank are arranged such that liquid moves from one compartment to the ground and is aspirated, the center of gravity is substantially intact and / or substantially driven. Remain on the wheel. This structure uses sections that overlap each other or partially overlap each other, with the center of gravity of the entire section within 10 cm. Instead, the compartments can be concentric (concentric such that one is inside the other in the transverse direction). Alternatively, it can be alternating (eg, L-shaped or fingers alternating in the lateral direction). Alternatively, all or part of the clean compartment is a flexible air bag in the sewage compartment where the cleaning fluid is released and as the sewage fills the sewage compartment, the flexible air bag is pushed and cleaned. It can be surrounded by a sewage compartment to take up the location of the liquid. The flexible bladder can be the bottom portion of the clean tank that folds, bends, or extends into the sewage tank. For example, in FIG. 27, the flat portion of the circular sector of the second plastic element (tank middle) 812 to the left and / or right of the opening 562a (shown in FIG. 27) bends, stretches, or Can be formed as a foldable part to the waste tank. For this purpose, the air reservoir 562 can be arranged on the straight side in these directions.

Within the tank, different types of structures of compartments are possible. It can be separable, embedded in the wall (display), deformable separable, or nested. Certain compartments can be nested and deformable. Alternatively, it can include a demountable wall separating the compartments. The walls separating the compartments can be hinged, foldable, etc., and the compartments can be separated by one or more semi-permeable, permeable, or reverse osmosis membranes, or other filters. Either “compartment” or “tank” may be hard, deformable, or demolishable unless otherwise specified. The same compartment can be used for two different liquids in different environments (such as a detergent compartment mixed with water and a treatment or polish compartment). Or it can be used for solvent, mixed washing solution, concentrate, sewage, dry particulate matter, fuel, fragrance, antifoam, marker, polish, treatment, wax and the like.

Most of the above examples have removable tanks, but in alternative embodiments the tanks can be permanent. The word “joint” means a set of mechanisms for easily attaching one object to another, snap, catch, latch, hook, click lock, detent lock, screw, hood attachment nail, velcro Includes reversible joints such as (registered trademark). It also includes the use of gravity and guides to keep compatible elastomeric parts that are joined top to bottom or intimately. The “easy to remove” qualifier generally distinguishes such semi-permanent fittings (such as screws and screws that are permanent except for repairs) from permanent fittings such as adhesive / soldering. To do. Semi-permanent or permanent fittings may be more practical for larger robots that are emptied by a dock or floor station (the above examples are compatible docks or floors). Station can be included).

As mentioned above, the platform collects sprays, sprayers, nozzles, capillary action, wipes or other liquid application mechanisms for applying liquids, and / or brushes, vacuum generators, squeegees, wipes or waste liquids Other fabric fluid recovery mechanisms may also be included. As used above, “wetting with liquid” can occur before or after the liquid is stored in the tank (eg, for polishing or floor care, etc. It can be applied manually by a person and aspirated by a robot, or the liquid can be left on the surface by the robot to dry or evaporate depending on the type of liquid). Either or both frames can be substantially monocoque or can include locks to the housing portion or additional housing portions.

If a pivot holder is used, the pivot holder is made of metal and is durable and rigid. Using heavy metal pivots can increase the weight of the robot (and pressure and mop forces) and can cause the main frame's center of gravity to move more prominently forward or backward (to the position of the metallic pivot). Depending on your needs). When a metal handle is used at the opposite end of the robot, the two metal parts can facilitate the desired balance and position of the center of gravity. However, the balance and position can instead be determined by using a metal support frame that moves the robot's center of gravity towards the wheel / belt drive joint line, or simply when the center of gravity of a robot full of liquid is This can be facilitated by appropriately placing a heavy weight (eg, cast iron) to move to the belt drive joint line.

For robots designed for range (including cleaning robots), it is best to place separate drive wheels on the diameter that the robot can rotate. However, it is advantageous to install a working width or cleaning head on the diameter of the circular robot, as this will give the widest working area. In certain vacuum cleaner robots manufactured by iRobot Corporation under the ROOMBA trademark, a side brush can be used to trace a wall to suck up particulate matter within the working width, so the wheel is a circular circle for this purpose. Arranged on the circumference diameter. If the robot traces the wall on the same side each time, only one side brush is needed.

However, side brushes are not as effective in a mop robot that applies liquid. Although the present invention contemplates the use of a dry or wet side brush that is substantially physically similar to a dry type vacuum cleaner that supports dry cleaning or wet cleaning or both, it is not considered necessary. Furthermore, placing the cleaning head on a circumferential diameter so that the width of the cleaning head can be closest to the wall helps with effective cleaning. In the case of another curve of constant width, the cleaning head may be placed on the widest span, and the differential drive wheels are placed near the circumference diameter that encloses the robot's circumference. There is a possibility (or such a robot may use a holonomic drive with omnidirectional wheels arranged at equal angles).

When the cleaning head is on the circumference diameter, it can be adjacent to the end of the robot, thus improving the end cleaning performance. Furthermore, when the robot is controlled and configured to trace the dominant wall or obstacle, the cleaning head needs to be adjacent to only one end of the robot. With this arrangement, the non-dominant space can be used for other purposes. In one embodiment of the robot, this end space on the diameter is due to a gear train and a take-up structure that allows the cleaning head to take a slip in a cartridge fashion from one side of the robot (the corner cleaning / dominant side). Used for. Reference is made to FIGS.

One particular example cleaning system is dry suction, followed by liquid (wet) application, followed by liquid suction. The reason for dry suction prior to liquid application is, as explained, mainly because wet suction is mainly due to dirty water / waste liquid, which has various negative effects on wet suction and is usually dry Sometimes suction is not because of much simpler particulate matter or large free debris.

Additional cleaning steps can be incorporated into the wet cleaning robot in accordance with the present invention. For example, a dry substance application step can be included after a dry suction step of an abrasive powder, catalyst, reactant, etc., or after other dry substances have been placed and mixed with the liquid (or Wet spray is turned off and dry material is collected or later aspirated).

It is also possible to eliminate the dry suction step if another method is applied to address the possibility of wet particulate matter or debris, such as when the wet suction mechanism corresponds to debris. In some embodiments of the device, a scrub brush that advances a long horizontal wet cleaner / squeegee along the cleaning path can be used. In one example, the dry suction step may be less important in alternative embodiments where the scrub brush rotates in the cleaner entrance and is positioned to direct debris to the cleaner entrance. It is also possible to change the cleaning system so that the liquid application process does not come immediately before the liquid suction process. As an example, in an alternative embodiment, the first robot applies a liquid and sucks a second robotic liquid, or a single robot passes the liquid and passes a second time along the same path. It is possible to set so as to remove the liquid during the passage of.

For example, in the case of wax or polish, the cleaning system can be changed so that the liquid suction process is not performed. In another example, the robot may apply some liquid (eg, cleaning liquid) and apply suction before applying a second type of liquid (eg, wax or polish) that is not aspirated.

Also, when the liquid application process is applied to a brush, roller, belt, web, pad or other scrubbing device rather than applying the liquid directly to the floor, and the liquid application process is performed by the scrubbing device, the liquid is primarily applied to the floor. It is also possible to change the cleaning system to make contact.

As will be discussed, certain new cleaning systems are particularly well suited for the robotic cleaner of the present invention. However, some parts of the process or system are not critical, and it is a certain combination of cleaning processes that forms a cleaning system with the significant advantages described herein. Many of the described robotics, types, and constructions are new and advantageous for any wet cleaning system (for example, if the robot always cleans on one side, it is associated with a wet cleaning head that extends only to its end. Structure).

