KR20130141716A - Autonomous cleaning robot - Google Patents

Abstract

The automatic floor cleaning robot 100 of the present invention includes a traveling driving and controlling system 300, 900 arranged for automatic movement of a robot on the floor to perform a cleaning operation. The robot chassis 102 includes a first cleaning zone A that includes cleaning elements arranged to draw free particles from the cleaning surface and a second cleaning zone A that is adapted to apply the cleaning fluid on the surface and then clean the surface And a second cleaning zone B comprising cleaning elements arranged to collect from the surface. The robot chassis holds a supply of cleaning fluid and a waste container (D) for storing waste material collected from the cleaning surface.

Description

{AUTONOMOUS CLEANING ROBOT}

Cross-reference to related application

This application claims priority under 35 USC § 119 (e) to U.S. Provisional Patent Application No. 60 / 654,838, the entire disclosure of which is incorporated herein by reference in its entirety. This application is also related to 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, U.S. Patent Application No. 11 / 207,575, and U.S. Patent Application No. 11 / 207,620, which are incorporated herein by reference in their entirety.

The present invention relates to a cleaning device, and more particularly to an automatic surface cleaning robot.

Background of the Invention [0002] Automated robot floor cleaning devices having a sufficiently low retail price aimed at the domestic floor cleaning market are known in the art. For example, U.S. Patent No. 6,883,201 to Jones et al. Entitled " Automatic Floor Cleaning Robot ", the disclosure of which is incorporated herein by reference in its entirety, discloses an automatic robot. The disclosed robot includes a chassis, a battery power subsystem, a drive subsystem that operates to propel the automatic floor cleaning robot on the floor surface for cleaning operations, a command and control subsystem that operates to control the cleaning operation and the moving subsystem, A rotary brush assembly for sweeping or collecting particles, a vacuum subsystem for drawing or collecting free particles on the surface, and a removable residue receptacle for collecting particles on the robot during operation to store free particles. A model similar to the device disclosed in the '201 patent is marketed by IROBOT CORPORATION under the brand name Rumba Red and Rumba Discovery. These devices operate to move hard floor surfaces, for example, the floor and carpeted floors, and move freely from one surface type to another without uninterrupted cleaning.

In particular, the '201 patent describes a first cleaning zone configured to collect free particles within the receptacle. The first cleaning zone includes a pair of opposing rotating brushes that engage the surface being cleaned. The opposing rotating brushes are constituted by brush bristles moving at a constant angular velocity with respect to the bottom surface when the robot is operated on the surface in the forward running direction. Angular movement of the bristle bristles to the floor surface tends to sweep the free particles lying on the surface into the receptacles arranged to contain the swept particles.

The '201 patent also describes a second cleaning zone that is configured to collect free particles within the receptacle and is located behind the first cleaning zone to perform a second cleaning of the surface when the robot is running over the surface in the forward direction . The second cleaning zone includes a vacuum device configured to suction any residual particles and accumulate them into the receptacle.

In another example, a home automatic cleaning device is disclosed in U.S. Patent No. 6,748,297 to Song et al., Which is assigned to Samsung Electronics (Guangzhou), and U.S. Patent Application Publication No. 2003/0192144, respectively. The disclosure of the '297 patent and the' 144 application disclosure is incorporated herein by reference in its entirety. In this example, the self-cleaning robot is constructed with a similar cleaning element that uses a rotating brush and a vacuum device to sweep free particles and to draw in and accumulate them in the receptacle.

Although each of the above examples provides an automatic floor cleaning robot suitable for collecting free particles, heretofore there has been no disclosure of an automatic floor cleaning robot suitable for applying cleaning fluid on the floor for wet floor cleaning at home. There is a need in the art for such an apparatus, and such need is solved by the present invention, and its various features, features, and advantages are described in further detail herein.

Home wet floor cleaning has been done manually for a long time using a wet cloth or sponge attached to the end of the handle. The mop or sponge is immersed in a container filled with cleaning fluid to absorb a quantity of cleaning fluid in the mop or sponge and then moved over the surface to apply the cleaning fluid onto the surface. The cleaning fluid can interact with the contaminants on the surface and dissolve or emulsify the contaminants into the cleaning fluid. Therefore, the cleaning fluid is converted into a cleaning liquid and a waste liquid containing contaminants suspended and retained in the cleaning fluid. Thereafter, the sponge or mop is used to absorb the waste liquid from the surface. While clean water is somewhat effective for use as a cleaning fluid applied to the floor, most cleaning is done with clean water and cleaning fluid, which is a mixture of soap or detergent that reacts with the contaminants to emulsify the contaminants into water. It is also known to clean the floor surface with water and detergent mixed with other additives such as solvents, fragrances, disinfectants, desiccants, abrasive particles, etc. to increase the efficiency of the cleaning process.

The sponge or mop may also be used as a scrubbing element to rub the floor surface, especially areas where contaminants are particularly difficult to remove from the floor. The rubbing action serves to agitate the cleaning fluid to mix with the contaminants and to apply a frictional force to mitigate contaminants from the bottom surface. Stirring improves the dissolving and emulsifying action of the cleaning fluid, and frictional forces help break the bond between the surface and the contaminants.

One problem with prior art passive floor cleaning methods is that after cleaning one area of the floor surface, the waste liquid must be rinsed away from the mop or sponge, which is usually done by immersing the mop or sponge back into the container filled with cleaning fluid . The rinsing step contaminates the cleaning fluid with the waste liquid, and the cleaning fluid becomes more contaminated each time the mop or sponge is rinsed. As a result, the efficiency of the cleaning fluid deteriorates as more floor surface areas are cleaned.

While traditional manual methods are effective for floor cleaning, this is labor intensive and time consuming. Also, its cleaning efficiency decreases as the cleaning fluid is contaminated. There is a need in the art for an improved method for wet cleaning floor surfaces to provide a suitable wet floor cleaning device for automating wet floor cleaning at home.

In many large buildings, such as hospitals, large retail outlets, cafeterias, and so on, it is necessary to wet floors in daytime or nighttime, and this problem has been solved by the development of industrial floor cleaning "robots" capable of wet floor cleaning. One example of one industrial wet floor cleaning apparatus is disclosed in U.S. Patent No. 5,279,672 to Betker et al., Assigned to Winsor Industries Inc. The disclosure of the '672 patent is incorporated herein by reference in its entirety. Discloses an automatic floor cleaning apparatus having a driving assembly that provides a moving force for automatically moving a wet cleaning apparatus along a cleaning path.

The use of the words "robot" or "automatic" to describe a device such as a bettor does not necessarily mean "unattended" or fully automatic, and such a device is operator intervention for many reasons. One reason why such a device is operator intervention is that it weighs hundreds of pounds and can cause significant damage in the event of sensor failure or unexpected control variables. The more important reason is that the device proposed by Betzer or the like is not physically configured to escape or run between bound areas or obstacles and can not be programmed to escape or run between bound areas or obstacles. For example, the rubbing dog disclosed in Bekker et al. Often encounter situations with lateral lateral spaces that are rotated about the required control radius and are insufficient to travel around the obstacle, and in such a case, as described clearly in Bekker et al. Inform the worker that the situation requires help ". The device, such as a BETTER, is semiautomatic in some respects and, despite its abundant sensor support, does not address the basic principles of automatic operation, including its physical configuration and its flexible response to its environment. A device such as a BETTER may be required to clean for less than a few minutes before stuck and require operator intervention.

The apparatus includes a cleaning fluid dispenser for dispensing the cleaning fluid onto the floor, a rotary scrub brush in contact with the bottom surface to rub the floor with the cleaning fluid, a squeegee for withdrawing waste liquid from the bottom surface, A waste liquid recovery system comprising a vacuum system is provided. Although the device disclosed by Bekker et al. Can be used to automatically wet clean large floor areas, it is not suitable for residential market and further lacks many features, capabilities, and functions of the present invention as described in detail herein . In particular, the industrial automatic cleaning robots disclosed by Betzer et al. Are too large, expensive, complicated to use at home, and consume too much power to provide a practical solution for the domestic wet floor cleaning market. The basic disadvantage of the bettor is that it appears to be not able to be flexibly programmed to physically respond to or respond to a complex environment and is therefore designed to be "rescued" by his intervening worker. Another disadvantage is that his cleaning techniques may not be effective in robots, for example, less than 20 kg, which can be carried by man or moved manually.

Recently, improvements to conventional passive wet floor cleaning at home have been made by Wright, et al., Assigned to Royal Appliance Mfg., Which is entitled " Method for Wrapping and Drying the Floor " In U.S. Patent No. 5,968,281. The disclosure of the '281 patent is incorporated herein by reference in its entirety. A low cost wet mop system for manual use in the home market is disclosed. The wet mop system disclosed by Wright et al. Includes a manual floor cleaning apparatus having a handle, and the cleaning fluid supply container is supported on the handle. The apparatus includes a cleaning fluid dispensing nozzle supported on the handle for dispensing the cleaning fluid onto the floor and a floor rubbing sponge attached to the end of the handle to contact the floor. The apparatus also includes a mechanical device for squeezing the waste liquid from the rubbing sponge. A squeegee and associated suction device is supported on the end of the handle and is used to collect waste liquid from the bottom surface and to accumulate the waste liquid in a waste liquid container separated from the cleaning solution reservoir and supported on the handle. The device also includes battery power for feeding the suction device. Wright et al. Describe a wet cleaning method and an improved wet cleaning method for separating a waste liquid from a cleaning fluid, but the device is operated manually and can be used for various applications such as robot functions (motor driven, automatic control, etc.) It seems to lack the advantages and features.

The present invention overcomes the above-mentioned problems by providing an inexpensive automatic robot that is capable of wet cleaning the floor and suitable for domestic use. The problem of the prior art is solved by the present invention which provides an automatic cleaning robot comprising a chassis and a driving drive system configured to automatically move the cleaning elements on the cleaning surface. The robot is supported on the cleaning surface by a rolling contact wheel with a cleaning surface and the robot includes control and drive elements configured to control the robot to substantially traverse the cleaning surface in a forward direction defined by the longitudinal axis. The robot is also defined by a transverse axis orthogonal to the longitudinal axis.

The robot chassis has a first cleaning zone (A) that includes cleaning elements arranged to collect free particles from the cleaning surface across the cleaning width. The cleaning elements of the first cleaning area are disposed on the lateral edges of the robot and use a jet port configured to blow a jet of air across the cleaning width of the robot toward the opposing lateral edges. A vacuum intake port is disposed on the robot in opposition to the jet port and sucks the free particles blown across the cleaning width by the jet port. The cleaning elements of the first cleaning zone can suck free particles or use a brush to sweep free particles into the receptacle or otherwise remove free particles from the surface.

The robotic chassis may also have a second cleaning zone B that includes cleaning elements arranged to apply cleaning fluid onto the surface. The second cleaning area may further comprise a cleaning element configured to collect the cleaning fluid from the surface after being used to clean the surface and may further comprise an element for rubbing the cleaning surface and smoothing the cleaning fluid more evenly over the cleaning surface .

The robot includes a drive subsystem controlled by a master control module to perform automatic movement on the cleaning surface and powered by a self-contained power module. SUMMARY OF THE INVENTION In one aspect, the present invention is directed to a chassis comprising: a chassis supported to run on a cleaning surface and defined by a longitudinal axis and a transverse axis orthogonal to each other; a chassis attached to the chassis and extending free from the cleaning surface across the cleaning width disposed generally parallel to the transverse axis And a liquid applicator attached to the chassis and configured to apply a cleaning fluid onto the cleaning surface, wherein the arrangement of the first collection device with respect to the liquid applicator further comprises: 1 collecting device precedes the liquid applicator on the cleaning surface.

In one embodiment of the above aspect, the self-cleaning robot further comprises a smear element attached to the chassis and configured to smear the cleaning fluid applied onto the cleaning surface to more evenly spread the cleaning fluid over the cleaning surface, Or deployment brush) causes the liquid applicator to precede the smear element on the cleaning surface when driving the chassis in a forward direction. In another embodiment, the robot includes a scrubbing element configured to scrub the scrubbing surface, wherein the arrangement of the scrubbing element with respect to the scrubbing element, when running the chassis in a forward direction, causes the liquid dispenser Make it a precedent. In a particular embodiment, the robot also includes a second collection device configured to collect waste liquid from the cleaning surface, wherein the waste liquid comprises a cleaning fluid applied by the fluid applicator and any contaminants removed from the cleaning surface by the cleaning fluid Wherein the arrangement of the rubbing elements relative to the second collection device causes the rubbing element to precede the second collection device on the cleaning surface when the chassis is running in the forward direction.

In certain embodiments of the above aspects, the robot is a first waste storage vessel, compartment, or tank attached to the chassis and arranged to receive free particles therein, and / or a tank attached to the chassis and arranged to receive waste liquid therein And a second waste storage vessel. Some embodiments of the autonomous robot include a cleaning fluid storage container attached to the chassis and configured to store a supply of cleaning fluid therein and to deliver cleaning fluid to a fluid applicator. In some embodiments, the cleaning fluid comprises water and / or water mixed with any of the soaps, solvents, fragrances, disinfectants, emulsifiers, desiccants, and abrasive particles. In some embodiments, the first and second waste containers are removable from the chassis by the user and configured to be emptied by the user, and / or the cleaning fluid storage container is removable from the chassis by the user and is filled by the user . Particular embodiments include a combined waste storage container, compartment, or tank attached to the chassis and configured to receive free particles from the first collection device therein and to receive waste liquid from the second collection device. In another embodiment, the waste storage vessel is removable from the chassis by a user and configured to be emptied by a user. Another embodiment includes a cleaning fluid reservoir attached to the chassis and configured to store a supply of cleaning fluid therein and deliver cleaning fluid to a liquid applicator, and in some cases, And is configured to be populated by the user.

In some embodiments of the foregoing aspects, the automatic cleaning robot includes a waste storage container portion configured to receive free particles from the first collection device and waste liquid from the second collection device therein, (S), or tanks, including a cleaning fluid reservoir, compartment, bladder, or tank portion configured to deliver cleaning fluid to a liquid applicator, Further comprising an integrated liquid storage vessel attached thereto. In another embodiment, the automatic cleaning robot of the above embodiment includes an integral liquid storage container removable from the chassis by a user, configured to be filled by the user with respect to the cleaning fluid storage container and emptied by the user to the waste storage container do. In some embodiments of the above aspects, the robot includes a second collection device configured to collect waste liquid from the cleaning surface, wherein the waste liquid is removed from the cleaning surface by the cleaning fluid applied by the fluid applicator and the cleaning fluid, Contaminants and the arrangement of the liquid applicator for the second collection device causes the liquid applicator to precede the second collection device on the cleaning surface when the chassis is running in the forward direction. A particular embodiment of this aspect includes a smear element or deployment brush attached to the chassis and configured to smear the cleaning fluid applied onto the cleaning surface to more evenly spread the cleaning fluid over the cleaning surface, The arrangement of the groups causes the liquid applicator to precede the smear element or the deployment brush on the cleaning surface when running the chassis in a forward direction.

In some embodiments, the robot includes a waste storage container, compartment, or tank attached to the chassis and configured to receive free particles from the first collection device therein and to receive waste liquid from the second collection device, The waste storage vessel is removable from the chassis by the user and configured to be emptied by the user. Some embodiments of the robot include a cleaning fluid reservoir attached to the chassis and configured to store a supply of cleaning fluid therein and to deliver cleaning fluid to a fluid applicator, And is configured to be populated by the user. In another embodiment, the robot of the present invention includes a waste storage container portion configured to receive free particles from a first collection device and waste liquid from a second collection device therein, An integral liquid reservoir or tank formed of two separate container portions including a cleaning fluid reservoir, compartment, bladder, or tank configured to deliver fluid to a liquid applicator and attached to the chassis. In certain embodiments, the integral liquid storage vessel or tank is removable from the chassis by a user and is configured to be filled by a user with respect to the cleaning fluid storage vessel and emptied by a user to the waste storage vessel or tank.

Some embodiments of the above aspects include a power subsystem attached to the chassis for running the chassis on a cleaning surface, a power module attached to the chassis for powering each of the plurality of power consuming subsystems attached to the chassis, And a master control module attached to the chassis for controlling the drive module, the first collection device, and the liquid applicator to automatically run the robot on the surface and automatically clean the cleaning surface. Some embodiments include a sensor module configured to sense a condition outside the robot and to sense a condition within the robot and to generate an electrical sensor signal in response to sensing the condition, Signal lines and a controller integrated in the master control module to effect a predetermined operational mode of the robot in response to the state.

Some embodiments include a user control module configured to receive an input command from a user and generate an electrical input signal in response to the input command, a signal line for communicating the electrical input signal to the master control module, Lt; RTI ID = 0.0 > a < / RTI > master control module. In a particular embodiment, an automatic cleaning robot is attached to a chassis and includes an interface module configured to provide a connection between an element external to the robot and at least one element attached to the chassis. In some embodiments, the elements external to the robot include one of a battery charging device and a data processor. Some embodiments include an interface module attached to a chassis and configured to provide a connection between an element external to the robot and at least one element attached to the chassis. In some embodiments, the elements external to the robot include one of a battery charging device, a data processor, a device for automatically filling the cleaning fluid reservoir with cleaning fluid, and an apparatus for automatically emptying the waste liquid container.

Particular embodiments of the above-described embodiments of the robot are disposed at the first edge of the cleaning width and attached to the chassis and blowing air jets across the cleaning width proximate to the cleaning surface to form free particles on the cleaning surface, An air jet port attached to the chassis and positioned proximate to the cleaning surface to draw free particles at a second edge of the cleaning width opposite from the first edge, the air jet port being configured to apply pressure to move away from the first edge in a direction A waste storage container configured to receive free particles from the air intake port, and a fan assembly configured to generate negative pressure within the waste storage container, compartment, or tank. In some embodiments, the fan assembly is also configured to generate a positive air pressure at the air jet port.

In another embodiment, the second collection device is disposed proximate to the cleaning surface to provide a liquid collecting volume at its front edge and extends across the cleaning width, so that when the chassis is driven in the forward direction, A squeegee formed with a longitudinal ridge for collecting liquid, the squeegee being attached to the chassis; a vacuum chamber partially formed by a squeegee disposed proximate the longitudinal ridge and extending across the cleaning width; A plurality of suction ports through the squeegee to provide a plurality of fluid passages for fluidly connecting the vacuum chamber and the vacuum chamber, and a vacuum pump for generating negative air pressure within the vacuum chamber to draw the waste liquid collected in the liquid collection volume into the vacuum chamber And the like. Some further embodiments include a waste storage vessel configured to receive waste liquid from a vacuum chamber, at least one fluid conduit fluidly connecting the vacuum chamber and the waste storage vessel, compartment, or tank, And to collect the waste liquid from the cleaning surface to accumulate the waste liquid in the waste storage container. Another embodiment of the second collection device is disposed proximate to the cleaning surface to provide a liquid collection volume at its front edge and extends across the cleaning width so that when the chassis is running in the forward direction, A vacuum chamber partially formed by a squeegee disposed proximate to the longitudinal ridge and extending across the cleaning width; a liquid collection volume, A plurality of suction ports passing through the squeegee to provide a plurality of fluid passages for fluidly connecting the vacuum chamber, and a plurality of vacuum ports for generating negative air pressure in the vacuum chamber for drawing the waste liquid collected in the liquid collection volume into the vacuum chamber For example,

Yet another embodiment of the above aspect is directed to a vacuum cleaner comprising a waste storage tank (or compartment) configured to receive waste liquid from a vacuum chamber, at least one fluid conduit in fluid communication with the vacuum chamber and the waste storage vessel or tank, And a fan assembly configured to generate negative air pressure in the chamber and to draw in the waste liquid from the cleaning surface to accumulate the waste liquid in the waste storage vessel or tank. In some embodiments, the fan assembly is configured to generate a positive air pressure at the air jet port.

In another aspect, the present invention relates to an automatic cleaning robot for running cleaning elements on a cleaning surface, wherein the cleaning robot is supported in rolling contact with the cleaning surface for running the chassis in a forward direction defined by the longitudinal axis, A chassis, a first cleaning zone attached to the chassis and including cleaning elements arranged to collect free particles from the cleaning surface across a cleaning width disposed substantially orthogonal to the longitudinal axis, A second cleaning zone including cleaning elements arranged to collect the waste liquid including any contaminants removed from the cleaning surface by the cleaning fluid and the cleaning fluid from the cleaning surface across the cleaning width, A drive subsystem controlled by the module and powered by the power module A drive subsystem, master control module and power module are electrically interconnected and attached to the chassis configured to clean the cleaning surface and the automatic operation of the robot on the cleaning surface, respectively. In some embodiments of this aspect, the robot is configured with a circular cross-section having a vertical center axis, the front-rear axis, the transverse axis, and the vertical axis being orthogonal to one another, and the drive subsystem includes a central vertical axis To rotate the robot.

In another aspect, the invention relates to a surface cleaning apparatus having a chassis defined by a longitudinal axis and a transverse axis orthogonal to each other, the chassis being supported to run on a surface along a longitudinal axis, the chassis being attached thereto, And a first collecting device configured to collect free particles from the surface over the disposed cleaning width, the first collecting device having an air jet port configured to discharge a jet of air across the cleaning width, Wherein the air jet port and the air intake port are disposed at opposite ends of the cleaning width and the air jet port is substantially parallel to the surface and ejects jets of air generally toward the air intake port. In one embodiment of this aspect, the first collecting device comprises a generally opposing front and rear edge extending generally parallel to the transverse axis across the cleaning width, and a generally opposed, generally opposed, The air jet port is disposed in one of the left and right corners, and the air intake port is disposed in the other of the left and right corners. In another embodiment, a surface cleaning apparatus is disposed across the cleaning width and is fixedly attached to the lower surface of the chassis proximate to the rear edge to guide jet and free particles of air across the cleaning width, Further comprising a first compliant doctor or air flow guide blade extending from the lower surface to the surface.

In another embodiment of the above aspect, the surface cleaning device is a second adaptive doctor or an air filter, fixedly attached to the lower surface and extending from the lower surface to the surface, for guiding air jets and free particles into the air intake port And further comprises a flow guide blade. In yet another embodiment, an apparatus includes a rotating fan motor having a stationary housing and a rotating shaft extending therefrom, and a stationary attachment member fixedly attached to the rotating shaft for rotating relative to the rotating shaft by the fan motor, An air intake port in which air is sucked into the cavity when the impeller is rotated, and an air intake port in which the air is introduced into the cavity, And a first fluid conduit fluidly connected between the fan air intake port and the air intake port of the first collection device, wherein each element is attached to the chassis. In some embodiments, the apparatus includes a waste storage container attached to the chassis and fluidly interposed within the first fluid conduit between the fan air intake port and the air intake port. In some embodiments, the waste storage container is configured to be removable from the chassis by the user and emptied by the user.

Yet another embodiment includes an air filter element interposed in the first fluid conduit between the waste storage vessel and the fan air intake port for filtering free contaminants from the air drawn through the fan air intake port, And a second fluid conduit fluidly connected between the air jet ports of the first collection device. In another embodiment, the surface cleaning apparatus further comprises a second collection device attached to the chassis and disposed behind the first collection device for collecting liquid from the surface over the cleaning width. In some embodiments, the second collection area is fixedly attached to the chassis at the rear of the first collection device for collecting liquid within the liquid collection volume formed between the squeegee and the surface and extends across the cleaning width from the lower surface of the chassis A squeegee extending to the surface and forming a vacuum chamber and disposed across the cleaning width to provide a plurality of suction ports in fluid communication with the vacuum chamber and the liquid collection volume; And a vacuum for sucking liquid into the vacuum chamber through a plurality of suction ports fluidly connected to the collection volume.

Another embodiment of the above-described surface cleaning apparatus includes a rotary fan motor having a stationary housing and a rotary shaft extending therefrom, and a stationary attachment member fixedly attached to the rotary shaft for rotation about the rotary shaft by a fan motor, An air intake port for receiving the fan impeller in a hollow cavity formed therein and fixedly supporting the motor fixing housing thereon and for sucking air into the cavity when the impeller is rotated, A first fluid conduit fluidly connected between the fan air intake port and the air intake port of the first collection device, and a second fluid conduit fluidly connected between the fan air intake port and the vacuum chamber A third fluid conduit fluidly connected to the first fluid conduit, wherein the elements are attached to the chassis. The surface cleaning apparatus also includes a second fluid conduit fluidly connected between the fan discharge port and the air jet port of the first collection device, and / or a waste storage vessel or tank attached to the chassis and configured to store liquid collected from the surface can do. Another embodiment utilizes a waste storage vessel attached to the chassis and configured to store liquid collected from the surface, wherein the waste storage vessel or tank is fluidly interposed within the third fluid conduit. In some embodiments, the cleaning apparatus includes a waste storage container attached to the chassis and configured to store liquid collected from the surface, wherein the waste storage container is fluidly interposed within the first and third fluid conduits. In certain cases, the waste storage vessel or tank stores the free particles collected by the first collection device, stores the liquid collected by the second collection device, and provides at least one access And a plenum integrated into the upper wall of the sealed container so as to be disposed vertically above the sealed waste container during operation of the cleaning device, wherein the plenum comprises a first, And a port fluidly interposed in each of the third fluid conduits.

In some embodiments, the waste storage container is configured to be removable from the chassis by the user and emptied by the user. Certain other embodiments include a cleaning fluid applicator assembly attached to the chassis between a first collection device and a second collection device for applying a cleaning fluid to the surface across the cleaning width, Wherein the reservoir includes at least one access port formed therein for filling the reservoir with cleaning fluid. In another embodiment, the sealed waste container and the sealed flushing fluid container are integrated into a liquid storage container module, the integral liquid storage container module is configured to be removable from the chassis by the user to fill the flushing fluid and evacuate waste therefrom do. In some embodiments, the surface cleaning apparatus comprises a smear element attached to the chassis at the rear of the liquid applicator assembly and configured to smear the cleaning fluid across the cleaning width, and a smear element or deployment brush to rub the surface across the cleaning width. A scrubbing brush, a wiper, or a wiping cloth attached to the chassis at a rear side of the chassis. In some embodiments, the surface cleaning apparatus further includes a drive subsystem, each of which is controlled by a master control module attached to the chassis and is powered by the power module, to automatically run the surface cleaning apparatus on the surface. A pad, cloth, or other absorbent wiper, which extends essentially across the cleaning width, can be positioned in front of or behind the cleaning head to prepare the surface or, suitably, to absorb moisture after the cleaning head. The entire cleaning head is formed from a material that withstands harsh water and temperatures sufficient for the cleaning head to "be dishwasher-usable ".

In another embodiment, a surface cleaning apparatus comprises a sensor module configured to generate an electrical sensor signal in response to sensing a condition and sensing the condition, a signal line for communicating an electrical sensor signal to the master control module, Further comprising a controller integrated in the master control module to perform a predetermined operating mode in response to detecting the first operating mode. Another embodiment includes a drive subsystem controlled by a master control module attached to the chassis, each powered by a power module, to automatically run a surface cleaning device on a surface. Another embodiment of a surface cleaning apparatus includes a sensor module configured to generate an electrical sensor signal in response to detecting a condition and sensing the condition, a signal line for communicating an electrical sensor signal to a master control module, Further comprising a controller integrated in the master control module to perform a predetermined operating mode in response to sensing the control signal.

In another aspect, the present invention provides a system for automatically driving a vehicle, comprising: a self-driving drive subsystem controlled by a master control module for moving a chassis on a surface in response to a condition sensed by a sensor module according to a predetermined operating mode; A sensor module, a power module, and a surface cleaning device supported on the chassis and powered by the power module, the elements being configured with a cleaning width disposed substantially at right angles to the forward travel direction, The cleaning elements are positioned on the chassis so as to advance first on the surface when the chassis is run in the forward direction of travel and include a first collection device for collecting free particles from the surface across the cleaning width, And is positioned on the chassis to advance on the surface secondly when operated, A cleaning fluid applicator for applying a cleaning fluid onto the surface, a cleaning fluid dispenser disposed on the chassis to advance on a surface thirdly when the chassis is running in a forward travel direction, An active scrubbing element positioned on the chassis to advance on the surface fourthly when the chassis is running in a forward running direction and actively rubbing the surface across the scrubbing width; A second collecting device for collecting waste liquid from the surface, the fifth collecting device being located on the chassis to advance on the surface fifth when traveling in the direction of the first collecting device; A waste storage container for storing the waste liquid collected by the cleaning fluid supply device, Wherein the integrated storage vessel or tank module is removed from the chassis by a user, is filled with cleaning fluid, the waste is emptied, and then re-installed on the chassis by the user do.

In another further aspect, the present invention is directed to a surface cleaning apparatus having a chassis defined thereon that supports cleaning elements thereon and runs the cleaning elements over the surface along the longitudinal axis, the front and rear axes being orthogonal to the transverse axis, Wherein the cleaning device is arranged to clean across a cleaning width disposed at a generally right angle to the longitudinal axis with a left end and a right end defining opposite edges of the width, The cleaning fluid having a volume and a pressure sufficient to distribute the cleaning fluid across the cleaning width. In certain embodiments of the above aspects, the cleaning fluid comprises any of water, and / or soap, solvents, fragrances, disinfectants, emulsifiers, desiccants and abrasive particles.

In some embodiments of this aspect, the apparatus comprises an ophthalmic element attached to the chassis at a rear of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for smearing the cleaning fluid, And a rubbing element attached to the chassis at the rear of the location of the rubbing surface and extending across the cleaning width from the chassis to the surface to rub the surface. In some embodiments, the rubbing element is attached to the chassis at the rear of the position of the at least one nozzle and extends from the surface from the chassis across the cleaning width to rub the surface. The cleaning device may also include a collection device attached to the chassis at the rear of the location of the at least one nozzle and extending from the chassis to the surface across the cleaning width to collect waste liquid from the surface. In some embodiments, the liquid applicator includes a first nozzle disposed at a left end for discharging a cleaning fluid and a second nozzle disposed at a right end for discharging the cleaning fluid, Discharged from the first nozzle at a volume and pressure sufficient to distribute the cleaning fluid, and discharged from the second nozzle at a volume and pressure sufficient to distribute the cleaning fluid across the cleaning width, wherein the first and second nozzles Are commonly located on the longitudinal axis.

In a particular embodiment of the above aspects, the first and second nozzles each eject an individual ejection cleaning fluid according to the ejection frequency, and the ejection frequency of the first nozzle is substantially opposite in phase to the ejection frequency of the second nozzle. In some embodiments, the surface cleaning apparatus is all supported by the chassis, and is configured to automatically move the cleaning elements over the entire surface relative to the surface in response to a condition sensed by the sensor module in accordance with a predetermined operating mode. A self-running drive subsystem controlled by the module, a sensor module for sensing the status, and a power module. All other embodiments are supported by the chassis and are controlled by the master control module to automatically move the cleaning elements over the entire surface relative to the surface in response to a condition sensed by the sensor module in accordance with a predetermined operating mode. , A self-running drive subsystem, a sensor module for sensing status, and a power module.

All other embodiments of the above aspects are supported by the chassis and are adapted to be coupled to the master control module to automatically move the cleaning elements over the entire surface relative to the surface in response to a condition sensed by the sensor module in accordance with a pre- A self-running drive subsystem, a sensor module for sensing status, and a power module. In some embodiments, the master control module is configured to change the frequency of ejection, depending on the desired rate for applying cleaning fluid onto the surface, in some cases, the master control module of approximately 2 mL per square foot (0.093 m ²⁾ And configured to vary the jetting frequency to apply the cleaning fluid to the surface in a substantially uniform volume.

In some embodiments, the surface cleaning apparatus comprises a liquid reservoir retained on the chassis for storing a supply of cleaning fluid therein, a first reservoir for sucking the cleaning fluid from the reservoir and delivering the cleaning fluid to the at least one nozzle, A diaphragm pump assembly configured with a pump portion, and a mechanical actuator for mechanically actuating the first pump portion. All other embodiments are supported by the chassis and are controlled by the master control module to automatically move the cleaning elements over the entire surface relative to the surface in response to a condition sensed by the sensor module in accordance with a predetermined operating mode. A liquid storage container held on the chassis for storing a supply of cleaning fluid therein; and a cleaning device for cleaning and cleaning the cleaning fluid from the container, A diaphragm pump assembly having a first pump portion for delivering fluid to a first nozzle, a second pump portion for sucking the cleaning fluid from the vessel and delivering the cleaning fluid to the second nozzle, And a mechanical actuator for mechanically actuating the portion.