As explained, the robot is preferably about 3-5 kg when fully filled with liquid. For home use, the robot can be up to about 10kg. As an example of the range of physical dimensions of the robot, the mass is about 2 to 10 kg, the cleaning width is about 10 cm to 40 cm within the diameter of about 20 to 50 cm, the wheel diameter is about 3 cm to 20 cm, and the driving wheel contact line is fully driven. The wheel (2, 3, 4 driving wheels) is about 2 cm to 10 cm, and the driving wheel contact surface of all driving is about 2 cm ² or more. The example robot is less than approximately 4 kg when empty and less than approximately 5 kg when full and carries approximately 1 kg (or 800-1200 ml) of clean or sewage (the robot not only sucks liquid but applies as well) If you want to). The size of the waste tank is determined according to the efficiency of the suction process. For example, in a relatively inefficient squeegee designed or arranged to leave some amount of wet liquid with each pass (eg, the cleaning liquid stays active in a stain or residue of dry food) The liquid tank can be designed to be the same size or smaller than the clean tank. One part of the accumulated liquid is never aspirated and another part can evaporate before being aspirated. If dry suction is ahead of wet suction and an efficient squeegee (eg, silicone) is used, the waste tank may need to be the same as or larger than the cleaning liquid tank. Also, some parts of the tank capacity, about 5% or more, may be dedicated to foam containment or control, which may increase the size of the waste tank.

A feasible autonomous painted surface cleaning robot has a mass of less than about 10 kg and has at least one scrubbing or wiping member. In order to effectively brush, wipe or scrub the surface, the scrub or wipe member creates drag. Also, for robots of less than 10 kg, an average drag of up to about 40% should be created, but preferably less than about 25%. Resistant force (total drag associated with any blade, squeegee, effecting component) is an effective suspension / constant because the lifting of obstacles reduces the weight from the tire and affects the effective motive force In order to ensure sufficient mobility in the absence of a weight system, about 25% of the robot weight should not be exceeded. The maximum usable static friction is typically less than about 40% of the weight of the robot on a smooth surface with a surfactant-based (low surface tension) cleaning solution, perhaps under the best conditions Up to about 50%, static friction / thrust needs to exceed drag / parasitic forces. However, in order to succeed in autonomous propulsion and have enough thrust to overcome small dangers and obstacles, to climb a threshold where a scrub or brush member different from the wheel may meet, that is, In order to escape from other panic environments, the robot must have an average drag / parasitic force thrust / stiction of about 150% or more, which is provided mostly by the drive wheels. Depending on the direction of rotation, the rotating brush can create drag or thrust, but the present invention anticipates both. An example of a robot that discloses details has a weight of about 8-1 / 2 pounds and has a drag of 2 to less than 3-1 / 2 pounds due to the static friction of brushes, wipers, squeegees and stationary wheels. A thrust of 3 to 5-1 / 2 pounds is generated only by the drive wheels or by the drive wheels in combination with the brush rotating forward, and this is an example of a robot that cleans and autonomously propels without problems. Sometimes weight is added by adding more weight to the wheels to improve static friction (eg, in some embodiments of the device, metal handles, pivot mounts such as crevasses, larger than required) Motor and / or ballast). With or without adding weights, one embodiment of the device derives a functional percent thrust from a forward rotating brush (typically turned off in reverse), Is not a function required for large industrial vacuum cleaners.

Due to the mass of household cleaning robots that are less than 10 kg (or even less than 20 kg), the width of the cleaning head is significantly different from industrial self-propelled cleaners. According to an embodiment of the present invention, this may be from a (wet) cleaning width of 1 cm per kg of robot mass, ideally a cleaning width of 5 or 6 cm per kg of robot mass, and at most robot mass A clean width of 10 cm per kg of (typically, higher ratios apply to less mass). It is difficult to apply a sufficient force of wiping or scrubbing with a cleaning width of more than 10 cm per kg of robot mass. Furthermore, less than 1 cm for every 1 kg of robot mass results in a very heavy robot that is inefficient for cleaning width or unsuitable for general use, i.e. an ordinary (or frail) person cannot easily carry. Self-propelled industrial cleaners generally have a cleaning width of less than 1-3 cm per kg of machine mass.

These dimensional ratios or characteristics may be related to whether the robot is less than 10 kg, and in some cases less than 20 kg, but is also valid for general home use. These ratios have been explicitly explained above, but certain ratios (eg, the area of square centimeters of wheel contact per pound of robot mass, cm of wheel contact line per pound of drag, etc.) Although limited to another set of robot configurations, it is expressly contemplated that it will be essentially disclosed herein.

Although this disclosure describes the optimal material composition and shapes of robot tires and tracks that are useful on wet domestic surfaces, it is particularly effective to combine other cleaning elements with these materials and shapes. . In the tire itself, as explained, in one advantageous configuration there is a 3 mm thick foam tire with a 2 mm deep sipe. This configuration works optimally when supporting less than 3-4 kg per tire. The optimal combination of sipe, bubble structure, and tire absorbency is affected by the weight of the robot.

At least one passive wiper or squeegee is advantageous in a wet cleaning robot. For example, the wet cleaner part is placed in close proximity to the squeegee and forms a film thickness of water that is entered for suction. The dragging (wet) squeegee should have enough flexibility and range of motion to clean obstacles higher than 2mm, but it is ideal to clear the clearance of the robot's ground (explain details) In the case of the embodiment shown, the minimum height is 4-1 / 2 mm or the clearance of the robot ground).

All reaction force generated by a squeegee that is opposite to gravity is subtracted from the available resistance, so it does not exceed about 20% of the robot weight, and ideally does not exceed about 10% of the robot weight. . A certain amount of end pressure with equal reaction force is necessary for the squeegee to wipe and recover the liquid. In order to obtain an effective combination of liquid recovery, reaction force, wear, and flexible response to obstacles, the squeegee's physical parameters need to be well controlled and balanced. A working edge radius of about 3/10 mm for squeegees less than 300 mm is particularly effective, and a working edge squeegee of about 1/10 to 5/10 mm may be feasible depending on other conditions created. I can expect. Abrasion, squeegee performance, and resisting force are substantially rectangular cross-section (optionally rhombus) and / or about 1 mm (optionally about 1/2 mm to 1-1 / 2 mm) thick, about 90 degrees (optional) Around 60 to 120 degrees), parallel to the floor within about 1/2 mm (optionally up to about 3/4 mm) of the entire length of work, and within about 1/500 mm per length (optional, It is improved with a squeegee that is straight up to about 1/100) and has a working edge within about 3/10 mm as described above. Deviations from the above parameters require a large end pressure to be compensated (force opposite to gravity), reducing the available static friction.

Three examples of wet cleaner / squeegee assemblies are disclosed herein. One, using a “branch squeegee”, wet suction is mainly provided by a vacuum channel between the front wet rubber rag and the rear squeegee, the two squeegees being in separate parts and in use If you change the squeegee, you can slide each other. As shown in FIG. 12, the wet rubber wipe behind the left side of the drawing separates from the front wet squeegee adjacent to the brush when the cartridge is opened for cleaning. The front wet rubber rag has a jagged inner surface to provide a series of vacuum channels, and the main tank of the front wet rubber rag is properly deformed to maintain no channel vacuum This is because the front end of the channel reaches the floor. The front wet rubber rag (in the design of the separating squeegee) maintains a constant open cross-sectional area to define the aerodynamic parameters for the hanging wet rubber rag. However, to achieve this, the front wet rubber rag need only touch the floor at a dedicated location and does not require end pressure to function. The front wet squeegee must be able to clear obstacles in the gap with the robot ground. For example, an obstacle exceeding a minimum height of about 4 1/2 mm of the robot is cleared by a gap behind 4 1/2 mm or with wet ground. The front wet rubber rag should maintain an aerodynamic cross-sectional area of about 80-120%, ideally about 90-110% from a design point everywhere in its length (e.g. Expected cross-sectional area of stationary design). Deviations in cross-sectional area do not provide constant vacuum generator support for the squeegee and reduce cleaning performance.