In certain embodiments of the above aspects, the diaphragm pump assembly includes a flexible element mounted between the non-flexible upper chamber element and the non-flexible lower chamber element, and a pivotable member disposed in the pump assembly to pivot between the first actuator position and the second actuator position. A cam element configured to include a circumferential cam profile and supported to move an actuator link between a first actuator position and a second actuator position; Wherein the flexible element comprises a first pump chamber and a first actuator nipple attached thereto and a second actuator chamber having a second pump chamber and a second actuator nipple attached thereto, And the actuator link is fixed to each of the first and second actuator nipples The movement of the actuator link toward the first actuator position reduces the volume of the first pump chamber and increases the volume of the second pump chamber and also the movement of the actuator link towards the second actuator position causes the first pump chamber & And the volume of the second pump chamber is reduced.

In another aspect, the present invention relates to a method for cleaning a surface with a cleaning device, the method comprising the steps of: locating substantially orthogonal to the longitudinal axis on the surface in a forward running direction defined by the longitudinal axis and having a left end and an opposite right end Moving a cleaning fluid having a cleaning width thereon to a chassis supported thereon and discharging a volume of cleaning fluid from a first nozzle attached to the chassis at one of the left end and the right end And the first nozzle is configured to discharge the cleaning fluid, the cleaning fluid being discharged at a volume and pressure sufficient to distribute the cleaning fluid across the cleaning width. In a particular embodiment, the method includes the steps of ejecting a volume of cleaning fluid from a second nozzle attached to the chassis at the other of the left and the right ends and positioned co-located on the longitudinal axis relative to the first nozzle, Further comprising ejecting a cleaning fluid from each of the first and second nozzles with an individual ejection of the cleaning fluid according to the ejection frequency, wherein the second nozzle is configured to eject a cleaning fluid, the cleaning fluid having a cleaning width Is ejected at a volume and pressure sufficient to distribute the cleaning fluid across it and the ejection frequency of the first nozzle is substantially opposite in phase to the ejection frequency of the second nozzle.

In yet another embodiment, the method includes smearing the cleaning fluid across the cleaning width using a smear element or a deployment brush attached to the chassis at a rear of the common position of the first nozzle and the second nozzle , The smear element extends across the cleaning width. Other embodiments may include rubbing the surface across the cleaning width using a scrubbing element, a scrubbing brush, a wiper, or a wiping cloth attached to the chassis at the rear of the commonly located locations of the first and second nozzles And the rubbing element extends across the cleaning width. Another embodiment includes collecting waste liquid from the surface across the cleaning width using a collection device attached to the chassis behind the commonly located locations of the first and second nozzles, Extends across the cleaning width. In some embodiments of the method of the above aspect, the chassis further comprises a self-running drive subsystem, supported by and controlled by a master control module, a sensor module for sensing status, and a power module, The step of operating the chassis further comprises controlling the drive subsystem in response to a condition sensed by the sensor module in accordance with a predetermined operating mode for operating the cleaning elements substantially over the entire surface.

According to one aspect of the present invention, a surface treatment robot includes a robot body having an outer periphery formed substantially as a constant width shape, which is driven forward by at least one circulation member, and a distribution body for holding the material dispensed by the robot And includes a material compartment. The wet cleaning head employs one or more wet cleaning member (s) to clean along the cleaning line of the robot with the aid of the dispensing material, and the wet cleaning head defines the cleaning width. The waste material compartment holds the material picked up by the robot. The dispensing material compartment and the waste material compartment are each formed and positioned to position the center of gravity of the dispensing material compartment volume at less than half the cleaning width from the center of gravity of the waste material compartment volume.

For example, one embodiment of the robot has a cleaning width of about 30 cm, each of which is less than 15 cm from each other. The center of gravity of the volume is easily understood as the center of the void volume, but it can also be understood as the center of gravity of the fluid filling the volume (most of the fluids described herein are close to the specific gravity of the water). Surface treatments include cleaning and other treatments as described herein. Although a constant width shape is defined herein, it is to be understood that not all such shapes are regular, and that one embodiment of the robot is substantially cylindrical. The wet cleaning 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. The material need not be wet, but most of it is wet.

Optionally, the dispensing material compartment and the waste material compartment are each formed and positioned to position a combined center of gravity of the dispensing material compartment volume and the waste material compartment volume to less than half of the cleaning width from the center of the at least one recirculating element, respectively. The center of the rotary brush is the midpoint along the axis and the center of the rotary belt is the midpoint of the contact area with the surface. Alternatively, the dispensing material compartment and the waste material compartment are each formed and positioned to position the center of gravity of the dispensing material compartment volume substantially immediately above or below the center of gravity of the waste material compartment volume, respectively. In one example, "substantially immediate" means above or below each other, and the vertical normals from each center of gravity are within about a quarter of the cleaning width from each other.

According to another aspect of the present invention, a surface treating robot includes a robot body having an outer periphery substantially formed as a constant width shape, and at least two circulation driving members for driving the robot body forward and steering the robot body. Wherein the dispensing fluid compartment holds the fluid dispensed by the robot and the electric rubbing wheel drives at least one rubbing element such that the width of the robot extends across the width of the robot at a position corresponding to the maximum width of the robot Substantially therefore with the aid of a dispensing fluid, the rubbing element to be driven and the driven rubbing element extend substantially within 1 cm of the tangential edge of the robot body (for example, the peripheral edge). By positioning the rubbed dog along a line of maximum width of a constant width shape such as a cylinder, the edges of the cleaning area can be brought into contact with the edges of the robot, allowing the robot to clean the edges within 1 cm of the wall. Placing the wheel along the line of maximum width prevents this. Again, the circulation includes a rotating member such as a wheel or brush as well as a circulating belt or web.

If the cleaning head has a maximum width, the largest cleaning head can be obtained by positioning at least two circulating driving members along a line extending across the width of the robot at a position where the width of the robot is less than the maximum width of the robot . Optionally, the robot also includes a wet vacuum to pick up the dispensing fluid after the scrubbing element has cleaned with the aid of a dispensing fluid, and a waste fluid compartment to hold the fluid picked up by the wet vacuum unit. The waste fluid compartment and the dispensing fluid compartment may be integral compartments within the same fluid tank module that are readily removable as a module from the robot body.

According to another aspect of the present invention, a surface treating robot is provided with a robot body having an outer peripheral portion formed substantially as a constant width shape, which is driven forward by at least one rotating member, and a dispensing portion for holding the fluid dispensed by the robot And includes a fluid compartment. A powered wet cleaning head employs at least one powered wet cleaning member to clean the cleaning width along the clean width of the robot with the aid of dispensing fluid. The waste material compartment holds the waste fluid picked up by the robot. The wet cleaning head has a cleaning width of at least 3 cm per kg of total robot mass, the total mass of the waste material compartment when the robot body is filled with the dispensing substance compartment, the wet cleaning head, the waste fluid picked up by the robot, And has a cleaning width of.

An exemplary robot according to the present invention has a cleaning width of about 30 cm and a mass of about 3-5 kg. Such a robot has an electric cleaning width of about 10 cm to about 6 cm per kg of the fully loaded robot, while a less efficient but acceptable version can be an electric cleaning width of 3 cm per kg of the robot mass. This cleaning width allows sufficient work to be done per unit of time, and the weight is sufficient to provide sufficient pulling force against the cleaning width. Further, the robot is not excessively large or inefficient by limiting its weight. This combination provides the best balance of cleaning time versus operability versus manageability.

Optionally, the electrically powered wet cleaning head includes a motorized circulating rubbing brush which rubs the surface to be cleaned along the cleaning line of the robot with the aid of a dispensing fluid. The electrowetting wet cleaning head may also include powered wet vacuuming to pick up the waste fluid. Each of these contributes to the cleaning width and can contribute to drag or movement forces. The weight placed on the cleaning width can be limited to reduce or otherwise limit the amount of drag.

According to still another aspect of the present invention, a surface processing robot includes a robot body having an outer peripheral portion formed substantially as a constant width shape, which is driven forward by at least one rotating member, and a robot body having a cleaning width And a wet cleaning head employing at least one circulating wet cleaning member to clean the cleaning width along the line. A tank for containing the fluid compartment stores fluid, and the robot body includes a mounting part 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. The mechanical coupling mechanically engages the tank with the robot body, and the coupling engagement seals the fluid connection and the vacuum connection at the same time.

In this configuration, the robot can be prepared for use with a coupling that completes the shape of the robot, the mechanical integrity of the robot, the vacuum connection (and seal), and the fluid connection (and seal).

Optionally, the tank forms at least a quarter of the outer profile of the robot, and the engagement of the coupling completes the substantially smooth outer profile of the robot. Alternatively, the tank includes at least a quarter of the outer peripheral surface of the robot, including a portion of the periphery of the constant width profile, and the engagement of the coupling substantially completes the periphery of the constant width profile. In each case, the robot is allowed to automatically rotate to escape the space and corners constrained by the outer profile, and the space is efficiently maximized by avoiding the use of double or triple walls to accommodate the tank within the robotic body.

In one embodiment, a method for controlling a mobile robot may include rotating the brush forward when the mobile robot moves forward, and deactivating the sweeping brush when the mobile robot moves in a backward direction. According to another embodiment, a method for controlling a mobile robot includes the steps of dispensing fluid via a pump when the mobile robot is operating in a cleaning mode, and deactivating the pump when the mobile robot does not move forward can do. According to yet another embodiment, a method for controlling a mobile robot includes the steps of dispensing a cleaning fluid on a cleaning surface across a cleaning surface during a cleaning cycle, and dispensing the cleaning fluid on a cleaning surface Lt; / RTI > The method may further include transitioning from a cleaning cycle to a drying cycle when the power source voltage is reduced, or applying a vacuum suction to the cleaning surface when the mobile robot is operating in a drying mode. According to another embodiment, a method for sensing fluid in a mobile robot having at least first and second electrodes comprises the steps of: exchanging the polarity between the first and second electrodes; And determining whether a fluid is present based on the detected resistance between the first and second resistors.

In another aspect, the present invention relates to a liquid cleaner for use with a robot cleaner, wherein the cleaner comprises an alkyl polyglucoside (e.g., 1-3% concentration) and tetrapotassium ethylenediamine-tetraacetate (tetrapotassium EDTA, For example, 0.5 - 1.5% concentration).

In another aspect, the present invention relates to a method of making a fuel cell having a density of 224.28 - 256.32 kg / m ³ (14 16 lb / ft ³ ) or approximately 240.30 kg / m ³ (15 lb / ft ³ ) foamed with a cell size of 0.1 mm ± 0.02 mm To a tire material comprising a chloroprene monopolymer stabilized with thiuram disulfide black. In certain embodiments, the tire has a hardness after foaming of about 69 to 75 Shore. In another embodiment of this aspect, the invention is directed to a tire, including, for example, made from neoprene and chloroprene and other closed cell rubber sponge materials. Tires made of polyvinyl chloride (PVC) and acrylonitrile-butadiene (ABS) (with or without other extrudates, hydrocarbons, carbon black, and minerals) may also be used.

BRIEF DESCRIPTION OF THE DRAWINGS The features of the invention will be best understood from the detailed description of the invention and the preferred embodiments shown in the accompanying drawings, selected for purposes of illustration.

The surface cleaning robot includes a first cleaning zone configured to collect free particles from the surface and a second cleaning zone configured to apply a cleaning fluid onto the surface and rub the surface and thereafter a second cleaning zone configured to collect waste liquid from the surface. Includes cleaning areas. The surface cleaning robot may also include at least two containers or compartments held thereby for storing clean fluid and waste material. In a particular embodiment, one compartment is positioned at least partially directly above (against gravity) the other so that the movement of fluid from one compartment to the other compartment does not significantly displace the center of gravity of the robot.

1 shows a perspective view of an upper surface of an automatic cleaning robot according to the present invention.
2 is a perspective view of the lower surface of the chassis of the automatic cleaning robot according to the present invention.
Figure 3 shows an exploded view of a robot chassis with attached robot subsystems, in accordance with the present invention.
Figure 4 shows a schematic block diagram illustrating the interrelationships of subsystems of an automatic cleaning robot according to the present invention.
Figure 5 shows a schematic view of a liquid applicator assembly according to the present invention.
Figure 6 shows a schematic cross-sectional view taken through a stop valve assembly installed in a cleaning fluid supply tank according to the present invention.
Figure 7 shows a schematic cross-sectional view taken through a pump assembly in accordance with the present invention.
Figure 8 shows a schematic plan view of a flexible element used as a diaphragm pump according to the invention.
Figure 9 shows a schematic plan view of an inflexible chamber element used in a pump assembly according to the present invention.
Figure 10 shows a schematic exploded perspective view of a rubbing module according to the invention.
11 shows a rotatable rubbing brush according to the present invention.
12A shows a schematic cross-sectional view taken through a second collecting device used to collect waste liquid according to the present invention.
Figure 12B shows a schematic cross-sectional view of an alternative collection device used to collect waste liquid according to the present invention.
Figure 13 is a schematic block diagram showing elements of a drive module used to rotate a rubbing brush according to the present invention.
14 is a schematic view of an air movement system according to the present invention.
Figure 15 shows a schematic exploded perspective view of a fan assembly in accordance with the present invention.
16 shows a schematic exploded perspective view showing the elements of the integral liquid storage module according to the present invention.
17 shows an external view of the integral liquid storage module removed from the cleaning robot according to the present invention.
18 shows a schematic exploded view of a nose wheel module according to the present invention.
Figure 19 shows a schematic cross-sectional view taken through a nose wheel assembly in accordance with the present invention.
Figure 20 shows a schematic exploded view of a drive wheel assembly in accordance with the present invention.
Figure 21 shows an exploded view of a robot chassis with attached robot subsystems according to an embodiment of the invention.
Figure 22 illustrates the exploded view of a robot chassis with attached robotic subsystems according to an embodiment of the present invention.
23 shows an exploded perspective view of a cleaning head or rubbing module according to an embodiment of the present invention.
Figure 24 illustrates a perspective view of a fan assembly in accordance with one embodiment of the present invention.
Figure 25 illustrates an exploded perspective view of a fan assembly in accordance with one embodiment of the present invention.
Figure 26 illustrates an exploded perspective view of a fan assembly in accordance with one embodiment of the present invention.
27 shows an exploded view of a robot chassis having an integral tank according to an embodiment of the present invention.
Figure 28 shows a top view of the sealing flap and airfoil in the plenum of the integral tank shown in Figure 27;
Figure 29 shows a side cross-sectional view of the sealing flap and airfoil in the plenum of the integral tank shown in Figure 28;
Figure 30 is a perspective view of a sealing flap, an airfoil, and a foam / airflow wall, according to one embodiment of the present invention.
31 is a side cross-sectional view of a sealing flap and pendulum according to an embodiment of the present invention.
32 is a perspective view of a foam barrier wall in an integral tank in accordance with an embodiment of the present invention.
Figure 33 shows a schematic exploded view of a nose wheel module according to an embodiment of the present invention.
Figure 34 shows a side view of the nose wheel module of Figure 33;
Figure 35 shows a front view of the nose wheel module of Figure 33;
Figure 36 shows a series of maintenance and repair steps for maintaining, repairing and repairing an embodiment of the robot of the present invention.
37-41 illustrate steps of robot maintenance and repair as shown in Fig.
Figure 42 shows a schematic side view of a cleaning head and squeegee according to another embodiment of the present invention.
Fig. 43 shows a perspective view of the cleaning head and the squeegee shown in Fig. 42. Fig.
Figure 44 shows another schematic side view of the cleaning head and squeegee shown in Figure 42;
Figure 45 shows a third schematic side view of the cleaning head and squeegee shown in Figure 42;
46 shows a cleaning path for the mobile robot according to an embodiment of the present invention.
Figure 47 illustrates a mobile robot having left and right drive wheels positioned along the center diameter of the chassis, according to one embodiment of the present invention.
Figure 48 illustrates a mobile robot with left and right drive wheels positioned on the rear bottom of the chassis, in accordance with another embodiment of the present invention.
Figure 49 shows an offset diameter robot positioned at a distance d from the wall.
Figure 50 shows a control sequence for rotating the robot with respect to the wall.
Figure 51 illustrates a first step in a sequence for estimating wall angles, in accordance with an embodiment of the present invention.
Figure 52 shows a second stage of a sequence for estimating wall angles, in accordance with an embodiment of the present invention.
53 shows an obstacle avoidance sequence according to an embodiment of the present invention for retracting a robot from an obstacle.
54 shows a panic rotation sequence of a mobile robot according to an embodiment of the present invention.
55 shows a wheel drop response sequence of the mobile robot according to an embodiment of the present invention.
56 shows an embodiment of a brush control sequence according to the wet cleaning mobile robot.
Figure 57 shows a graph of the current drawn by the robot motor versus the time over at least one rotation cycle.
58 shows an embodiment of a sequence for semi-automatic calibration for the pump control process for a wet cleaning mobile robot.
Fig. 59 shows an embodiment of a sequence for implementing the fixing behavior for a wet cleaning robot.
60 shows an embodiment of a fluid sensing circuit diagram for a wet cleaning mobile robot.
61A illustrates one exemplary embodiment of a robot of the present invention, including an accessory.
61B shows various views of one conventional embodiment of the robot of the present invention.
62 shows an embodiment of a control panel and user interface used in an embodiment of the robot.
63 shows another embodiment of a control panel and user interface used in an embodiment of the robot.