When the squeegee is used with or behind a dry vacuum generator, the squeegee of the dry vacuum generator is sufficiently flexible and, for example, approximately 6 1/2 mm of the (dry) half of the front (dry) of the robot. In order to clear an obstacle higher than the height (in this example, the front height can be higher or lower), it is necessary to have a range of motion to clear the obstacle higher than the front ground gap It is. The main purpose of "dry squeegee" or "doctor blade" is as an airflow guide, and here the term "dry squeegee" or "doctor blade" is used, but not as a real doctor blade or squeegee The edge of the dry squeegee can optionally be designed to be separated from the floor, for example from 0 to about 1 mm, ideally ½ mm. End pressure is not necessary for a dry vacuum squeegee, ie an airflow guide blade, to function properly with optimal performance. An ideal airflow guide blade can pivot back and forth by about 10-30 degrees, ideally only 20 degrees.

When brushes or wipers are used, both stationary and rotating brushes or wipers need to touch the floor over a wide range of surface changes (eg, for wet cleaning, tile, flat, floor, deep grout floor). This contact is generally achieved in accordance with the present invention in one or both of the following two ways. The brush or wiper is attached using a floating mount (eg, spring, elastomer, guide, etc.). Additionally / or use sufficient flexibility for the designed amount of joining or mounting of the scrub brush or wiper to the surface. As noted above, the reaction force generated by the brush / scrub device in the direction opposite to the center of gravity should not exceed approximately 10% of the robot weight, subtracted from the available static friction. The spiral design of the spring brush helps to reduce the energy requirement for rotation by minimizing the force opposite to the center of gravity.

Most embodiments described using a rotating brush use a single brush. For example, two or more brushes can be provided, such as two counter-rotating brushes and one brush on either side of the robot's centerline. A differential rotating brush can also be used. In such a case, each of the two brushes is substantially half the width of the robot at the diameter of rotation, but each extends along half the diameter and either to the side of the center line of rotation. Placed. Each brush is connected to a different drive and motor and can rotate at different speeds in the opposite direction or the same direction, either direction, thus providing the robot with a driving force for rotation and conversion.

The cleaning robot according to an embodiment of the present invention mainly includes a pivot wheel assembly including elasticity and / or damping, and a suspension system having a height of operation designed for vertical forces is also provided. An ideal suspension can be ideally achieved within about 2% (optionally 1-5%) of the robot's minimum downward force (ie, from the mass or weight of the robot, like a brush / squeegee) Subtracting upward force from the elastic or reference contact member). This means that the suspension is able to generate almost any obstacle or upward force while maintaining the maximum possible force at the point of tire contact, causing the suspension to lift or free the robot over the obstacle. As you can see, only about 2% of the applied downward force applied rests against a “hard stop” (the spring stops with the other 98% and optionally 95% -99%) . This spring force (and in theory the robot's static friction) is maximized by having an active system that changes the force relative to the changing robot payload (relative cleanliness and sewage tank level). Can be limited. An effective suspension is provided by an electric actuator or solenoid, fluid power, etc., with appropriate damping and spring resistance, as will be appreciated by those skilled in the art.

The robot's center of gravity tends to move during liquid collection unless the cleaning and waste tanks are balanced so as to continue to maintain the same center of gravity location. A liquid recovery system that can recover almost all of the applied liquid regardless of surface, or that can be modeled to predict the amount of liquid recovered in a waste tank, maintain the same center of gravity ( By virtue of the design of the tank compartment, the passive suspension system can achieve the highest possible static friction. The present invention includes a first section having the characteristic of substantially maintaining the center of gravity position of the section when empty, and a second section having a specification that substantially maintains the position of the center of gravity of the section when full. Anticipating the tank design, the combined tank center of gravity is substantially maintained within and on the wheel diameter. This is even more easily achieved with tanks that are at least partially stacked in the vertical direction.

Once the cleaning tank is integrated in the configuration, the present invention contemplates the use of a cleaning liquid cartridge. The user places the sealed plastic cartridge into a recess or cavity on the robot frame. The cartridge is preferably configured to contain a pre-measured amount of cleaning liquid with a smooth or substantially smooth (probably slightly raised) integral on the top and / or outside of the side of the robot. When the cartridge is attached to the robot, the cartridge frame penetrates or breaks, so that the correct amount of cleaning liquid can be confused with water.

As described above, this is modeled or assumed that the minimum percentage of liquid has been collected from all sides (eg, 70% of applied liquid) without complete liquid recovery or effective suspension. Excellent mobility can be achieved by designing the compartment characteristics and center of gravity according to assumptions / models. Alternatively or additionally, setting the spring force equal to the maximum empty load (empty tank) condition can contribute to excellent static friction and mobility. As a rule, the suspension movement should be at least equal to the largest obstacle moving under the robot allowed by the bumper (and other end barriers).

Maximizing the wheel diameter reduces the energy and static friction requirements at a specified obstacle or indentation. The ability to climb the maximum designed obstacle must be less than about 10% of the wheel diameter. The 4.5 mm obstacle or indentation is overcome by a 45 mm diameter wheel. In most of the described embodiments, the robot is short and low for several reasons. The bumper is set low to distinguish between carpet, threshold, and hard floor, so that the bumper about 3mm from the ground will prevent the robot from reaching most carpets (with a bumper ground of about 2-5mm). Gap). The rest of the robot's work surface, that is, the dry vacuum generator and the wet cleaning head under the robot, are made more effective by lowering the clearance from the ground and have members that extend toward the floor (air guides) , Squeegee, brush). In some embodiments, the ground clearance is 3-6 mm, so the wheels only need 30 mm-60 mm. However, even when dealing with low obstacles, typically the larger the better.

As shown in the various figures, the bottom of the front bumper 220 is jagged, where thin vertical tabs are spaced across the length of the front bumper. These tabs are mechanical carpet detectors that assist in bumper 220's main collision or obstacle detection, and the front wheels protrude against the height passing under the robot before climbing the carpet. It is a member, set about 3 mm from the floor, around the peripheral equipment with a low front bumper, and can operate the front bumper. The tab extends below the front edge of the front bumper. Further, the robot's inner cover 200a is necessary to protect the robot's interior when the tank assembly is removed, providing additional strength and reducing the requirements of the housing 200 (lower portion 200b).

(Robot controller (circuit) and control)
In accordance with at least one embodiment, the robot can include a generally circular or round housing 200 (see, eg, FIG. 3), and connect at least the first and second wheels 1100 for rotation. it can. The drive wheels 1100 can be placed at the bottom of the housing 200 to carry the robot on the cleaning surface when the drive wheels 1100 are in operation. Furthermore, the drive wheel 1100 can be placed, for example, at the center of each drive wheel 1100 lying along a vertical straight line that is generally parallel to the plane of the cleaning surface. Various control procedures for the robot and its components of the present invention will now be described. Additionally, the robot is described by Campbell et al. In US application Ser. Nos. 11 / 176,048, 10 / 453,202 and 11/166986, US provisional application Ser. No. 60 / 741,442, filed Dec. 2, 2005. Various control and operating systems known to those skilled in the art such as, but not limited to, Robot Networking, Theming, and Communication System, and US Patent No. 6,594,844 You can go forward. All of these disclosures are incorporated herein by reference in their entirety.

In one embodiment, an imaginary line can extend from the center of the robot's circular housing, and the drive wheels 1100 including the left drive wheel and the right drive wheel are respectively outer ends of the housing 200 facing each other. Can be put in. The drive wheels 1100 can then be driven simultaneously in the forward rotation direction so that the robot propels on the cleaning surface. Further, the drive wheel 1100 can be differentially driven by driving one of the drive wheels 1100 to rotate faster than the other so that the swing of the housing 200 rotates around the center thereof. As a result, the drive wheels 1100 that are differentially driven can rotate the robot casing 200 without having to simultaneously propel the robot back and forth with respect to the cleaning surface, and can operate the robot even when there is no upper space (this is This can also be realized by driving each drive wheel 1100 at the same rotational speed, but it cannot be performed in the opposite directions, for example).