Referring now to the drawings in which like reference numerals represent corresponding or similar elements throughout the several views, FIG. 1 shows a perspective view showing an outer surface of an automatic cleaning robot 100 according to a preferred embodiment of the present invention. The robot 100 is comprised of a cylindrical volume having a generally circular cross-section 102 having a top surface and an opposed bottom surface that is substantially parallel to the top surface. The circular cross section 102 is defined by three mutually orthogonal axes, a central vertical axis 104, a longitudinal axis 106, and a transverse axis 108. The robot 100 is movably supported on a surface to be cleaned, hereinafter referred to as a cleaning surface. The cleaning surface is substantially horizontal.

The robot 100 is supported in a rolling contact with the cleaning surface by a plurality of wheels or other rolling elements attached to the chassis 200 generally. In the preferred embodiment, the longitudinal axis 108 defines a travel axis in which the robot is advanced on the cleaning surface. The robot is generally advanced in the forward or forward direction indicated by F during the cleaning operation. The opposite direction of movement (i. E. 180 degrees) is indicated by A to the rear. The robot is generally not advanced in the backward direction during the cleaning operation, but can be advanced in the rearward direction to avoid the object or to exit from the corner. The cleaning operation can be continued or stopped during the rearward operation. The abscissa 108 is further defined by the sign R for the right side and the sign L for the left side as seen from the plan view of Fig. In the following figures, the R and L directions remain consistent with the plan view, but can be reversed on printed paper. In a preferred embodiment of the present invention, the diameter of the robot circular cross-section 102 is approximately 370 mm (14.57 inches) and the height of the robot 100 on the cleaning surface is approximately 85 mm (3.3 inches). However, the automatic cleaning robot 100 of the present invention may be formed with other cross-sectional diameter and height dimensions, as well as other cross-sectional shapes such as squares, rectangles, and triangles, and volumetric shapes such as cubes, rods, and pyramids .

The robot 100 may include an unshown user input control panel disposed on an exterior surface, e.g., an upper surface, and one or more user manipulation actuators disposed on the control panel. Operation of the control panel actuator by the user generates an electrical signal, which is interpreted and initiates the command. The control panel may also include one or more mode status indicators, such as a visual or audible indicator that can be recognized by the user. In one example, the user can set the robot on the cleaning surface and actuate the control panel actuator to start the cleaning operation. In another example, the user may actuate the control panel actuator to stop the cleaning operation.

Fig. 21 shows a tank 800, a battery 201, a robot body 200, and a cleaning head 600 in the robot body 200, which are four main modules arranged in a substantially normal manner. The robot itself supports the battery 201 in the battery socket, and the integral tank 800 is supported on the top of the robot and the battery 201. The inner lower surface of the tank 800 and the inner upper surface of the robot body 200 are configured to substantially conform to the shape of the battery 201. [ As described herein, the battery 201 can be replaced by moving the tank 800 to its lever position on its pivot, without necessarily raising or removing the tank 800. 21, the cleaning head 600 can be inserted from the right side of the robot in a sliding movement without removing the tank 800 or the battery 201, and in this configuration, The robot can be removed from the robot body 200 for cleaning. Fig. 21 also shows the control panel 330 for the robot described below.

As shown in FIG. 21, the tank 800 has a handle as described in detail herein, which has a stop-and-click lock, slightly raised from the tank when raised, and otherwise described. When the tank 800 is mounted on the body 200, this handle is for the entire robot. When the tank 800 is removed from the robot, this handle is for the tank 800 only. However, a second handle, which is an indentation under the control panel 330, is formed in the robot body, as shown in Fig. Thus, when the tank 800 and the base unit 200 are separated, each has its own handle. When the tank 800 and the base unit 200 are reintegrated, the main handle serves to carry both of them. When the same handle is pressed in one direction it is a latch for tank removal and an interlock against removal when held in the other direction.

Exemplary cleaning system

Referring now to FIG. 2, the automatic robot 100 includes a plurality of cleaning modules supported on the chassis 200 to clean a substantially horizontal cleaning surface when the robot is running on the cleaning surface. The cleaning module extends under the robot chassis 200 and contacts or otherwise operates on the cleaning surface during the cleaning operation. More specifically, the robot 100 is constructed with a first cleaning area A for collecting free particles from the cleaning surface and storing free particles in a receptacle held by the robot. The robot 100 is also configured with a second cleaning zone B that at least applies a cleaning fluid onto the cleaning surface. The cleaning fluid may be clean water or clean water mixed with other components to improve cleaning. The application of the cleaning fluid serves to dissolve, emulsify, or otherwise react the contaminants on the cleaning surface to separate the contaminants from the cleaning surface. The contaminants may be suspended or otherwise combined with the cleaning fluid. After the cleaning fluid has been applied on the surface, it is mixed with the contaminants, resulting in a waste material, for example a liquid waste material having contaminants suspended or otherwise contained therein.

The bottom surface of the robot 100 is shown in Fig. 2 showing a first cleaning area A disposed in front of the second cleaning area B with respect to the front-rear axis 106. Fig. Therefore, the first cleaning area A precedes the second cleaning area B on the cleaning surface when the robot 100 travels in the forward direction. The first and second cleaning areas are generally configured with a cleaning width W oriented parallel or substantially parallel to the transverse axis 108. The cleaning width (W) defines the cleaning width or cleaning area of the robot. When the robot 100 advances on the cleaning surface in the forward direction, the cleaning width is the width of the cleaning surface cleaned by the robot by one pass. Ideally, the cleaning width extends across the entire lateral width of the robot 100 in order to optimize cleaning efficiency, but in practical implementation, the cleaning width is dependent on the robot lateral width < RTI ID = 0.0 > .

According to the present invention, the robot 100 traverses the cleaning surface in a forward direction on the cleaning path, with both cleaning areas operating simultaneously. In the preferred embodiment, the nominal forward speed of the robot is about 12.07 cm (4.75 inches) per second, but the robot and the cleaning device can be configured to clean at a faster and slower front speed. In order to cover the room within a reasonable amount of time, the appropriate speed range is approximately 5.08 to 25.40 cm (2 to 10 inches) per second. The first cleaning zone A precedes the second cleaning zone B on the cleaning surface and collects free particles from the cleaning surface across the cleaning width W. [ The second cleaning zone (B) applies cleaning fluid across the cleaning surface (W) onto the cleaning surface. The second cleaning zone may also be configured to smoothen the cleaning fluid onto a more uniform layer and smear the cleaning fluid applied onto the cleaning surface to mix the cleaning fluid with the contaminants on the cleaning surface. The second cleaning zone B may also be configured to rub the cleaning surface across the cleaning width. The rubbing action stirs the cleaning fluid and mixes it with the contaminants. The rubbing action also applies a shear force against the contaminants, separating the contaminants from the cleaning surface. The second cleaning zone B can also be configured to collect waste liquid from the cleaning surface across the cleaning width. According to the present invention, a single pass of the robot on the cleaning path first collects free particles from the cleaning surface across the cleaning width, and then generally removes the cleaning width (W) to interact with the remaining contaminants on the cleaning surface A rubbing action may be applied to apply the cleaning fluid across the cleaning surface, and to separate contaminants from the cleaning surface. A single pass of the robot 100 on the cleaning path can also smear the cleaning fluid more evenly on the cleaning surface. A single pass of the robot on the cleaning path can also collect waste liquid from the cleaning surface. However, the robot can be designed to leave a certain amount of liquid (e.g., to provide time for the cleaning fluid to act on dried material or stubborn stains) after a single pass or several passes.

In general, the cleaning robot 100 can be used to clean a hard floor surface of a carpet unfolded interior, such as tiles, wood, vinyl, linoleum, smooth stone or concrete, and other manufactured floors that are not excessively abraded And is configured to clean the floor covered with the covering layer. However, other embodiments can be adapted to clean, process, process, or otherwise traverse abrasive, liquid-absorbent, and other surfaces. Further, in the preferred embodiment of the present invention, the robot 100 is configured to automatically run on the floor of a small closed, furnished room, as is typical in residential and small commercial buildings. The robot 100 is not required to operate on a predetermined cleaning path but can move substantially over the entire cleaning surface area under the control of various operating algorithms designed to operate regardless of the shape of the compartment or the obstacle distribution. Particularly, the robot 100 of the present invention is classified into three basic working modes: (1) a "partial-cover" mode, (2) a "wall / obstacle follow" mode, and (3) Travels on the cleaning path according to pre-programmed procedures implemented in hardware, software, firmware, or a combination thereof to implement various modes, such as movement patterns, Also, the robot 100 is pre-programmed to initiate an action based on a signal received from an integrally incorporated sensor, and such action may include one of either the movement pattern, the emergency stop of the robot 100, or the generation of an audible alarm But are not limited to, This mode of operation of the robot of the present invention is specifically described in U.S. Patent No. 6,809,490, entitled " Method and System for Multi-Mode Coverage for an Automatic Robot, " Jones et al. Quot; is incorporated herein by reference in its entirety. However, this specification also describes alternative working modes.

In one embodiment, the robot 100 is configured in one-time cleaning operation to clean the cleaning surface of approximately ^{13.94 m 2 (150 ft 2)} . Larger or smaller tanks may allow it to be in the range of 9.29 m ² (100 ft ² ) to 37.16 m ² (400 ft ² ). The cleaning operation time is approximately 45 minutes in certain embodiments. An example of 45 minutes is from a single battery. In embodiments that are smaller, larger, or have two or more batteries, the cleaning time may range from about 20 minutes to about 2 hours. Thus, the robotic system can be used for autonomous automatic cleaning (physically and programmed) for more than 45 minutes without needing to recharge the supply, refill the supply of cleaning fluid, or empty the waste material collected by the robot ). Although a particular embodiment of the robot is designed for a small area room, there is no minimum square foot or cleaning time. The robot according to the present invention can be constructed with tanks of substantially any size.

As shown in FIGS. 2 and 3, the robot 100 includes a plurality of subsystems mounted on the robot chassis 200. The main robot subsystem is schematically illustrated in FIG. 4, which shows the master control module 300 interconnected for two-way communication with each of a plurality of other robot subsystems. The interconnections of the robotic subsystems are provided through interconnected wires and / or conductive elements, such as a network of conductive paths formed on an integrated printed circuit board or the like. The master control module 300 includes a programmable or preprogrammed digital data processor, such as a microprocessor, for performing program steps, algorithms, and / or mathematical and logical tasks, as may be desired. The master 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 master control module 300 also includes one or more clock elements for generating a timing signal, as may be desired.

The power module 310 delivers power to the entire main robot subsystem. The power module includes a rechargeable battery such as a self-contained power source attached to the robot chassis 200, such as a nickel metal hybrid battery. Also, the power source may be configured to be charged by one of various charging elements and / or charging modes, or may be replaced by a user when the battery is discharged or disabled. The master control module 300 may also connect to the power module 310 to control power distribution, monitor power usage, and initiate a power saving mode, as required.

The robot 100 may also include one or more interface modules or elements 320. Each interface module 320 is attached to the robot chassis to provide interconnecting elements or ports to interconnect with one or more external devices. The interconnecting element and port are preferably accessible on the outer surface of the robot. The master control module 300 may also be connected to the interface module 320 to control the interaction of the robot 100 with an external device. In particular, one interface module element is provided for charging the rechargeable battery via an external power source or power source, such as a universal AC or DC power outlet. Other interface module elements can be configured for one-way or two-way communication over a wireless network, and additional interface elements can be used to communicate, for example, to fill the flushing fluid reservoir or to drain or empty the waste material container, To replace one or more mechanical devices.

Thus, the interface module 320 may include a plurality of interface ports and connection elements for connecting with active external elements to exchange work orders, digital data, and other electrical signals. The interface module 320 may also be connected to one or more mechanical devices to exchange liquid and / or solid materials. The interface module 320 may also be connected to an external power source to charge the robot power module 310. An active external device for connection with the robot 100 may be a stand-alone docking station, a portable remote control, a local or remote computer, a modem, a portable memory device for exchanging code and / or data with the robot, But is not limited to, a network interface for connecting the apparatus and the robot 100. The interface module 320 may also include a passive element, such as a hook and / or latching mechanism, for attaching the robot 100 to a wall for storage 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 constrains the robot 100 in a cleaning space such as a room by emitting radiation of a virtual wall pattern. The robot 100 is configured to detect a virtual wall pattern and is programmed to treat the virtual wall pattern as a wall so that the robot does not pass the virtual wall pattern. This particular aspect of the invention is specifically described in U.S. Patent No. 6,690,134 to Jones et al., Entitled " Method and System for Robot Position Measurement and Restraint ", the entire disclosure of which is incorporated herein by reference in its entirety .

Another active external device according to another aspect of the present invention includes a robot base station used to connect with a robot. The base station may include a fixed unit connected to a residential power supply, for example an AC power wall outlet, and / or other household equipment such as a water supply pipe, a waste drain pipe, and a network interface. According to the present invention, the robot 100 and the base station are each configured for automatic docking, and the base station can also be configured to charge the robot power module 310 and repair the robot in other ways. The base station and the autonomous robot, which are configured to automatically dock and charge the robot power module, are described in co-pending US patent application entitled " Automatic Robot Automatic Docking and Energy Management System and Method " filed on January 21, 2004, 10 / 762,219, the entire disclosure of which is incorporated herein by reference in its entirety.

The automatic robot 100 includes a self-contained motorized driving subsystem 900, which will be described in detail below. The driving drive 900 includes three wheels extending under the chassis 200 to provide three-point rolling support to the cleaning surface. A pair of drive wheels are attached to the chassis 200 at the rear of the transverse shaft 108 and parallel to the transverse axis 108. The drive wheel is attached to the robot chassis 200 at a front edge thereof coaxially with the longitudinal axis 106, And is rotatable with respect to one drive shaft. Each drive wheel is separately driven and controlled to advance the robot in a desired direction. Further, each drive wheel is configured to provide sufficient drive friction when the robot is operating on a cleaning surface wetted with cleaning fluid. The nose wheel is configured to be automatically aligned with the direction of travel. The drive wheels can be controlled to move the robot 100 back and forth in a straight line or along an arcuate path.

The robot 100 further includes a sensor module 340. The sensor module 340 includes a plurality of sensors attached to the chassis and / or integrated with the robot subsystem to sense external conditions and sense internal conditions. In response to sensing various states, the sensor module 340 may generate an electrical signal to communicate the electrical signal to the control module 300. The individual sensors detect walls and other obstacles, detect falls in cleaning surfaces called cliffs, detect dirt on the floor, detect low battery power, detect empty cleaning fluid containers, detect full waste material containers To detect or detect nose wheel rotation or cliff fall, to detect cleaning system problems such as rotating brush stop or vacuum system clogging, to detect ineffective cleaning, cleaning surface type, System state, temperature, and many other conditions. In particular, the sensor module 340 of the present invention and various aspects of its operation are described in more detail in U.S. Patent No. 6,594,844 to Jones, entitled " Robot Obstacle Detection System " U.S. Patent Application No. 11 / 166,986, filed June 24, 2005, entitled " Sensor Plan for Obstacles for Mobile Robots ", the entire disclosure of which is incorporated herein by reference in its entirety .