According to another embodiment, the robot housing 200 can include a scrub module 600 (see, eg, FIG. 12A), but the scrub module is generally straight and the outer circle of the circular housing 200 is It can extend from a first point along the edge through the center to a second point along the outer circular edge of the circular housing 200 (thus generally, for example, the center of the circular housing 200). Define a center bisector through. In such an embodiment, both drive wheels 1100 are placed on the bottom portion of the housing 200 on either the front or rear side of the scrub module 600. Also, in certain embodiments, for example, it is placed at the rear of the scrub module 600 to help stabilize the operation of the robot. Other drive wheel positions are possible. As an example, in a robot with four drive wheels, one moves forward, behind one of the robot's cleaning heads, three drive wheels on the right, one moves forward, one behind the cleaning head, and left Now the wheel is placed on the radius, to the left of the cleaning head. Such a configuration can give a robot movement similar to a robot with differential drive on the centerline, among others, to facilitate software optimization to control the robot movement.

In accordance with certain embodiments, mobile robot 100 can clean a floor or other cleaning surface, for example, typically using a spiral trajectory. By selecting the helical trajectory according to the effective width of the liquid applicator 700, for example, the robot can effectively put the cleaning liquid into the maximum area of the cleaning surface. In such a case, the dominant robot changes direction from the dominant side so that the dominant side (ie, the side where the cleaning head extends to the end and the robot follows the obstacle) forms the outside of the helix. In the case of a simple helix, this means that the cleaning head is offset to the right and the robot rotates helically to the left, creating a small uncleaned circle in the center of the helix with the bottom of the robot without the cleaning head Etc. (but this circle is temporary because the robot will probably return randomly to the same location before the end of the cleaning cycle). This can be dealt with by tracing the helix in a central path based on guess or by tracing one or two forms of 8 on the basis of guess. However, if the robot encounters a wall or obstacle before the spiral method begins its central path, there is some possibility that this disturbance will leave an uncleaned circle (to reach the circle location You can also change the direction of the helix from the object or arbitrarily).

An alternative range pattern that does not necessarily create such a location is shown in FIG. In such a pattern, the mobile robot 100 is over-similar to the pattern used by ice machines used in skating rinks to ensure that all areas in the path are properly covered. Can follow the wrap pattern. In FIG. 46, a broken line 911 indicates a general wheel route, and a thick line 913 indicates a general range route. The pattern is mostly a simple series of circles or ellipses that overlap each other with a radius of trajectory that is larger than the width of the trajectory of the area. The series of overlapping corners shown in FIG. 46 can be implemented as a rounded square or rectangle. As shown in FIG. 46, the example pattern uses a substantially right turn. The robot moves away from the first trajectory, rotates in parallel, moves in parallel, then rotates back to the first trajectory, and finally before it overlaps the first trajectory. To run parallel to the first trajectory. The overlap is sufficient to cover all “blank spots” caused by the offset cleaning head or offset differential wheel. The robot then rotates at a position substantially similar to the first rotation and repeats this process treating the trajectory as having been created as the first trajectory. Subsequently, at the beginning of the covered pattern, the robot leaves an uncleaned area of the blank in the middle, but the robot moves to an overlapping ellipse, circle, square, or rectangle so that the bran area will eventually Covered. As can be seen in FIG. 46, the robot eventually overlaps the range, so the radius or spacing of the first and next loops in the pattern can be arbitrarily large. Larger loops can be cleaned more efficiently if they incorporate a large number of straight lines. However, if the loop is too large, skid errors will accumulate, and this pattern may be disturbed if an obstacle is encountered. If the loop is too small, the differential rotation takes too much time, and cleaning cannot be performed as much as linear movement, and it takes more time than linear operation. In this case, the above cover pattern is a size that completely covers the center of the loop on the third to fifth parallel paths (the loop shape is parallel regardless of irregular, circle, ellipse, square, or rectangle). , More than half of the cleaning width of each path does not overlap. In one example, the exact cover pattern overlaps only about 120% to 200% of the linear distance from the center of the ring to the end of the cleaning head (or in an alternative example, the loop is about 120-200 of this spacing). %, A loop offset by the cleaning width minus%, or a loop that overlaps by about 1/5 to 1/3 of the width of the cleaning head, or that offsets about 2/3 to 4/5 of the cleaning head width). The loop is less than about 3 or 4 times the working radius. These loops are substantially circular, polygonal, or square symmetrical (the last two have rounded corners due to the rotation of the robot).

FIG. 48 illustrates a mobile robot having left and right drive wheels 1100 disposed on the bottom portion behind the housing 200. A broken line indicates an imaginary line extending through the centers of both drive wheels 1100. The “diameter offset” robot imaginary line does not pass through the center of the housing 200 (for example, the robot on the diameter shown in FIG. 47 is different), but by driving the left and right drive wheels 1100 differently. The affected differential yaw control is different from the embodiment in which the virtual line passes through the center of the housing 200. For example, as opposed to the example of cutting the center, the robot illustrated in FIG. 49 moves simultaneously with the robot back and forth with respect to the cleaning surface when the yaw of the robot changes by differentially driving the drive wheels 1100. There is a need to receive. Therefore, the control of the diameter offset robot (hereinafter referred to as “offset robot”) for operations such as sharp rotation, propulsion along a curved path, tracing a vertical plane, and tracing a protrusion is controlled from the diameter of the housing 200. Considering the difference caused by the offset of the wheel 1100 (that is, the imaginary line branched at the center), the robot is different from the non-diameter offset robot. Some examples of offset robot motion are described below, although the robot controller can be demonstrated to control the robot accordingly.

The robot can include an action that follows a bump. The action of tracing the ridge facilitates the offset robot to escape from a narrow or partially enclosed area (eg, a wall indentation or a narrowed hallway portion). The action of tracing the ridge can include at least two stages: (1) Adjustment is effective when a bumper (or other suitable contact or pressure sensor to detect that the robot has touched an obstacle, such as a leaf spring switch, magnetic proximity switch, etc.) is pressed (Ie, adjusting the robot's yaw) and (2) moving in a generally semicircular path in the opposite direction of rotation by decreasing the radius until the bumper is pushed again.

According to at least one embodiment, stage 1 of the algorithm changes the radius of rotation, leaving the bumper facing the floor during rotation (see FIG. 49). L1 is a virtual line extending through the center of the drive wheel 1100, and the robot can rotate around any point on this line. L2 is an imaginary line parallel to the wall and passes through the center of the robot (point C). Point A is an intersection of L1 and L2. According to this algorithm, for example, the robot can maintain a constant distance “d” between the robot and the wall.

In order to rotate the robot while keeping “d” constant, the robot adjusts the respective wheel speeds of the first and second drive wheels 1100 such that the robot rotates around point A. This can be a continuous process as point A moves relative to the cleaning surface as the robot rotates.

Referring to FIG. 50, for example, to enable proper operation, the controller implements an algorithm based on the control cycle. After the robot recalculates the approximate position of point A in step S102, the robot waits for a control cycle in the first step S101. Next, the robot sets the rotational speed of each drive wheel 1100 in step S103 according to the recalculation position of A. Then, the process is repeated in the first step S101.

According to an embodiment of a robot that cannot have a sensor that indicates the wall angle relative to the robot, the control algorithm can approximate the position of point A based on which bumper switch is closed (left, right, or both) If the bumper switch's closed state changes, the estimate can be updated. Therefore, with this approximation, the operation of tracing or evacuating the projection can function well in most cases.

Referring to FIGS. 51 and 52, an example of an estimation process is illustrated, and the term “raised quadrant” refers to which raised switch is closed. “Left” means that only the left switch is closed, “right” means only the right switch, and “both” means that both the left and right are closed. FIG. 51 illustrates an example of a continuous algorithm that updates the wall angle in each control cycle, and FIG. 52 illustrates how the estimation is updated when the wall quadrant changes.

For example, as illustrated in FIG. 51, in the first step S201, the robot creates an initial approximation of the wall angle based on the raised quadrant, and then waits for the next control cycle in S202. When the control cycle begins, the robot determines in S203 whether the currently detected raised quadrant is different from the previous raised quadrant, and if so, the wall angle based on the previous raised quadrant in S205. Or re-approximate the current raised quadrant and return to S202 to wait for the next control cycle (and form a process loop). However, if the current previous raised quadrant is the same, the robot calculates the wall angle based on the motion of the middle wheel of the control cycle instead of the difference of the raised quadrant in S204, and waits for the control cycle. The process returns at S202.