One difference between this robot and dry vacuum robots or large industrial cleaners is the proximity to the wet cleaning components of the control and sensor components. In most dry vacuum robots, the sensor or control element is not wetted by water or a more dangerous cleaning fluid or solvent because no wet cleaner is used and no waste fluid is generated. In an industrial vacuum cleaner, the controls and sensors can be located as far as necessary from the cleaning element, as many as a few feet, and the sensors that need to contain moisture are only for sensing the fluid level.

The present invention is contemplated for domestic use (commercial and industrial applications are also contemplated, but such an environment may require a larger robot). Thus, home robots should be small and flat, for example, less than 10.16 cm (4 inches) from the ground and about 30.48 cm (1 foot) in diameter. Much of the volume is occupied by brushing, spinning, jetting, and blowing devices, and fluid and / or foam penetrates most of the robot once or several times. At most, the control and sensor electronics will be several inches from the nearest fluid or bubble flow.

Thus, the present invention contemplates that the entire main control board is considered to be fluid sealed within a water-resistant or water-resistant housing having at least a JIS grade 3 (middle jet) water / fluid resistance, but the grade 5 (strong jet) . The main control board can be (1) screwed onto the main housing and closed by a cover, (2) welded, caulked, sealed, or glued to the main housing, (3) waterproof, Or (4) in a suitable volume for sealing or pre-sealing in a resin or the like, in a JIS Grade 3-7 housing.

Many sensor elements sometimes have local microcircuits and / or local small circuit boards with A / D converters, etc., and these components are often fluid and corrosion sensitive. The present invention also contemplates that any sensor circuit board distributed throughout the body of the robot may be sealed in a JIS Class 3-7 housing in a similar manner. The present invention also contemplates that multiple circuit boards, including at least one main circuit board and one remote circuit board several inches from the main board, may be sealed by a single mating housing or cover. For example, all or part of the circuit board may be arranged in a single plastic or resin module having an extension reaching the local sensor site, and the distributable cover may be fixed over the entire circuit board. Also, exposed electrical connections and terminals of sensors, motors, or communication lines may be sealed in a similar manner, as covers, modules, encapsulation, shrink fitting, gaskets, and the like. In this manner, a substantially whole electrical system is fluid-tightly sealed and / or isolated from spraying or bubbling liquid. Any and all electrical or electronic components defined herein as circuit boards, PCBs, detectors, sensors, etc., are candidates for such encapsulation.

The robot 100 may also include a user control module 330. The user control module 330 provides one or more user input interfaces for generating electrical signals in response to user inputs and forwards the signals to the master control module 300. In one embodiment of the invention, the user control module described above provides a user input interface, but the user can enter commands via a portable remote control, a programmable computer, or other programmable device, or via voice commands . The user can change the cleaning mode, change the cleaning mode, set the cleaning time, set cleaning parameters such as start time and duration, and / or many other user-initiated commands to initiate actions such as power on / off, To program, a user command can be entered. User input commands, functions, and components contemplated for use in the present invention are described in Dubrovsky et al., Filed Jun. 24, 2005, entitled "Remote Control Scheduler and Method for Automatic Robotic Devices." US patent application Ser. No. 11 / 166,891, which is hereby incorporated by reference in its entirety. Specific modes of user interaction are also described herein.

Cleaning area

Referring now to Figure 2, the lower side of the robot chassis 200 is shown in a perspective view. As shown, the first cleaning area A is disposed in front of the second cleaning area B with respect to the front and rear shaft 106. Therefore, when the robot 100 is driven in the forward direction, the first cleaning area A precedes the second cleaning area B on the cleaning surface. Each cleaning zone A, B has a cleaning width W arranged substantially parallel to the transverse axis 108. Ideally, the cleaning widths of the respective cleaning areas are substantially the same, but the actual cleaning widths of the cleaning areas A, B may be slightly different. According to a preferred embodiment of the present invention, the cleaning width W is substantially equal to the second cleaning zone B (B) extending from the proximity to the right circumferential edge of the lower surface of the robot chassis 200 substantially parallel to the transverse axis 108 ) And is approximately 296 mm or 11.7 inches long, i.e., approximately 30 cm or 12 inches long. By locating the cleaning zone B proximate the right circumferential edge, the robot 100 can steer its right circumferential edge near the wall or other obstacle to clean the cleaning surface adjacent to the wall or obstacle. Thus, the robot movement pattern includes an algorithm for driving the right side of the robot 100 adjacent to each wall or obstacle the robot meets during the cleaning cycle. Therefore, the robot 100 is referred to as having a dominant right side. Of course, the robot 100 may instead be formed with a dominant left side. The first cleaning area A is located in front of the transverse axis 108 and has a cleaning width that is slightly narrower than the second cleaning area B because of the circumferential shape of the robot 100 simply. However, any cleaning surface area not cleaned by the first cleaning area A is cleaned by the second cleaning area B.

1st cleaning zone or dry vacuum cleaning

The first cleaning zone A is configured to collect free particles from the cleaning surface. In a preferred embodiment, an air jet is generated by an air movement system comprising an air jet port 554 disposed on the left edge of the first cleaning area A. [ The air jet port 554 discharges a continuous jet or stream of pressurized air therefrom. An air jet port 554 is oriented to direct air jets from left to right across the cleaning width. An air intake port 556 is disposed on the right edge of the first cleaning area A, opposite the air jet port 554. As used herein, an "air intake port" may mean "vacuum port "," air inlet ", " The air movement system generates negative air pressure within the conduit connected to the intake port 556, which creates a negative air pressure zone proximate the intake port 556. [ The negative air pressure zone sucks the free particles and air into the air intake port 556 and the air movement system is also configured to store the free particles in the waste material container held by the robot 100. Accordingly, the pressurized air discharged from the air jet port 554 moves across the cleaning width in the first cleaning area A and flows toward the clean air surface toward the negative air pressure area near the air intake port 556 Move free particles. The free particles are sucked from the cleaning surface through the air intake port 556 and stored in the waste material container held by the robot 100. [ The first cleaning area A is also defined by a substantially rectangular channel formed between the air jet port 554 and the air intake port 556. [ The channel is defined by the opposed front and rear walls of the rectangular recessed area 574, which is an outer contour formed within the lower surface of the robot chassis 200. The front and rear walls are substantially transverse to the longitudinal axis 106. The channel may also be attached to the robot chassis 200 along, for example, the rear edge of the recessed region 574, to provide a first compliance "doctor" ) Blades 576. As shown in Fig.

The doctor air flow guide blades are mounted in contact with or in close contact with the cleaning surface. The doctor air flow guide blade 576 is preferably formed from a thin, flexible and compliant molding material, such as 1 to 2 mm thick rod-shaped elements molded from neoprene rubber or the like. At least a portion of the doctor air flow guide blade 576 or the doctor air flow guide blade may be coated with a low friction material, such as a fluoropolymer resin, to reduce friction between the doctor air flow guide blade and the cleaning surface. The doctor air flow guide blades 576 may be attached to the robot chassis 200 by adhesive bonding or other suitable means. The air guide blades 576 toward the rear of the robot are angled with respect to the running direction from about 95 to 120 degrees from the running direction. The end of the blade 576 closest to the vacuum port 556 is farthest backward. Thus, when the robot moves forward, the debris tends to move along the angled blade 576. [ As shown in FIG. 2, the angled guide blades 578 are oriented substantially toward the vacuum inlet in such a manner that the vacuum inlet draws air and debris along the front side of the smaller angled guide blades 578. The small dry vacuum blade is positioned to deflect a light object blowing past the suction port toward the suction port being re-injected. It also leads large objects back to these ports.

The front caster wheel in the vicinity of the front of the robot, as shown in Fig. 2, is limited to a lateral running of approximately 180 [deg.]. However, certain embodiments may benefit from a larger range of motion. For example, the criteria for a particular embodiment of the front casters is 360 ° (free movement) or less than 180 ° (limited but reversible movement), but typically 160-170 ° for a commercial embodiment. A specific range of movement of the caster wheel may cause the wheel to lock during reverse travel.

The channel of the first cleaning zone A provides an increased volume between the cleaning surface and the lower surface of the robot chassis 200 localized in the first cleaning zone A. [ The increased volume directs the air flow between the jet port 554 and the air intake port 556 and the doctor air flow guide blade 576 causes the free particles and the air flow to flow in the first cleaning zone A To prevent escape. In addition to guiding the air jets and free particles across the cleaning width, the first doctor air flow guide blade 576 is also positioned on the cleaning surface to assist in separating contaminants from the cleaning surface as the robot moves in a forward direction Friction can be applied to contaminants. The first compliant doctor air flow guide blade 576 is sufficient to adapt its profile shape to conform to the discontinuity in the cleaning surface, such as door leaf, molding, and decorative pieces, without interfering with the forward running of the robot 100 And is configured to be compliant.

The second compliant doctor air flow guide blade 578 may also be disposed in the first cleaning area A to guide air jets toward the sound pressure area surrounding the air intake port 554. [ The second compliant doctor air flow guide blade is similar in construction to the first compliant doctor air flow guide blade 576 and is attached to the lower surface of the robot chassis 200 to guide air and free particles moving through the channel . In one example, a second recessed area 579 is formed in the lower surface of the chassis 200, and the second compliant doctor air flow guide blade 576 is formed generally at 30-60 degrees relative to the transverse axis 108 And protrudes into the first recessed region 574 at an acute angle. The second compliant air flow guide blade extends from the front edge of the recessed region 574 and projects into the channel at approximately one-third to one-half of the longitudinal dimension of the channel.

The first cleaning zone A traverses the cleaning surface along the cleaning path and collects free particles along the cleaning width. By collecting the free particles before the second cleaning zone B passes over the cleaning path, the free particles are collected before the second cleaning zone B applies the cleaning fluid onto the cleaning surface. One advantage of removing free particles by the first cleaning zone is that they are removed when the free particles are dried. If the free particles absorb the cleaning fluid applied by the second cleaning zone, this is more difficult to collect. In addition, the cleaning fluid absorbed by the free particles can not be used to clean the surface, and thus the cleaning efficiency of the second cleaning area B may deteriorate. The first cleaning zone generally relieves the user of splashing work before mopping, and is generally pretreatment. However, in an alternative configuration, the first cleaning zone is a dry vacuum that can be operated away from the wet cleaning function of the robot. Moreover, in such a case, the first cleaning zone may have rotating brushes or counter rotating brushes, or may use only brushes that are not brush-vacuum.

In another embodiment, the first cleaning area may be configured with other cleaning elements, such as opposing rotating brushes, extending across the cleaning width to sweep the free particles into the receptacle. In another embodiment, the air movement system may be configured to draw air and free particles through an elongated air intake port extending across the cleaning width from the cleaning surface. In particular, another embodiment that can be used to provide a first cleaning zone according to the present invention is disclosed in U.S. Patent No. 6,883,201, entitled " Automatic Floor Cleaning Robot " by Jones et al. ≪ / RTI > incorporated herein by reference.

Fig. 22 shows elements similar to those shown in Fig. Several alternative terms are used in the following description. 22 includes a main electric board 300, a "cam" driven pump 706, a front caster 960, an IR " A stub circuit board 300a, a reed switch PCB 300b, a charging plug PCB 300c for receiving a battery charging cord, which detects an indication that the robot can be stuck when not rotating together, A battery connecting blade 777 connected to the battery, a board gasket / seal 301 which is lined with a cover for watering the board 300 by lining the edge of the board 300, a bumper 220, a main chassis 200 A wet cleaning head motor and drive train 608 positioned substantially in line with the wet cleaning head, a left drive train / wheel assembly 909 (showing a deflection spring, suspension, integrated oil or other gear train) A right-hand drive column / wheel assembly 908 (similarly arranged), a dual- (Not shown) for the fan assembly (with sufficiently small pores and surfaces configured to prevent particles and most of the water from entering the fan assembly), first or left firing nozzles 712, The second or right injection nozzle 714, the nozzle tube for the right injection nozzle, the fan assembly 502, the inner cover of the robot body, and the wire clip for fixing the inner cover to the chassis.

The stuck circuit board 300a, the reed switch PCB 300b, and the charging plug 300c are components that may or may not be water-resistant or water-resistant by the structure described herein. These PCBs shown in Fig. 22 tend to be positioned to support the associated sensors and electronic components.

The dry vacuum part may have a main cleaning brush for sweeping dust into a small dust container. The barrel may be mounted in front of the brush or rearward (with appropriate deformation to the brush cover). In addition to covering the floor with thin water films that evaporate and increase relative humidity, ducts for vacuum exhaust can be induced to constantly blow air across water in dirty or clean tanks. The air leaving the dirty or clean tank tends to have a higher relative humidity than the air entering it, further increasing the humidity of the room and, if the cleaning fluid adds directionality, it can be blown into the room.

Second cleaning zone or wet cleaning head

The second cleaning zone B comprises a liquid applicator 700 (additionally or alternatively, a spray head and / or a sprayer) configured to apply a cleaning fluid onto the cleaning surface, Is evenly applied across the cleaning width. The liquid applicator 700 includes at least one nozzle attached to the chassis 200 and configured to dispense the cleaning fluid onto the cleaning surface. The second cleaning zone B may also include a rubbing module 600 (additionally or alternatively, an electric brush) for performing another cleaning operation across the cleaning width after the cleaning fluid has been applied onto the cleaning surface . The rubbing module 600 may include an applicator element disposed across the cleaning width to smear the cleaning fluid and distribute it more evenly on the cleaning surface. The second cleaning zone B may also include a passive or active rubbing element, a rubbing brush, a wiper, or a wiping cloth configured to rub the cleaning surface across the cleaning width. The second cleaning zone B may also include a second collection device (additionally or alternatively, a wet surface or a wet vacuum towards the wet brush) configured to collect waste material from the cleaning surface across the cleaning width And the second collection device is particularly adapted to collect liquid waste material.

Liquid applicator module or dispense head

The liquid applicator module 700, shown schematically in Figure 5, is configured to apply an amount of cleaning fluid measured on the cleaning surface across the cleaning width. As used herein, a "liquid ejector module" may mean "nozzle", "ejection head", and / or "sprayer brush / wiper". Alternatively, the liquid applicator module may apply fluid to the floor, brush, roller, or pad by spraying directly on the floor, spraying onto a fluid bearing brush or roller, or by drop or capillary action. The liquid applicator module 700 receives the supply of the cleaning fluid from the cleaning fluid supply container S held on the chassis 200 and pumps the cleaning fluid through one or more injection nozzles disposed on the chassis 200 . The spray nozzles are attached to the robot chassis 200 at the rear of the first cleaning zone A, and each nozzle is oriented to apply the cleaning fluid onto the cleaning surface. In a preferred embodiment, a pair of spray nozzles are attached to the robot chassis 200 at the distal left and right corners of the cleaning width W. [ Each nozzle is oriented to inject a cleaning fluid toward the opposite end of the cleaning width. Each nozzle is separately pumped to eject the spray pattern, and the pumping stroke of each nozzle occurs at approximately 180 degrees out of phase with respect to the other nozzle, so that one of the two nozzles always applies the cleaning fluid.

5, a liquid applicator module 700 is held by a chassis 200 (and / or a compartment in an integral tank) and is provided with a cleaning fluid supply container (not shown) removable by a user to fill the container with cleaning fluid S) (alternatively, the vessel S is filled with water and the washing concentrate is fed from another compartment, or as a solid or powder). The supply vessel S is configured with a drain or discharge opening 702 formed through its base surface. Fluid conduit 704 receives the cleaning fluid from the discharge opening 702 and delivers a supply of the cleaning fluid to the pump assembly 706. The pump assembly 706 includes left and right pump portions 708,710 that are driven by the rotating cams shown in FIG. The left pump portion 708 pumps the cleaning fluid via the conduit 716 to the left injection nozzle 712 and the right pump portion 710 pumps the cleaning fluid via the conduit 718 to the right injection nozzle 714 do.