As shown in FIG. 52, the process includes determining whether the previous raised quadrant is left, both, right, and whether the current quadrant is left or right, Proceed along a first series of linked test steps (S301, S307, S312, S317 and S319). If any of this initial series of linked test steps is “yes”, a default approximation is reached if the robot is S321 and the wall angle is 0 degrees. However, if, on the other hand, the robot determines that the previous raised quadrant was to the left, the robot then determines in S302 that the current raised quadrant is both (in this case, the robot is 7 in S305. Approximate the wall angle as .5 degrees), and determine in S303 that the current raised quadrant is right (in this case, the robot approximates the wall angle as 0 degrees in S306). Otherwise, the default is 0 degrees in S304 by default. On the other hand, if the previous raised quadrant was both instead as determined at S307, the process proceeds to S310 if the current raised quadrant is determined as left at S308. Is estimated to be 7.5 degrees. Alternatively, if the current raised quadrant is right as determined in S309, it is estimated to be -7.5 degrees in S311. Other than this, the wall angle is estimated to be 0 degree by default in S304. In addition, if the previous raised quadrant was right as determined at S312, the robot would only measure the wall angle at S315 if the current raised quadrant was both as determined at S313. Is estimated to be -7.5 degrees. Otherwise, the estimate is 0 degrees by default (if S314 determines the raised quadrant as left, it goes via S316, otherwise it goes via S304).

On the other hand, if the previous raised quadrant was not left, right, or both, the robot would be able to occur in the first control cycle if no raised quadrant has been detected so far. In S317, whether the current raised quadrant is left (in this case it will be approximated as 30 degrees in S318), or whether it is right as determined in S319 (in this case) Is estimated to be −30 degrees in S320). Other than this, the wall angle is estimated to be 0 degree by default in S321.

The robot can also have cliff avoidance and panic rotation. In addition, the robot can use a direction lock algorithm to escape from the corners and move through the room or other areas including the cleaning surface. This may lead to a change of direction to the obstacle or vertical plane that the robot has just detected. Thus, according to the direction lock algorithm, the offset robot can move back a little more in order to avoid falling off the vertical plane in the situation where the offset robot rotates towards the detected obstacle or vertical plane ( For example, about 10 mm, but about 5 mm up to about twice the diameter of the offset could be used instead). If you move too far, in some embodiments you may not have a cliff sensor on the back of the robot, and you might fall on another vertical surface that might be behind the robot. In addition, also when rotating towards the detected vertical plane, the robot can also rotate at a larger angle compared to a non-offset robot (in a non-limiting example, 20 degrees. Alternatively, a suitable 0 Any angle from degrees to 90 degrees).

FIG. 53 illustrates an example algorithm that can be employed by an offset robot. In a first step S401, the robot determines the direction of the detected vertical plane based on which cliff sensor is triggered, at least among the right cliff sensor and the left cliff sensor (as an example, but not limited to this). . If only the right cliff sensor is triggered, the robot determines that the vertical plane is in the right direction. If only the left cliff sensor is triggered, the robot determines that the vertical plane is in the left direction. Otherwise, instead, the robot randomly determines directions. Next, in S402, the robot determines whether the direction is locked and whether it is different from the direction of the vertical plane. If yes, in step S403, the robot moves back (eg, a specific distance, such as 10 mm, etc., instead of moving forward again, instead this distance is determined by other environments known to the robot or In response to a motion element or dynamically set by any suitable predetermined amount, change direction (for example, by a specific angle, such as 20 degrees, instead, the rotation angle moves Or any suitable angle). Otherwise, in S404, the robot proceeds according to the normal cliff avoidance operation.

The panic rotation action is used to escape when it is determined that the robot may be stuck on an obstacle. In an embodiment where the robot is an offset robot and does not need to move forward or backward at the same time and cannot rotate around its center, it becomes a dangerous situation for the offset robot to move in a vertical plane. If you meet the vertical plane, you can reverse the panic rotation direction.

As shown in FIG. 54, for example, according to an example of the panic rotation operation of the offset robot, the robot can randomly select the rotation direction and the scale of rotation around the center in the first step S501. Then, the robot can start rotation in S502, and waits for the next control cycle in S503. Subsequently, the robot can set the speed based on the rotation angle selected in S504, and can test whether a cliff has been detected in S505. If so, the robot reverses the direction of rotation in S506, so the control process returns to the loop of S503 and waits for the next control cycle. Other than this, the control cycle simply returns to the loop of S503 and waits for the next control cycle without reversing the rotation direction.

The robot can have a rebound motion to treat low static friction. Since the robot can operate in an environment where the floor or other cleaning surface is wet, there may be other elements or protrusions on the bottom of the robot housing that can contact the floor and reduce the contact force of the wheels. To remedy this, once the bumper is triggered, the robot's rebound motion can generally be retracted at least about 10 mm (or any other suitable distance), so an additional 20 mm (or other suitable distance) If either it retreats or the bumper is released, retreat is stopped. Unlike conventional robots, a robot according to this embodiment can retract a minimum distance before scanning to determine if the bumper has been released. The total distance can also be kept at a minimum distance sufficient for the robot to rotate, while avoiding inadvertent retreating to the cliff.

The robot can also include floor turns and falls, as well as wheel-dropping motions to detect gently sloping obstacles or objects that may not be detected by bumpers or other obstacle detection sensors. For example, if the front of the robot climbs a shallow turn on the floor, or if the front of the robot is lifted by a gentle slope or cleaning surface object whose presence is not warned by a bumper trigger or other sensor, Since the front wheel 1100 can fall, the contact with the surface becomes loose. Thus, the robot can include a sensor that triggers when the robot wheel falls to its lowest position (or any other lower point appropriate to indicate that contact may have been lost). Thus, when the front wheel falls, the robot can react to the trigger of the wheel drop sensor in a manner similar to a bumper hit. As an unlimited example, after retreating a small distance, if the wheel does not return (for example, if the wheel drop sensor fails to stop triggering), the robot will stop for safety (and, for example, Can alert the user with a wheel fall error code, warning, or other instructions). By reacting to wheel falling situations such as bumps, for example, the robot can avoid climbing on carpets and other undesirable floors or obstacles.

FIG. 55 shows that when the robot enters the wheel dropping operation as the first step S601, the robot until the robot reaches a specific distance (for example, 50 mm) in S603 or until a specific time elapses (for example, 1 second, or any other suitable time) and / or until the wheel drop sensor is no longer triggered (eg, the wheel drop sensor is a continuous type sensor, not a pulse or instantaneous type sensor), reverse at S602 Indicates moving in the direction. Next, in S604, the robot determines whether the wheel drop sensor has been triggered anymore. If not triggered, the robot can enter a jumping mode of operation and / or can continue cleaning the cleaning surface at S605 (or, for example, the robot may simply be in normal mode or any other suitable mode of operation). Just return to mode). On the other hand, if the wheel drop sensor does not stop the trigger, the robot can stop the cleaning operation (or move in some cases), so that the robot is no longer cleaning and the stationary “fail safe” As a non-limiting example to warn the user that the mode has been entered, a warning, error code, or other “distress” indication can be issued in S606.

Certain examples of wet cleaning operations are described below. In accordance with some embodiments, the robot includes components for wet cleaning of the cleaning surface (by including the liquid applicator module 700 and associated elements), the fan motor of the vacuum generator is in operation while the robot is cleaning. it can. As a result, liquids that have previously existed on the cleaning surface may be removed from the cleaning surface, for example, cleaning liquid left over from previous cleaning cycles, or drink liquids spilled on the floor by a person, or any other liquid. it can. In addition, liquid or moisture remaining in or on the robot's components (eg, as a result of a wet cleaning operation performed by the robot) can be dried more quickly as a result of air flow over the residual liquid or moisture. In this way, the robot will be able to dry more quickly and properly so that unpleasant leakage of liquid from the robot can occur when a still wet robot can be permanently handled by the user. The possibility of spilling can be reduced. Furthermore, the brush and pump can be controlled according to the cleaning and movement characteristics of the robot. Additional robot movements related to wet cleaning robots are described below.

The robot's drying process can, for example, be a timer that causes the robot to start the drying process at a specific time of the day, or after an elapsed time during a wet cleaning cycle, or alternatively, the battery will soon provide sufficient power. It can be triggered, for example, by one or more situations, such as responding to a sudden drop in battery voltage supplied to the robot, which may indicate that it is gone. An advantage is, for example, that the robot can be configured to ensure that it is dry before the battery is completely powered.

An example of main brush control is described below. While the robot is operating, the main brush can rotate clockwise when viewed from the right hand side of the robot, for example, as illustrated in FIG. As a result, for example, when the main brush that rotates clockwise contacts the cleaning surface or the floor, a forward propulsion force of the robot is promoted against the cleaning surface, so that a forward force is applied to the robot. Similarly, when retreating, the robot can turn off the brush. Also, the robot turns off the brush until it moves forward, for example, after restarting the forward movement, at least about 25 mm (e.g., can be delayed for an appropriate alternative distance or time, such as about 0-50 mm). You can also do it. Alternatively, as a non-limiting example, when the robot is retracted, the brush is in the reverse direction (eg, counterclockwise when viewed from the right hand side of the robot) to provide additional reverse thrust. Can be rotated.

FIG. 56 illustrates an example of a brush control process according to such an embodiment. The robot can wait for the next control cycle in S701 (the motion control process can instead be started at any suitable point, for example, and is not limited to starting at this step, In step S702, it is determined whether the robot is moving backward. If not, in step S703, the robot turns on the brush (or keeps the brush on), and then returns to the first step S701.

On the other hand, if the robot is retracting, the robot can turn off the brush in S704. In step S705, the next control cycle is awaited. In the next control cycle, at S706, the robot again determines whether it is retracting. If the process is retreating, the process can return to the immediately preceding standby step S705 to pass through the sub-loop and wait again for the next control cycle. However, if the robot determines that the robot has not retreated in this sub-loop, the process proceeds to the outside of the sub-loop, and in S707, the distance counter is set to the initial state (the integer value stored in the electronic memory is set to zero. (Or, for example, a count registration function or a mechanical counter or other suitable counter) and then in S708, another sub-loop is entered by waiting again for the next control cycle. In the next control cycle, in S709, the robot can increase (or decrease) the distance counter. Then, in S710, it is determined whether the distance counter has reached or exceeded a threshold (eg, 25 mm, or 1 second, or any other suitable threshold).

If the robot determines that the distance counter has not reached or exceeded the threshold value, the robot will pass this sub-loop, for example, by returning to the process that immediately proceeds to the next control cycle wait step in S708. Can be repeated. Otherwise, the robot can instead turn on (or leave on) the brush in S703 and return to the first step S701 of the brush control process.

Robot embodiments that include wet cleaning performance may include, for example, a controllable pump for discharging cleaning liquid to the cleaning surface. In order to effectively apply the cleaning liquid to the floor, the robot can control the output shaft of the pump to a specific rotational speed, including embodiments that do not include a mechanical speed sensor. Also, the robot may need to run the pump in various environments during cleaning so that it does not apply too much liquid at one location, for example when the robot is not passing through the cleaning surface at an appropriate speed to properly apply the cleaning liquid. Can be turned off. In addition, the robot can perform certain procedures at start-up to quickly prepare the pump. Furthermore, depending on the characteristics of the airflow and liquid, it may take about 15 seconds to 15 minutes, but in order to properly dry the inside of the robot, the pump can be turned off for 5 minutes after cleaning is completed. Other examples of pump control and pump related operations are discussed below.

In some embodiments, the robot can determine the floor area of the room to be cleaned by first moving and recording the room boundaries, or by receiving information from a user or computer. The robot can then control the pump according to the determined room size, for example, to ensure that the entire floor (or at least its maximum or optimal area) receives an effective amount of cleaning liquid. The advantage is that it may save cleaning fluid and may reduce the risk of leaving the floor only partially cleaned.

In at least one embodiment, the robot can include a pump that is a reciprocating diaphragm pump having two compartments. The pump is driven by a small DC motor and the output shaft has an eccentric cam that drives the pump mechanism. The output speed of the pump can be controlled to a special rotational speed for applying the correct amount of cleaning liquid. To avoid the cost and potentially unreliable mechanical sensors, electronic sensors can also be included. When driven at a substantially constant voltage, for example, the current drawn by the pump is represented by a signal with a period that varies with the pump output speed, as illustrated in the non-limiting example of FIG. it can. By measuring the pump current over time and analyzing the resulting data, the speed at which the pump rotates can be determined.

As will be explained, the diaphragm pump distributes water to the front of the cleaning head. The single membrane sandwiched between the two frame parts functions as both the inlet and outlet check valves and the pump tank. The pump has two independent circuits that supply two discharge nozzles. The pump is actuated by a cam so that the output of the nozzle is constant around the distance of the poured unit. That is, the cam drives the pump so that each nozzle leaves a uniform liquid across the width of the cleaning brush. The output of each pump channel is in direct alignment with the respective end of the cleaning brush and is directed to a nozzle located in front of the cleaning head. The nozzle pours water forward, parallel to the cleaning head. The nozzles are poured directly at the same frequency and with different phases so that the linear travel distance between the output paddles is minimized. The reason for two nozzles is to reduce or eliminate the apparent non-uniformity or inaccuracy of a single nozzle. By having two opposing nozzles, the output is averaged and the cleaning liquid is applied uniformly.

In accordance with at least one embodiment, the robot can analyze data related to pump speed using a pseudo-automatic correction algorithm or other suitable algorithm. The current that the pump is drawing can be buffered by sampling each control cycle (typically about 67 times per second or 10-200 times per second at other suitable rates). The buffer analyzes each control cycle (or other suitable periodic rate) to approximate the period of the signal. Depending on the example, the pseudo-automated correction algorithm may be replaced by, for example, about 15 ms intervals (note that specific values for time, interval, and speed are just examples, and can be replaced with any other suitable value). The correlation value of the sample period from 194 ms (corresponding to 79 RPM) to about 761 ms (309 RPM) is output. The correlation value is calculated by summing the absolute values of the differences of some examples of buffers separated by sample period. In general, a lower correlation value indicates better match.

The pseudo-automatic correction algorithm may coincide with a frequency whose period is a multiple of the correct period, and may erroneously show a coincidence even with an incorrect frequency. Furthermore, if the magnitudes of the two local maxima of the signal are similar, it may be falsely indicated that half the periods match. To avoid this problem, an approximate pump speed can be calculated from the voltage supplied to the pump and the current drawn. According to an embodiment, this can be based on data measured from several sensors to determine an appropriate constant. Examples of equations for determining the estimated pump RPM based on voltage and current readings according to this process may include, among others:
Period_from_voltage (period from voltage) = 61−2.5 * V,
Nominal_current (nominal current) = 8.4 + 3.95 * V,
Slope (slope) = 1.3022-0.07502 * V,
Period = Period_from_Voltage + (I−Nominal_current) * Slope,
RPM = 4020 / Period.

All should be taken into account instead of +/− 5 percent, or up to +/− 20 percent, but values are determined empirically, taking into account variations in pump and motor tolerances .

FIG. 58 illustrates an example of an algorithm used to determine pump speed. In the first step S801, the robot calculates a correlation value for each period, and in S802 finds two minimum correlation values greater than 50 that are below the average value. This is an empirically determined constant, and is not limited to this example. The appropriate value varies greatly depending on the actual pump current value, how the pump current value is converted to a digital value, and the sampling rate. Then, the robot determines whether there is a valid correlation in S803. If there is no correlation, in S804, the process determines that the period is unknown. On the other hand, if it is not a determination that there is no valid correlation, in S805, the process determines whether there is only one correlation. The process then returns to one valid correlation period at S806. Otherwise, the process determines in S807 whether the two correlations have a period of 3 or less peaks, and if so, the process returns to the smaller correlation period in S808.