The stop valve assembly, shown in cross-section in FIG. 6, includes a female upper portion 720 disposed within the supply vessel S, and a male portion 721 attached to the chassis 200. The female portion 720 closes and seals the discharge opening 702 at normal times. The male portion 721 opens the discharge opening 702 to provide access to the cleaning fluid within the supply vessel S. The female portion 720 includes an upper housing 722, a spring biased movable stop 724, a compression spring 726 for biasing the stop 724 to the closed position, and a gasket (not shown) for sealing the discharge opening 702 728). The upper housing 722 can also support the filter element 730 within the supply vessel S to filter contaminants from the cleaning fluid before the fluid exits the supply vessel S. [

The stop valve assembly male portion 721 includes a hollow male fitting 732 inserted into the discharge opening 702 and formed to penetrate the gasket 728. The insertion of the hollow male fitting 732 into the discharge opening 702 forces the movable stop 724 upward against the compression spring 726 to open the stop valve. The hollow male fitting 732 is formed with a flow tube 734 along its central longitudinal axis and the flow tube 734 is formed with one or more openings at its uppermost end for receiving the flush fluid into the flow tube 734 735). At its lower end, the flow tube 734 is in fluid communication with a hose fitting 736 attached to or integrally formed with the male fitting 732. The hose fitting 736 includes a tubular element having a hollow fluid passageway 737 therethrough and is attached to a hose or fluid conduit 704 that receives fluid from the hose fitting 736, Lt; / RTI > The flow tube 734 may also include a user removable filter element 739 installed therein to filter the cleaning fluid as it exits the supply container S. [

According to the present invention, the stop valve male portion 721 is fixed to the chassis 200 and engaged with the female portion 720 fixed to the container S. [ When the container S is installed on the chassis in its operative position, the male portion 721 engages the female portion 720 and opens the discharge opening 702. [ The supply of the cleaning fluid may flow from the air container S to the pump assembly 706 and the flow may be assisted by gravity or inhaled by the pump assembly, or both.

The hose fitting 736 further comprises a pair of electrically conductive elements (not shown) disposed on the interior surface of the hose fitting fluid flow passage 737 and the pair of conductive elements within the flow chamber are electrically isolated from each other. When a measuring circuit, not shown, generates a potential difference of a pair of electrically conductive elements and current flows through the cleaning fluid from one electrode to the other electrode when a cleaning fluid is present in the flow path 737, Lt; / RTI > When the container S is empty, the measuring circuit does not sense the current flow and, in response, sends a supply vessel exhaustion signal to the master controller 300. In response to receiving the supply vessel exhaustion signal, master controller 300 takes appropriate action.

A pump assembly 706 as shown in FIG. 5 includes a left pump portion 708 and a right pump portion 710. Pump assembly 706 receives a continuous flow of cleaning fluid from supply container S and alternately delivers cleaning fluid to left nozzle 712 and right nozzle 714. FIG. 7 illustrates pump assembly 706 in a cross-sectional view, and pump assembly 706 is shown mounted on the upper surface of chassis 200 in FIG. The pump assembly 706 includes a cam element 738 mounted on the motor drive shaft to rotate relative to the rotation axis. A motor, not shown, rotates the cam element 738 at a substantially constant angular velocity under the control of the master controller 300. However, the angular velocity of the cam element 738 can be increased or decreased to change the pumping frequency of the left and right injection nozzles 712, 714. In particular, the angular velocity of the cam element 738 controls the mass flow rate of the cleaning fluid applied onto the cleaning surface. According to one aspect of the present invention, the angular velocity of the cam element 738 can be adjusted in proportion to the robot advancing speed to apply a uniform volume of cleaning fluid onto the cleaning surface, regardless of the robot speed. Alternatively, a change in the angular velocity of the cam element 738 may be used to increase or decrease the mass flow rate of the cleaning fluid applied over the cleaning surface as desired.

The pump assembly 706 includes a rocker element 761 mounted to pivot relative to the pivot axis 762. The rocker element 761 includes a pair of opposed cam follower elements, which are 764 on the left side and 766 on the right side. Each cam follower 764, 766 remains in constant contact with the circumferential profile of the cam element 738 as the cam element rotates about its rotational axis. The rocker element 761 further includes a left pump actuator link 763 and a right pump actuator link 765. Each pump actuator link 763, 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, the rotation of the cam element 738 applies a force to each of the cam follower elements 764 and 766 to follow the cam peripheral profile, and the movement determined by the cam profile is transmitted to the rocker element 761 To the respective left and right actuator nipples 759 and 758, respectively. As described below, movement of the actuator nipple is used to pump the cleaning fluid. The cam profile is formed in particular so that the rocker element 761 applies a downward force to the right actuator nipple 758 and simultaneously lifts the left actuator nipple 759 and this action occurs during the first 180 占 of the cam. Alternatively, the second 180 [deg.] Of cam rotation causes the rocker element 761 to apply a downward force to the left actuator nipple 759 while simultaneously raising the right actuator nipple 758. [

The rocker element 761 further includes a sensor arm 767 that supports a permanent magnet 769 attached to its end. A magnetic field generated by the magnet 769 interacts with an electric circuit 771 held close to the magnet 769, and the circuit generates a signal in response to a change in magnetic field orientation. The signal is used to track the operation of the pump assembly 706.

7-9, the pump assembly 706 further includes a flexible thin film 744 mounted between opposing upper and lower, non-flexible elements 746, 748, respectively. 7, flexible element 744 is captured between upper non-rigid element 746 and lower non-rigid element 748. The upper non-rigid element 746, the flexible element 744, and the lower non-rigid element 748 are each formed as a substantially rectangular sheet having a substantially uniform thickness. However, each element also includes a pattern of raised ridges and indented valleys, and other surface contours formed on the opposing surface. Fig. 8 shows a top view of the flexible element 744, and Fig. 9 shows a top view of the undersheet non-flexible element 748. Fig. Flexible element 744 is formed from a flexible thin film material such as neoprene rubber or the like, and non-flexible elements 748 and 746 are formed from a rigid rigid material such as rigid plastic or the like, each of which is moldable.

As shown in Figures 8 and 9, each flexible element 744 and the non-flexible element 748 are symmetrical about the central axis indicated by E in the Figure. In particular, the left side of each element 746, 744, 748 is combined to form the left pump portion, and the right side of each element 746, 744, 478 is combined to form the right pump portion. The left and right pump parts are substantially the same. When the three elements are assembled together, the rising ridge, the indented bone, and the surface contour of each element cooperate with the rising ridge, the indented bone, and the surface contour of the contact surface of the other element to create fluid wells and passages . Wells and passageways may be formed between the upper element 746 and the flexible element 744 or between the lower non-flexible element 748 and the flexible element 744. In general, the flexible element 744 acts as a gasket layer for sealing the well and the passageway, and its flexibility is responsive to pressure changes to seal and / or open the passageway in response to local pressure changes when the pump is operating . In addition, the holes formed through the elements allow fluid to flow into and out of the pump assembly and to flow through the flexible element 744.

Using the right pump portion illustratively, the cleaning fluid is sucked into the pump assembly through openings 765 formed in the center of the lower, non-flexible element 748. The opening 765 receives the cleaning fluid from the fluid supply vessel via conduit 704. The inflow fluid fills the passageway (766). The ridges 775 and 768 form a corrugation therebetween and the mating rising ridge on the flexible element 774 fills the ridge between the ridges 775 and 768. This confines the fluid within passageway 766 and pressurizes the passageway. The opening 774 passes through the flexible element 744 and is in fluid communication with the passageway 766. When the pump chamber described below expands, the expansion reduces the local pressure, which in turn draws fluid into the passageway 776 through the opening 774.

The fluid aspirated through opening 774 fills well 772. Well 772 is formed between flexible element 744 and upper non-rigid element 746. A ridge 770 surrounds the well 772 and mates with the features of the upper flexible element 746 to contain fluid in the well 772 and pressurize the well. The surface of the well 772 is flexible so that when the pressure in the well 772 decreases, the base of the well is raised to open the opening 774 and inhale the fluid through the opening 774. However, as the pressure in the well 772 increases due to the contraction of the pump chamber, the opening 774 is subjected to a force against the elevated stop surface 773 directly aligned with the opening and the opening and well 772 . A second opening 776 passes through the flexible element 744 to allow fluid to flow from the well 772 through the flexible element 744 into the pump chamber. A pump chamber is formed between the flexible element 744 and the lower, non-flexible element 748.

Referring to Figure 7, a right pump chamber 752 is shown in cross-section. Chamber 752 includes a domed bend formed by annular loop 756. The dome bend is the surface contour of the flexible element 744. The annular loop 756 passes through the large opening 760 formed through the upper unshifted element 746. The volume of the pump chamber expands when the pump actuator 765 pulls the actuator nipple 758 upward. The volume expansion reduces the pressure in the pump chamber and the fluid is sucked from the well 772 into the chamber. The volume of the pump chamber is reduced when the pump actuator 765 pushes down on the actuator nipple 758. The decrease in volume in the chamber increases the pressure, and the increased pressure causes the fluid to exit the pump chamber.

The pump chamber is also defined by a well 780 formed in the lower, non-viable element 748. The well 780 is surrounded by a valley 784 formed in the lower unshifted element 748 shown in Figure 9 and a ridge 778 formed on the flexible element 744 mates with the valley 784, Pressurize the chamber. The pump chamber 752 further includes a discharge opening 782 through which the fluid is formed, formed through the lower, non-flexible element 748. The discharge opening 782 delivers fluid to the right nozzle 714 via conduit 718. The discharge opening 782 is also opposed to the stop surface which acts as a check valve near the discharge opening 782 when the pump chamber is reduced.

Thus, according to the present invention, the cleaning fluid is sucked from the cleaning fluid supply container S by the action of the pump assembly 706. Pump assembly 706 includes two separate pump chambers for pumping cleaning fluid to two separate spray nozzles. Each pump chamber is configured to deliver cleaning fluid to a single nozzle in response to a rapid increase in pressure within the pump chamber. The pressure inside the pump chamber is determined by a cam profile formed to drive the fluid to each nozzle to spray a layer of substantially uniform cleaning fluid onto the cleaning surface. In particular, the cam profile is configured to deliver a substantially uniform volume of cleaning fluid per unit length of cleaning width (W). In general, the liquid applicator of the present invention is adapted to apply the cleaning fluid in a volume flow range of about 0.2 to 5.0 mL per square foot (0.093 m ² ), preferably in the range of about 0.6 to 2.0 mL per square foot (0.093 m ² ) . However, depending on the application, the liquid applicator of the present invention can apply any desired volume layer onto the surface. The liquid applicator system of the present invention may also be used to apply other liquids such as waxes, paints, disinfectants, chemical coatings, etc., onto the bottom surface.

As will be described in detail below, the user can remove the supply vessel S from the robot chassis and fill the supply vessel with a measured volume of cleaner corresponding to the clean volume of the measured volume. The water and the cleanser may be poured into the supply container S through the supply container access opening 168 blocked by the removable cap 172 shown in FIG. The supply vessel S is configured with a liquid volume capacity of approximately 1100 mL (37 oz.) And a desired volume of cleaner and clean water may be poured into the feed tank at a suitable rate for a particular cleaning application.

A rubbing module, an electric brush and / or an electric wiper

A rubbing module 600 according to a preferred embodiment of the present invention is shown in an exploded perspective view of Fig. 10 and a bottom view of the robot shown in Fig. The rubbing module 600 may be configured as a separate subassembly that is attached to the chassis 200 but which can be removed therefrom by a user to clean or otherwise repair its cleaning elements. Other arrangements can be made without departing from the invention. For example, in an alternative configuration, the top wall of the scrub module 600 is essentially part of and integral with the robot body, but the scrub module may be as shown to clean the brush, squeegee, and interior cavity. Open (in which case the “rubbing module” remains in proper terminology). Easily removable rubbed modules can be referred to as "cartridges ", e.g. rubbing cartridges or cleaning head cartridges. The rubbing module 600 is installed and latched in place in the hollow cavity 602 formed on the lower side of the chassis 200. The profile of the hollow cavity 602 is shown on the right side of the chassis 200 in Fig. The cleaning elements of the scrubbing module 600 are positioned behind the liquid applicator module 700 to perform a cleaning operation on a wet cleaning surface.

In a preferred embodiment, the rubbing module 600 includes a passive smear or deployment element (also and alternatively, a "deployer" or "deployment brush") 612 attached to its front edge, . The smear or spread brush 612 extends downward from the rubbing module 600 and is configured to contact or substantially contact the cleaning surface across the cleaning width. When the robot 100 is driven in the forward direction, the smear brush 612 moves on the pattern of the cleaning fluid applied by the liquid applicator and smears or spreads the cleaning fluid more evenly on the cleaning surface. The smearing or spreading brush 612 shown in Figures 2 and 10 includes a plurality of soft compliant smear bristles 614 and the first end of each bristle is positioned within a holder such as a squeezed metal channel or other suitable retaining element Is captured. The second end of each smear bristle 614 is free to flex as each bristle contacts the cleaning surface. The length and diameter of the smoothed or expanded bristles 614 and the nominal interference dimension that the smear bristles make on the cleaning surface can be varied to affect the smearing effect by adjusting the bristle stiffness. In a preferred embodiment of the present invention, the smearer or spreader 612 comprises nylon bristles having an average bristle diameter within the range of about 0.05 - 0.2 mm (0.002 - 0.008 inch). The nominal length of each bristle 614 is approximately 16 mm (0.62 inches) between the holder and the cleaning surface, and the bristles 614 are configured with an interference dimension of approximately 0.75 mm (0.03 inches). The smear brush 612 may also adsorb excess cleaning fluid applied to the cleaning surface to distribute the adsorbed cleaning fluid to other locations. Of course, other smear elements or deployment brushes, such as a compliant blade member, a sponge element, or a rolling element in contact with the cleaning surface, may also be used. Uniformly spaced multiple jet jets or nozzles function as a "spreader" when uniformly spaced multiple jet jets (jets, drips, or flow) lead the fluid in a regularly spaced pattern with no smear brush .

The rubbing module 600 may include a rubbing element, a rubbing brush, a wiper, or a wiping cloth, for example 604, although the present invention can be used without a rubbing element. The rubbing element is in contact with the cleaning surface during the cleaning operation, stirring the cleaning fluid and mixing it with the contaminants to emulsify, dissolve, or chemically react the contaminants. A rubbing element, a rubbing brush, a wiper, or a wiping cloth also generates a shear force as it moves relative to the cleaning surface, and the force helps break adhesion and other bonds between the contaminant and the cleaning surface. The rubbing element may also be a passive or active element, may be in direct contact with the cleaning surface, may not be in contact with the cleaning surface at all, or may be configured to move in contact with and separate from the cleaning surface.

In one embodiment according to the present invention, a passive rubbing element, a rubbing brush, a wiper, or a wiping cloth is attached to the rubbing module 600 or another attachment point on the chassis 200, As shown in Fig. The force is generated between the manual rubbing element and the cleaning surface when the robot is running in the forward direction. The manual rubbing element, rubbing brush, wiper, or wiping cloth may comprise a plurality of rubbing bristles held in contact with the cleaning surface, a fabric or nonwoven material held in contact with the cleaning surface, such as a rubbing pad or sheet material, A conformable solid element such as a sponge or other compliant porous solid foam element held in contact with the surface. In particular, a universal rubbing brush, sponge, or rubbing pad, which is used for rubbing, is fixedly attached to the robot 100 such that when the robot 100 is advanced on the cleaning surface, Can be held in contact with the cleaning surface across the cleaning width at the rear of the machine. In addition, the manual rubbing element can be configured to be replaced by the user, or to be automatically replenished using, for example, a supply roll and a winding roll to advance the clean rubbing material into contact with the cleaning surface have.