Otherwise, the process determines at S809 whether the minimum correlation has a value that is smaller by a number greater than 25, in which case the process returns to the smaller correlation period at S810. As noted above, this is an empirically determined constant and is intended to be an example only. Otherwise, the process then determines whether the period is a multiple of 1.5x, 2x, or 3x at S811. Otherwise, the process determines the period is unknown at S812. Otherwise, the process proceeds to calculate an approximate period at S813 (the approximate is calculated as described above). Then, at S814, the approximation thus determines whether it is substantially closer to one of the periods. If so, the process returns to the period closer to the approximation in S815. Otherwise, the process returns to the smaller cycle at S816.

The robot can also include pump ineffective control. In some embodiments, the pump can be stopped in a variety of environments to avoid applying water to the floor that the robot does not suck (or cannot). For example, if the pump is run while the robot is moving backwards, the portion of the robot that sucks in the liquid is behind the liquid output (unless the robot moves back in the backward-moved area) Water cannot be aspirated.

The conditions under which the pump can be stopped can include, among others: (1) When the robot is moving backward, (2) When the robot is rotating (in the case of the non-offset robot embodiment, or alternatively, in the offset or non-offset robot embodiment, etc. (3) when the robot is rotating around a point closer to the center of rotation than half the wheel spacing and / or (4) when the robot is stuck To detect a condition to be interpreted as a situation.

FIG. 59 shows an example of a procedure for implementing a stuck operation in the case of a wet cleaning robot. In the first step S901 (which is not referred to as the “first step” in the example, note that the process can instead start at any other suitable step in the process), the process may be “Stuck A variable or flag (which can be an electronic memory location, flip-flop, or mechanical switch, or any other suitable structure; hereinafter referred to as “may be stuck”) It is expressed as “false”, and the opposite state is referred to as “true”). Thereafter, the process waits for the next control cycle in S902, and then determines in S903 whether the robot is in a certain bumper panic state (eg, a state in which the bumper is continuously triggered). If so, the process may set to true at S904, wait 2 seconds (eg, 0.2 to 10 seconds) for the bumper to be cleared at S905, and then return to the first step S901. By repeating the process of the stuck operation. Otherwise, the process determines in S906 whether any other panic conditions exist. If so, the process sets true that it may be stuck in S907, waits for the bumper, cliff sensor, and / or virtual wall sensor to be enabled in S908, and then proceeds to the first step S901. Return. Otherwise, the process determines in S909 whether the wheel drop sensor is triggered. If triggered, the process is set to true at S910, may be stuck, and waits 2 seconds (eg, 0.2 to 10 seconds) for the wheel drop sensor to be cleared at S911, then the first Return to the step. Otherwise, the process sub-loops by returning to S902 to wait for the next control cycle.

Robot pumps may also require preparatory steps. In an embodiment of a robot that includes a pump, the pump can run at full voltage to facilitate pump preparation at startup (as a non-limiting example) for 2 seconds (or any other suitable time).

Certain embodiments of the cleaning robot can also include a drying cycle. For example, wet cleaning robots are generally capable of continuously sucking dirty cleaning liquid (and / or other liquids) from the floor or cleaning surface. The liquid can form a residue along the vacuum channel inside the robot. To prevent liquid or residue from leaking from the robot after the cleaning cycle (leakage may form a puddle or trace on the cleaning surface), the robot should turn off the pump after cleaning stops and Can be executed for a certain time (hereinafter referred to as “drying period”). During the drying period, the vacuum cleaner can be kept on and / or the brush can remain rotated to dry the brush and its enclosure. Also, because the robot can move within its environment (eg, within a normal cleaning pattern), the robot can aspirate all of the liquid remaining under the robot and can continue to push around with the robot's squeegee. Potential damage to the floor or cleaning surface that can be caused by rotating the brush in place can be avoided.

The robot has an additional sensor. In accordance with at least one embodiment, a wet cleaning robot can include one or more sensors such as, for example, a liquid level sensor, a filter, a cleaning head, and / or a tank presence sensor. The robot may include two liquid level sensors, as a non-limiting example. One senses whether the cleaning liquid remains, and the other senses whether the waste tank is full. Each sensor can use the same electrode and drive process. FIG. 60 illustrates an example electrical circuit, where R1 and R2 are current limiting resistors (can have the same value, or can have different values).

To obtain a reading from the sensor, the control process reads the analog input (Output 1) with Output 1 set to 5V and Output 2 set to 0V. Then, since the output can be reversed, the output 1 is set to 0V and the output 2 is set to 5V (other voltage values +3.3, 12, and 24 are appropriate for the voltages of other systems). The process can then read the analog input again (Read 2) and subtracting the two readings (ie subtracting Read 2 from Read 1) results in the voltage between the sensing electrodes being obtained, Here, it is called “sense voltage”. Therefore, a formula like the following example can be used to calculate the resistance of the entire sensing electrode.
R1 (or R2) overall voltage = (5V [voltage applied to the above pin]-sense voltage) / 2
R1 (or R2) overall current = (R1 overall voltage) / R1, and / or sensing resistance = (sense voltage) / (R1 overall current).

In general, these equations are valid when R1 and R2 are the same, and different equations are required when R1 and R2 are different. If the sensing resistance is below the threshold, the sensor indicates that liquid is connecting the electrodes. As an example, R1 and R2 can be 2K ohms (optionally 300 to 5000 ohms) and the threshold can be 30K ohms (or alternatively can be any other suitable value, such as 5K to 80K ohms) ).

The robot can also include a filter, a cleaning head, and a tank sensor. Each of these components (filter, cleaning head, assembly and tank assembly) can include a magnet. If there is a sufficiently strong magnetic field at the corresponding position of the robot, a reed switch that closes can be placed (instead of detecting the presence of relay type switches, pressure sensors, optical sensors, or the above components Any other suitable system can be used). Thereby, the control apparatus can confirm whether these components are correctly installed. In at least one embodiment, the vacuum cleaner fan is very easily damaged by external materials, so the filter can be very important, and because there is no head assembly or tank, the robot If any of these components are lost or lost during execution, the control system cannot allow the robot to execute.

In order to avoid accidentally preventing the robot from running if the tank actually exists but the sensor fails, the control system must be cleaned by the robot if the tank presence sensor is not functioning. Can be allowed. According to an example, if the tank presence sensor is functioning at the start of execution and the tank presence sensor indicates that the tank has been removed during execution, the robot can stop.

The robot user interface can include a simple power button. However, an additional cleaning button can be provided. In one example, each power button is provided with a light.

As shown in FIG. 62, to provide the user with information regarding the operation of the robot, the power button may be, for example, a red pulse when empty, a green pulse when charging (another charge cycle or battery Can be used to indicate battery charge status, such as fast or slow in the case of an update cycle), green when charging is complete, red blink if not installed, etc. The status of the cleaning tank or the status of the cleaning operation, for example, a green pulse during cleaning, a blue pulse during drying (cleaning is almost complete), a tank is empty, and blue when cleaning is complete Can be used to indicate

Thus, in this user interface example, the robot has a battery and a tank of replenishable material, the panel is provided with two lit buttons, one of which turns the robot on / off. Controlled and optionally lit in pattern and / or color depending on on / off or power status. In addition, other buttons for initiating robotic cleaning operations are optional depending on the status of the tank and / or the cleaning cycle and / or the drying cycle using the tank's refillable material, using a tank of refillable material. Lights up with a pattern and / or color. “Lighting” essentially means enabling, and actually means a form of display that makes the warning easier to see even if no lighting is included (color change, light to dark) Change, popup, etc.). Instead, one button and pattern and / or color is used to indicate the status of the power source and / or replenishable material as described above. Pressing one or two buttons in combination (tap, hold down, double tap, press both, press one and tap the other) starts drying immediately, overrides sensor failure, or Can be used to initiate operations directly, such as providing access to a test or diagnostic mode.