In another embodiment according to the present invention, one or more active scrubbing elements are movable relative to the cleaning surface and relative to the robot chassis. Movement of the active rubbing element increases the work done between the rubbing element, the rubbing brush, the wiper, or the wiping cloth and the cleaning surface. Each movable rubbing element is driven to move relative to the chassis 200 by a drive module attached to the chassis 200. [ The active scrubbing element may also include a rubbing pad or sheet material held in contact with the cleaning surface, or a compliant solid element such as a sponge or other compliant porous solid foam element held in contact with the cleaning surface to be vibrated by the vibrating support element . Other active scraping elements may also include a plurality of scraper bristles, and / or any moveably supported universal scraper bristles, sponges, or scour pads used to scrape, or an ultrasonic emitter May be used to generate a rubbing action. The relative movement between the active rubbing element and the chassis may include linear and / or rotational movement, and the active rubbing element may be configured to be replaced or cleaned by a user.

Referring now to Figures 10-12, a preferred embodiment of the present invention includes an active scratch element. The active scrubbing element includes a rotatable brush assembly 604 disposed across the cleaning width at the rear of the liquid applicator nozzles 712, 714 to actively rub the cleaning surface after the cleaning fluid has been applied. The rotatable brush assembly 604 includes a cylindrical bristle holder element 618 for supporting a rubbing bristle 616 extending radially outward therefrom. The rotatable brush assembly 604 is supported to rotate about a rotational axis extending substantially parallel to the cleaning width. The rubbing bristles 616 are long enough to interfere with the cleaning surface during rotation so that the rubbing bristles 616 are bent by contact with the cleaning surface.

The rubbing bristles 616 are installed in the brush assembly with groups or assemblies, and each assembly includes a plurality of bristles held by a single attachment or holder. The cluster locations are arranged in a pattern along the longitudinal length of the bristle holder elements 618. The pattern places at least one bristle assembly in contact with the cleaning surface across the cleaning width during each rotation of the rotatable brush element 604. The rotation of the brush element 604 is clockwise as viewed from the right so that relative movement between the rubbing bristles 616 and the cleaning surface tends to sweep free contaminants and waste liquid backwards. Further, the frictional force generated by the clockwise rotation of the brush element 604 tends to drive the robot in the forward direction, and is added to the front driving force of the robot driving driving system. The nominal dimensions of each rubbing bristle 616 extending from the cylindrical holder 618 allow the bristles to interfere with the cleaning surface and bend when in contact with the surface. The interference dimension is the length of the bristles that exceeds the length required to contact the cleaning surface. Each such dimension and the nominal diameter of the rubbed bristle 616 can be varied to affect the bristle stiffness and the resulting rubbing action. Applicants have discovered that a nylon bristle scrub brush element 604 having a bend dimension of approximately 16-40 mm (0.62-1.6 inches), a bristle diameter of approximately 0.15 mm (0.006 inches), and an interference dimension of approximately 0.75 mm (0.03 inches) ) Provides good rubbing performance. In another example, the rows of rubbing material may be arranged in a pattern attached to rotate along with the longitudinal length of the bristle holder element 618 therewith. Fig. 23 shows a second schematic exploded perspective view of a cleaning head or rubbing module similar to that shown in Figs. 10 and 11. Fig. 23, the arrangement of the upper cover 638, the stationary brush 614, the cartridge body 634, the squeegee 630, and the deployment brush 604 can be seen more clearly. The upper cover 638 and the cartridge body 634 are pivotally coupled by a metal rod 640 and the double spiral brush 604 is placed within the cartridge body 634 and removable, (630) is a single-sided squeegee with a channel for vacuum to suck fluid through it.

Squeegee  And wet Jean  Details

The rubbing module 600 may also include a second collecting device (additionally and alternatively, "wet emptying") configured to collect waste liquid from the cleaning surface across the cleaning width. The second collection device is generally located behind the liquid applicator nozzles 712, 714, behind the smear brush, and behind the scrubbing element. In a preferred embodiment according to the present invention, the rubbing module 600 is shown in cross-section in Figure 12A. The smear element 612 is shown attached to the front edge of the rubbing module at its front edge and the rotatable rubbing brush assembly 604 is shown mounted to the center of the rubbing module. At the rear of the scrub brush assembly 604, the squeegee 630 contacts the cleaning surface across its entire cleaning width and collects the waste liquid as the robot 100 advances in the forward direction. The vacuum system sucks air through the port in the squeegee to draw in the waste liquid from the cleaning surface. The vacuum system accumulates the waste liquid into a waste storage vessel, which is held on the robot chassis (200). The robot may alternatively recycle all or a portion of the fluid, i.e. a portion of the waste fluid may be discharged, or the waste fluid may be filtered or unfiltered and returned to a non-polluting / waste tank.

Squeegee 630 includes a vertical element 1002 and a horizontal element 1004, as shown in detail in the cross-sectional view of Figure 12A. Each element 1002,1004 is formed from a substantially flexible and compliant material such as neoprene or other sponge rubber, silicone, or the like. A single-sided squeegee configuration is also available. In a preferred embodiment, the vertical element 1002 comprises a material of a more flexible nature and is more flexible than the horizontal element 1004 and is compliant. The vertical squeegee element 1002 contacts the cleaning surface along the front edge or at the bottom edge 1006 of the vertical element 1002 when the vertical element is slightly bent rearwardly by interference with the cleaning surface. The bottom edge 1006 or the front surface maintains contact with the cleaning surface during robot forward movement and collects the waste liquid along the front surface. The waste liquid is pooled along the entire length of the front surface and bottom edge 1006. The horizontal squeegee element 1004 includes a spacer element 1008 extending rearwardly from its body 1010 and a spacer element 1008 is disposed between the vertical squeegee element 1002 and the horizontal squeegee element 1004, 1012). The spacer elements 1008 are individual elements disposed along the entire cleaning width with an open space between adjacent spacer elements 1008 providing a passage through which the waste liquid is drawn.

A vacuum connection port 1014 is provided in the top wall of the rubbing module 600. The vacuum port 1014 communicates with the robot air movement system and sucks air through the vacuum port 1014. The rubbing module 600 is configured with a sealed vacuum chamber 1016 extending from the vacuum port 1014 to the suction channel 1012 and extending along the entire cleaning width. The air sucked from the vacuum chamber 1016 reduces the air pressure at the outlet of the suction channel 1012 and the reduced air pressure sucks the waste liquid and air from the cleaning surface. The waste liquid sucked through the suction channel 1012 enters the chamber 1016, is sucked outside the chamber 1016, and is eventually accumulated in the waste material container by the robot air movement system. The horizontal squeegee element 1010 and the vertical squeegee element 1002 each form a wall of the vacuum chamber 1016 and the squeegee boundary with surrounding rubbing module elements is configured to pressurize the chamber 1016. Further, the spacer 1008 is formed with sufficient rigidity to prevent the suction channel 1012 from being closed.

The squeegee vertical element 1002 includes a curved loop 1018 formed at an intermediate point thereof. The curved loop 1018 provides a pivot axis through which the lower end of the squeegee vertical element can pivot when the squeegee bottom edge 1006 faces bumps or other discontinuities in the cleaning surface. This also allows corner 1006 to bend when the robot changes direction. If the squeegee bottom edge 1006 leaves the bump or discontinuity, it returns to its normal operating position. The waste liquid is continuously sucked into the waste liquid storage container, compartment, or tank, as described below with respect to FIG.

12B, the second collection device includes a squeegee 630 interconnected with a vacuum system. The squeegee 630 collects the waste liquid within the liquid collection volume 676 formed between the cleaning edge and the longitudinal edges of the squeegee as the robot 100 advances in the forward direction. The vacuum system connects to the liquid collection volume, sucks the waste liquid from the cleaning surface, and accumulates the waste liquid in the waste storage tank, which is held on the robot chassis (200). Squeegee 630 is shown in cross-section in FIGS. 10 and 12B.

12B, the squeegee 630 is attached to the rear end of the rubbing module 600 and is disposed across the cleaning width, such as a substantially flexible and compliant element molded from neoprene rubber, silicone rubber, . The squeegee extends downward from the chassis 200 to contact or substantially contact the cleaning surface. In particular, the squeegee 630 is attached to the rear edge of the rubbing module 600 at the rubbing module lower housing element 634 and extends downward to contact or substantially contact the cleaning surface. As shown in FIG. 12B, squeegee 630 includes a substantially horizontal lower section 652 extending from the rear of lower housing element 634 downwardly therefrom toward the cleaning surface. The front edge of the squeegee horizontal lower section 652 includes a plurality of through holes 654 uniformly disposed across the cleaning width. Each of the plurality of through holes 654 connects with a corresponding mounting finger 656 formed on the lower housing element 634. The interlaced holes 652 and the mounting fingers 654 position the front edge of the squeegee 630 with respect to the lower housing 634 and cause the adhesive layer applied between the interlocked elements to move from the front edge to the squeegee bottom housing boundary .

The squeegee 630 of Figure 12B is also configured with a rear section 658 that is attached to the rear edge of the lower housing element 634 along the cleaning width. A plurality of rearward extending mounting fingers 660 are formed on the lower housing element 634 to receive corresponding through holes formed on the squeegee rear section 658. The interlaced holes 662 and the rear mounting fingers 660 position the squeegee rear section 658 relative to the lower housing 634 and allow the adhesive layer applied between the interlocked elements to pass from the rear edge to the squeegee bottom housing boundary . Of course, any attachment means may be employed.

A vacuum chamber 664 is defined by the surface of the squeegee bottom section 652, the squeegee rear section 658, and the surface of the lower housing element 634, as shown in detail in FIG. 12B. The vacuum chamber 664 extends longitudinally along the squeegee and lower housing boundary across the cleaning width and is in fluid communication with the waste liquid storage tank held by the chassis by one or more fluid conduits 666, described below. In the preferred embodiment of Fig. 12B, two fluid conduits 666 connect to the vacuum chamber 664 at its distal end. Each fluid conduit 666 couples to a vacuum chamber 664 via an elastomeric sealing gasket 670. The gasket 670 is installed in the opening of the lower housing 634 and is retained therein by adhesive bonding, interference fit, or other suitable holding means. Gasket 670 includes an opening therethrough and is sized to receive fluid conduit 666 therein. The outer wall of the conduit 666 is tapered to guide it into the gasket 670. The conduit 666 is integral with the waste liquid reservoir and forms a liquid / gas tight seal with the gasket 670 when fully inserted therein.

The squeegee of Figure 12B includes a longitudinal ridge 672 formed at the interface between the horizontal lower section 652 and the rear section 658 across the cleaning width. The ridges 672 are in contact with or almost in contact with the cleaning surface during normal operation. In front of the ridge 672, the horizontal lower section 652 is the contour providing the waste liquid collection volume 674. A plurality of suction ports 668 extend from the liquid collection volume 674 through the squeegee horizontal lower section 652 into the vacuum chamber 664. When negative air pressure is generated within the vacuum chamber 664, waste liquid is drawn into the vacuum chamber 664 from the liquid collection volume 674. The waste liquid is continuously sucked into the waste liquid storage container or tank, as described below.

The third squeegee configuration is shown in Figures 42-45. Figure 42 shows a side view, Figure 43 shows a perspective view, Figure 44 shows another side view, and Figure 45 shows a third side view. The squeegee is a split squeegee that provides a separation portion for creating a vacuum channel, and the rear squeegee wiper maintains ground contact and collects fluid against evacuation. These members are located on different parts of the cleaning head and are matched when the cleaning head is closed.

As shown in FIG. 42, the cartridge housing or cover is open to the hinge point 613 (on the right fixing brush 612). A stationary brush 612 (e.g., a deployment brush) is mounted within the bottom of the lid. A rotating brush 604 (e.g., an electric brush or wiper) is also supported by the lower portion of the lid. The front squeegees 1004 are attached to the bottom of the cover. As shown in Figure 42, the front squeegee 1004 is shown in a position to take when it is not in contact with the rear lid, i.e., the front squeegee 1004 is directed toward the rear squeegee 1006, which in this case is a resilient elastomer It is resilient or deviated. Once the rear squeegee 1006, which can be overmolded onto the top of the lid, is closed with the lid top or the cover, the two squeegees are anchored in an operating position (shown in cross section in FIG. 44). The resilient rear squeegee 1006 is moved rearward and the front squeegee 1004 is only slightly moved forward while slightly sliding along the rear squeegee 1006. The fixed position is slightly inclined and provides a vacuum channel just above the bottom surface, by sufficient bottom contact of the rear squeegee 1006. As shown in Figure 43, the forward squeegee 1004 is formed as a total dashboard that is inclined from the vertical and extending along the working width, and the total dashboard is formed by turning a corner for mounting and then curving downwardly and forwardly and horizontally Leading to an upwardly directed bending corner 1009 extending along the working width, which is guided into the panel. The gun or rib 1008 shown in FIG. 43 maintains a correct flow path between the leading squeegee 1004 and the trailing squeegee 1006. The bend angle provides a good range of movement and flexibility from the front and rear for the two squeegees working together (which can overcome obstacles in the height of the robot floor gap, as described herein).

The rear squeegees 1006 shown in cross section in Figure 45 are about 1 mm thick (other dimensions are described herein), flat panels that are arranged vertically and extend along the working width, and thinner than the flat panel Includes a compliant element that is a reversed C-curved flexure loop 1018 that extends along the working width, and a snap retention feature 1019 (shown in Fig. 44). In the operative position, the rear squeegee 1006 is generally flexed between the snap retention element 1019 and the flat panel 1006, and much of the bend occurs along the height of the C-curved flexure loop 1018. Other structures such as hinges or different materials may be used as compliant elements and are contemplated within the present invention. The rear squeegee 1006 may be formed so as to extend completely above and above it in the vacuum chamber, as shown in Fig. When the through-hole is formed or made in the upper rear squeegee material, the entire rear squeegee is in contact with the squeegee and the wet vacuum chamber 1016, since the resilient rear squeegee material is in close contact with the vacuum duct when the cleaning head cartridge is aligned with the robot And acts as a seal for the wet vacuum port at the top. In other situations, if the rear squeegee 1006 is formed from a different material than all or a portion of the top of the rear squeegee 1006, or if the rear squeegee 1006 does not extend completely to or around the top of the vacuum chamber An alternative seal may be provided.

Figure 44 generally shows an operating position in which the rear squeegee 1006 is tilted backward and both flexures are positioned to allow flexing 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 in an operative position that tilts backward by the forward squeegee 1004, , And the wall bottom is in contact with the ground rather than the flat bottom. The contact force, area, angle, smoothness, and edge profile of such contacts are a large contributing factor to the drag of the cleaning element and allow water to be wiped on a flat or irregular surface, as described herein It should be maintained at a sufficiently low level of drag.

One squeegee as described is divided forward / rearward for easy disassembly and cleaning. This allows the user to easily remove the front and rear sections of the squeegee and associated vacuum chambers and allows easy removal of any blocking or occlusion, such as is sometimes found in the vacuum path. This also allows the user to place the cleaning head in, for example, a dishwasher to more thoroughly clean and disinfect it. However, the squeegee can alternatively be divided left / right. When the robot is rotated or turned in position, the squeegee can be configured such that one side is bent backward and one side is bent forward. The point at which the bends are switched from rear to front may act as a somewhat rigid column beneath the robot, which tends to center the robot and disturb movement. By providing a segment at the center of the squeegee, this tendency can be mitigated or eliminated, thereby increasing mobility.

10, the rubbing module 600 is formed as a separate subsystem removable from the robot chassis. The rubbing module 600 includes a support element comprising a molded two-piece housing formed by a lower housing element 634 and an upper housing element 636 to be mated. The lower and upper housing elements are configured to receive an internally rotatable scrub brush assembly 604 and to support it for rotation relative to the chassis. The lower and upper housing elements 634, 636 are attached to each other at their front edges by a hinged attachment arrangement. Each housing element 634, 636 includes a plurality of interlocked hinge elements 638 for receiving a hinge rod 640 therein to form a hinged connection. Of course, other hinge arrangements can be used. The lower and upper housing elements 634 and 636 form a longitudinal cavity for capturing an internally rotatable rubbing brush assembly 604 so that when the rubbing module 600 is removed from the robot 100, Lt; / RTI > The user may then remove the rotatable rubbing brush assembly 604 from the housing, to clean or replace it, or to remove the jam.