As shown in FIG. 63, additional information can be provided by status lights that are important for monitoring autonomous operations. In such cases, the status light can be lit text that directly indicates the problem, in addition to the color that most people recognize as a warning. If the light message is a text message that can be lit, the robot does not contain unnecessary complexity, but by including a display panel and related control elements, the user needs to refer to the manual to interpret the robot problem. There is no. In this case, the warning light indicating that the user needs to “check tank” should actually use the word “check tank” and the “warning” color (eg yellow, red, orange ), Service warning color (eg no tank), or “non-warning” color (eg green, blue, purple, white) for simple status messages (eg cleaning cycle finished) Can be lit. Additionally or alternatively, a “check brush” or “stuck” light is useful in this sense. The brush confirmation message can be displayed when the brush is clogged or the installation is incorrect, such as by detecting the motor load. A “Stuck” message is displayed as a result of the robot recognizing a stuck or stationary situation and then cycling or ending a proper panic, escape from a narrow space or other non-stationary (may be a “ballistic” movement) Should. In some detections, either drive wheel rotates but depends on the rest of the front wheels. The service code 7-segment display element can provide information that enables a problem to be diagnosed by a user or by a technician.

Thus, in this example user interface, the robot has an electric drive and / or an electric brush and / or a replenishable material tank, and the robot drive and / or brush and / or replenishable material tank status. In response, a panel is provided that optionally has a pattern and / or color and is capable of illuminating. In certain embodiments, this indication is an actual text message. It is more preferable that the lighting is a warning or non-warning color depending on the environment. A tank of replenishable material should be able to communicate both tank malfunction and empty tank messages. Again, these lights are optionally lit in a pattern.

(Operation and maintenance)
36 to 41 show a method of operating and maintaining a cleaning robot physically configured for such operation and maintenance. It also includes information regarding robot component overlap / assembly order and / or dependency of the physical configuration of the robot. FIGS. 37-41 illustrate easily recognized hand positions, movements, other physical movements, and easily recognized directions, positions, and configurations of the cleaning robot, and the present disclosure can be derived from these drawings. Includes everything that is easily recognized.

36-41, the robot embodiment can physically position the tank so as to provide access to the internal area (S2), or the cleaning head can be physically located from the robot body (S3). Organized so that it can be removed. As shown in FIGS. 36-41, independent of either, the cleaning head and tank release can be treated independently. When the tank enters the release position (S2), the tank can be removed (S4). However, even if the tank (S4) is not removed, the internal area can be accessed, and the user can see and access the filter (S12), and the vacuum cleaner mouth (grommet) (visible) S14) The battery (S16) that is visible and accessible can be accessed. Each of these is more convenient when the tank is removed (S4), but since the tank does not prevent general access to the internal area of the release position, S12, S14, and S16, respectively, do not remove the tank. Can also be executed. After removal, the filter can be washed away and restored (S20). The batteries can be placed and handled in various ways. For example, when the battery is inserted into the robot body or tank without releasing the tank, the outer surface of the battery substantially coincides with the outside of the robot.

When the tank is removed (S4), if the sewage tank is full, it can be emptied (S6) and washed away with water (S18). However, whether the sewage tank is full or empty, nevertheless, the clean tank may be filled with clean liquid (S8) or water (S10), which are independent of each other. A tank containing a mixture of cleaning fluid and water (or mixed and / or cartridge cleaning fluid and / or water only, as noted) is installed (S22) and then in place in the tank (S24). "Clicked" to lock on. Thereafter, the robot can operate autonomously. These operations can be performed in whole or in part by a robot dock or cleaning station. In such cases, it may be advantageous to not release the tank or remove the tank. Rather, the robot's liquid part and the area containing the washable parts, such as the filter and vacuum cleaner inlet, can be accessed from an alternative inlet in the tank compartment provided for the purpose of automatic draining of the tank. The present invention anticipates automatic docking and / or draining of tanks and / or robots and incorporates specific descriptions relating thereto from the document documents incorporated herein by reference. In such a case, some or all of the steps of FIG. 36 are steps of a process performed by the mechanism of the dock or evacuation station in communication with the processor, manipulator and robot processor.

In certain embodiments, cleaning head release and tank release are dependent. In such a case, since the cleaning head is released inside the robot body, as shown in the figure, the tank needs to be in the release position to access the cleaning head. When in the down or latched position, the tank locks the cleaning head in place to prevent access to the cleaning head release button. In this configuration, the cleaning head is attached to the tank via a vacuum channel extending from the tank through the robot body to the cleaning head (as shown in the figure). In such cases, the vertical overlap is advantageous for sealing the contact, and pulling the cleaning head laterally against the channel will cause wear, so only when the tank is released to avoid this wear. Can be designed to release the cleaning head.

Also, while the present invention has been described above in the preferred embodiments, it will be recognized by those skilled in the art that the present invention is not limited thereto. The various features and aspects of the invention described above can be used individually or in combination. Furthermore, although the present invention has been described for more specific applications in the sense of implementation in a particular environment, such as, for example, residential floor cleaning, those of ordinary skill in the art will appreciate that its usefulness is not limited thereto. And it will be appreciated that the present invention can be advantageously utilized in any number of environments and implementations, such as, but not limited to, any substantially horizontal surface. Accordingly, the claims should be construed in view of the full scope and spirit of the invention as disclosed herein.

Claims (15)

A cleaning robot,
A differential drive system having at least two drive members for advancing and maneuvering the robot and configured to move the robot on a cleaning surface;
A controller configured to communicate with the differential drive system, to differentially maneuver the robot, and to rotate the robot in situ;
A robot housing having a maximum width along a direction perpendicular to the advancing direction of the robot and having side edges in the direction of the maximum width;
A cleaning head disposed in front of the drive member in the forward direction of the robot and extending to the side end substantially along the direction of the maximum width;
A driven scrub element extending substantially along the direction of the maximum width to a position substantially within one centimeter from the side edge;
A cleaning width defined by the driven scrubbing elements, determined according to the total robot mass of the robot, the cleaning width being 3 centimeters per kilogram of the total robot mass .   The cleaning robot according to claim 1, wherein the driven scrub element includes a rotatable cylindrical holder and a plurality of scrub members attached along a longitudinal direction of the holder.   The cleaning robot according to claim 1, wherein a center of gravity of the robot is substantially located on the driving member.   4. The cleaning robot according to any one of claims 1 to 3, further comprising a series of substantially monocoque structures including a tank having a waste compartment coupled to a housing that houses the drive member.   The cleaning robot according to any one of claims 1 to 4, further comprising a side brush that follows a wall to carry particles within the working width of the cleaning head.   The cleaning robot according to any one of claims 1 to 5, wherein a space for providing a power transmission device for the driven scrub element is provided beside the cleaning head.   The cleaning robot according to any one of claims 1 to 6, wherein a space for providing a motor for the driven scrub element is secured beside the cleaning head.   The said side end is located in the dominant side located in the obstacle side when the said robot follows an obstacle, The coverage pattern includes leaving | separating from the said dominant side during cleaning. The cleaning robot according to claim 1.   The cleaning robot according to claim 8, wherein the coverage pattern includes a series of overlapping parallel paths.   The cleaning robot according to claim 8, wherein the coverage pattern includes a right turn and is implemented as a series of overlapping square or rectangular patterns.   The cleaning robot according to claim 1, wherein the robot confirms a floor area of a room to be cleaned.   The cleaning robot according to claim 11, wherein the robot moves first to record a boundary of the room.   The cleaning robot according to claim 11, wherein the robot receives floor area information from a user or a computer.   The cleaning robot according to any one of claims 1 to 13, further comprising a dry vacuum generator for collecting waste.   The cleaning robot according to claim 14, further comprising a waste tank having a section connected to the robot housing and used to store the waste collected by the dry vacuum generator.

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