The rotatable rubbing brush assembly 604 includes a cylindrical bristle holder 618 that can be formed as a solid element such as a solid shaft formed of glass-filled ABS plastic or glass-filled nylon. Alternatively, the bristle holder 618 may include a forming shaft having a core support shaft 642 inserted through a longitudinal bore formed through the forming shaft. The core support shaft 642 may be provided by press fit or other suitable attachment means for securely attaching the bristle holder 618 and the core support shaft 642 together. The core support shaft 642 is provided to reinforce the brush assembly 604 and is therefore formed from a rigid material such as a stainless steel rod having a diameter of approximately 10-15 mm (0.4-0.6 inches). The core support shaft 642 is formed with sufficient rigidity to prevent excessive bending of the cylindrical brush holder. In addition, the core support shaft 642 may be configured to resist corrosion and / or wear during normal use.

As described herein, an electric brush is employed. The brush itself can be easily detached from the cleaning head. This allows the possibility of exchanging different brushes for special situations without replacing the entire cleaning head. The present invention contemplates a set of brushes having different physical structures (e.g., tight bristle spacing, loose bristles, rigid bristles, wipers, bristles, etc.) for wooden floors, grout lines, Different bristle compositions and configurations may be appropriate for different floor surfaces. Each bristle tuft may be composed of different numbers and types of bristles. The size of the bundle and the composition of the bristles affects its cleaning ability, energy consumption, and ability to handle different floor tissues, and fluid management. Installing the bundle at a lateral angle allows cleaning over the edge of the brush core and installing the bundle at a tangential angle allows the bristle tip to hit the floor more aggressively and reach deeper into the crack / grout line .

The bristle holder 618 is configured with a plurality of bristle-receiving holes 620 that are either boring or otherwise formed orthogonal to the axis of rotation of the scrub brush assembly 604. The bristle receiving holes 620 are filled with a population of rubbed bristles 616 joined or otherwise retained therein. In one exemplary embodiment, two helical patterns of receiving holes 620 are implanted with bristles 616. The first spiral pattern has a first cluster 622 and the second cluster 624 and subsequent bristle assemblies follow a helical path pattern 626 around the holder outer diameter. The second helical pattern 628 starts in a first cluster 630 that is substantially diametrically opposed to the cluster 622. Each pattern of bristle assemblies is offset along the bristle holder longitudinal axis to contact different points across the cleaning width. However, the pattern is arranged to rub the entire cleaning width in each complete rotation of the bristle holder 618. (E.g., two) bristle assemblies to contact the cleaning surface at the same time to reduce the bending force applied on the scrubbing brush assembly 604 and the torque required to rotate it . Of course, other rubbing brush configurations with different bristle patterns, materials, and insertion angles may be used. In particular, the bristles at the right edge of the rubbing element can be angled and made longer to extend the cleaning action of the rubbing brush further towards the right edge of the robot to clean the vicinity of the edge of the wall.

The rubbing brush assembly 604 engages the rubbing brush rotation drive module 606 shown schematically in Fig. The rubbing brush rotation drive module 606 includes a DC brush rotation drive motor 608 driven by a motor driver 650 at a constant angular velocity. The motor driver 650 is configured to drive the motor 608 at a voltage and DC current level that provides a desired angular velocity of the rotating brush assembly 604, which in one embodiment is about 1500 RPM, Values as high as about 3000 RPM are considered. The drive motor 608 increases the drive torque and causes the drive motor 608 located on the upper side of the chassis 200 to rotate about the axis of rotation 602 of the scrub brush assembly 604 located on the lower side of the chassis 200. [ To a mechanical drive transmission 610 that transmits the rotational drive shaft. A drive coupling 642 extends from the mechanical drive transmission 610 and mates with a rotatable rubbing brush assembly 604 at its left end. The act of sliding the rubbing module 600 into the cavity 602 engages the left end of the rotatable brush assembly 604 with the drive coupling 642. The engagement of the rotatable brush assembly 604 aligns its left end with the desired rotation axis, supports the left end to rotate, and transmits the rotational drive force to the left end. The right end of the brush assembly 604 includes a bushing or other rotating support element 643 for connection with the bearing surface provided on the module housing elements 634, 636.

The rubbing module 600 further includes a molded right end element 644 sealing the right end of the module to prevent debris and jetting from escaping the module. The right end element 644 is finished on its outer surface to match the style and shape of the adjacent outer surface of the robot 100. The lower housing element 634 is configured to attach the smear brush 612 to its front edge and provide attachment features for attaching the squeegee 630 to its rear edge. A pivotal latching element 646 is shown in FIG. 10 and is used to latch the rubbing module 600 into its operative position when it is properly installed in cavity 632. The latch 646 is attached to the attachment feature provided on the upper side of the chassis 200 and is biased to the closed position by the torsion spring 648. [ A latching claw 649 passes through the chassis 200 and is latched onto a hook element formed on the upper housing 636. The structural elements of the wet cleaning module 600 may be molded from a suitable plastic material such as polycarbonate, ABS, or any other material or combination of materials. In particular, they include a lower housing 634, an upper housing 636, a right end element 644, and a latch 646.

Air movement subsystem or vacuum & blower assembly

Fig. 14 shows a schematic diagram of its connection with the wet / dry vacuum module 500 and the cleaning elements of the robot 100. Fig. The wet / dry vacuum module 500 connects to a first collection device for drawing free particles from the cleaning surface and a second collection device for drawing waste liquid from the cleaning surface. The wet / dry vacuum module 500 also connects to an integrated liquid storage vessel 800 attached to the chassis 200 and accumulates free particles and waste liquid into one or more waste containers contained therein.

14 and 15, the wet / dry vacuum module 500 includes a single fan assembly 502, but two or more fans can be used without departing from the present invention. The fan assembly 502 includes a rotating fan motor 504 having a stationary housing 506 and a rotating shaft 508 extending therefrom. The fixed motor housing 506 is attached to the fan assembly 502 at the outer surface of the rear lid 510 by screw fasteners or the like. The motor shaft 508 extends through the rear lid 510 and the fan impeller 512 is attached to the motor shaft 508 by press fitting or other suitable attachment means to connect the impeller 512 to the motor shaft 508 ). A front cover 514 engages the rear cover 510 to receive the fan impeller 512 in the hollow cavity formed between the front and rear covers. The fan front cover 514 includes a circular air intake port 516 formed integrally therewith and positioned substantially coaxial with the rotational axis of the motor shaft 508 and the impeller 512. The front and rear covers 510, 514 together form an air release port 518 at the distal radial edge of the fan assembly 502.

The fan impeller 512 generally includes a plurality of blade elements arranged about its central rotational axis and is configured to draw air inward axially along its rotational axis when the impeller 718 is rotated, . The rotation of the impeller 512 creates a negative air pressure zone or vacuum on its input side and a positive air pressure zone on its output side. The fan motor 710 is configured to rotate the impeller 715 at a substantially constant rotational speed of, for example, 14,000 RPM, which produces a higher air flow rate than a vacuum fan or a universal fan for wet vacuum cleaning. A speed as low as about 1,000 RPM and as high as about 2,500 RPM is considered depending on the configuration of the fan. The free wheel may be concentric with the fan impeller 715, particularly if the fan is located near the center of gravity of the robot.

The air flow rate of the fan can range from about 60-100 CFM in free air and about 60 CFM in the robot, and approximately 60% of this flow is dedicated to the wet vacuum portion of the robot. These percentages can be adjusted manually by the user or during manufacturing. Adjustment of the air flow between wet and dry vacuum systems allows the user to address the specific needs of a particular application. Additionally, multi-stage fan designs can generate similar air flow rates and higher static pressures and speeds that help to maintain flow. Higher speeds also allow the device to draw dry particles and raise the fluid. The multiple ribs and channels of the squeegee help create a localized high velocity region for introducing the particles. In one embodiment, the total cross-sectional area is 180 mm ² for each wet and dry vacuum (squeegee and suction port).

24 and 25, an example of the impeller 512 includes a base plate 512a having a hub or nose formed therein, a vane 512c having an inducer 512c and an expander 512d formed therein, Stage fan assembled from the assembly 512b. As shown in Figure 24, the inducer 512c includes a forwardly curved inlet blade that increases flow and efficiency compared to a fan design that does not use an inducer. The ejector blade tilts backward and contributes to centrifugal flow. Also, as shown in FIG. 24, specifically sized pins 512e are positioned at regular angular intervals around the rim of the vane assembly 512b. The pins are used as a fan assembly designed for continuous 14,000 RPM operation of plastic fans to aid material removal to balance. The base plate 512b and vane assembly 512b are formed from resin or plastic and have various irregularities and density variations. After the base plate 512b and the vane assembly 512b are assembled, the balancing machine is used to identify the number of pins in a specific position for removing the impeller to balance. As shown in Figs. 15 and 26, the impeller 512 is arranged in a scroll formed from the front and rear covers 512, 514. Scrolling is for static pressure recovery and flow collection for use within the "blowing" portion of a dry vacuum system. The front scroll 514 and the rear scroll 510 are assembled together to hold the impeller 512 and the seal 516 seals the end of the inducer of the impeller 512, as shown in Fig. The impeller 512 provides vacuum for the wet and dry vacuum sections, and a portion of the output is divided to provide air jets to the dry vacuum section. Both branches 515 use a rear duct 517b to divide a small portion of the output air flow and most of the output air flow is exhausted through the exhaust duct and muffler. As shown in Fig. 26, a circuit board 504a for the fan motor 504 is located in the vicinity of the fan motor. Such a circuit board can be made waterproof or waterproof by the structure described in this specification.

For the blower shown in FIGS. 24-26, the scroll design is folded over itself to allow a 30% larger impeller without any loss of scroll volume while maintaining the same package size. The inducer is part of the fan blade for input flow only. Alternatively or additionally, passive or active bypass systems (e.g., governors and vanes, or electric actuators and vanes) may be provided for balancing the blower output against inlet port input flow for optimal performance over various system conditions . A "moat" (i.e., channel or wall) alternatively or additionally prevents water from entering the impeller in front of the impeller. The impeller used for air handling moves the air through the system at a considerable rate, which can cause water to be drawn back from the dirty tank through the impeller back to the floor. The moat is designed to prevent or limit this occurrence.

As shown in the figure, the main exhaust port is in line with the cleaning head. In other words, the cleaning head extends to the edge of the dominant side of the robot, but up to one-fifth of the space of the robot is stored next to the cleaning head on the robot diameter. As described above, gear trains and / or motors for cleaning head electric brushes or wipers can be located in this space. Additionally, the main vent may be located in such a space. Placing very strong main exhausts (most of the exhaust vents for wet and dry vacuuming, only a few are used to blow debris in dry vacuum) along the line of the cleaning head is applied, brushed and / Or to prevent the wiped fluid from escaping the periphery of the robot on the non-dominant side. In addition, the cartridge housing is dried inside (generally sealed against moisture) without being connected to any fluid generating device, so that upon removal of the cleaning head cartridge, the user is provided with a dried surface for handling the cleaning head It is characteristic of the cleaning head. The vent may also be located behind the cleaning head to aid in drying. In such a case, the vent can be expanded by an appropriate duct and channel.

14, a closed air duct or conduit 552 is connected between the fan housing discharge port 518 and the air jet port 554 of the first cleaning zone A to provide high pressure air To the air jet port 554. At the opposite end of the first cleaning area A, a closed air duct or conduit 558 connects the air intake port 556 with the integral liquid storage container module 800 at the container intake opening 557. A conduit 832, described below, connects the container intake opening 557 with the plenum 562, integral with the integral storage vessel or tank 800. The plenum 562 includes a union for receiving a plurality of air ducts connected thereto. The plenum 562 is disposed above the waste storage vessel portion of the integral liquid storage vessel or tank module 800. The plenum 562 and the waste vessel portion are configured to accumulate the free particles aspirated from the cleaning surface by the air intake port 556 into the waste vessel. The plenum 562 is in fluid communication with the fan inlet port 516 via a closed air duct or conduit that includes a conduit 564, not shown, connected between the fan assembly and the container air outlet opening 566. The container air discharge opening 566 is fluidly connected to the plenum 562 by an air duct 830 integrated within the integrated liquid storage tank module 800. The rotation of the fan impeller 512 generates a negative air pressure or vacuum inside the plenum 560. The negative air pressure generated in the plenum 560 sucks in air and free particles from the air intake port 556.

14, a pair of closed air ducts or conduits 666 are connected to the rubbing module 600 of the second cleaning zone B. As shown in FIG. The air conduit 666, shown in cross-section in FIG. 10, includes an outer tube extending downwardly from the integral liquid container module 800. The outer tube 666 is inserted into the rubbing module upper housing gasket 670.

As shown in FIG. 14, conduits 834 and 836 fluidly connect each outer tube 666 to plenum 652. Negative air pressure generated in the plenum 652 passes air through the suction port 668 through the vacuum chamber 664 to the waste liquid collection volume 674 to draw the waste liquid from the cleaning surface. (664) through conduits (834, 386, 666). The waste liquid is sucked into the plenum 562 and accumulated in the waste liquid storage container.

Of course, other wet / dry vacuum configurations are contemplated without departing from the present invention. In one example, the first fan assembly may be configured to collect free particles from the first cleaning zone and accumulate the free particles in the first waste storage vessel or tank, and the second fan assembly collects the waste liquid from the second cleaning zone Thereby accumulating the waste liquid into the second waste storage vessel or tank.

Integrated liquid storage tank

The elements of the integral liquid reservoir module 800 are shown in Figures 1, 12, 14, 16, and 17. Referring to Figure 16, the integral liquid reservoir 800 is formed of at least two liquid reservoir or tank portions. One container portion comprises a waste container portion and the second container portion comprises a cleaning fluid storage container or tank portion. In another embodiment of the invention, the two reservoirs are formed as an integral unit configured to be removable from the chassis and attached to the chassis 200 by a user to empty the waste container portion and fill the cleaning fluid container portion. In alternative embodiments, the integral storage containers may be automatically filled and emptied once the robot 100 is docked with the base station configured to transfer cleaning fluid and waste material to and from the robot 100. The cleaning fluid container portion S includes a sealed supply tank for maintaining a supply of cleaning fluid. The waste vessel portion W comprises a sealed waste tank for storing the free particles collected by the first collection device and for storing the waste liquid collected by the second collection device.

The waste tank D (or compartment D) includes a first molded plastic element formed with a base surface 804 and a integrally formed peripheral wall 806 disposed generally perpendicularly from the base surface 804 do. The base surface 804 is formed with various contours that conform to the available space on the chassis 200 and provide a detent area 164 that is used to orient the integral liquid storage container or tank module 800 on the chassis 200 . The stop 164 includes a pair of channels 808 that connect to a corresponding alignment rail 208 formed on a hinge element 202 attached to the chassis 200, as described below. The peripheral wall 806 includes a final outer surface 810 that is colored and formed according to the style and shape of the other outer robot surface. The waste tank D may also be contained internally and may also include a tank level sensor configured to deliver a tank level signal to the master controller 300 when the waste tank D (or compartment D) is full . The level sensor may include a pair of conductive electrodes disposed within the tank and separated from each other. The measuring 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, when both electrodes are immersed in the waste liquid, current flows from the one electrode to the other electrode through the waste liquid. Thus, the electrode may be located in a position in the tank for sensing the level of fluid in the tank.

The cleaning fluid reservoir or tank (S) is partially formed by a 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 opposing upper and lower surfaces. The element 812 mates with, is attached to or otherwise affixed to the waste container peripheral wall 810 and seals the waste container, compartment, or tank D. The plenum 562 is integrated into the second molding element 812 and is positioned vertically above the waste container, the tank D (or the compartment D) when the cleaning robot is operating. The plenum 562 may also include separate molding elements.

The second forming element 812 is contour for providing a second container portion for holding a supply of cleaning fluid. The second container portion is partially formed by a downwardly inclined front section having a first integrally formed peripheral wall 816 disposed generally vertically upward. The first peripheral wall 816 forms a first portion of the partitioned peripheral wall of the liquid storage vessel S. [ The forming element 812 is also contoured to match the available space on the chassis 200. The shaping element 812 also includes a container supply input opening 840 for connecting with the first cleaning zone air conduit 558. The molding element 812 also includes a container air release opening 838 for connection to the fan assembly 502 via conduit 564.

A molded cover assembly 818 is attached to the molding element 812. The cover assembly 818 includes a second portion of the supply tank peripheral wall formed thereon and provides a top wall 824 of the supply tank section. A cover assembly 818 is affixed to or otherwise attached to the first peripheral wall portion 816 and the other surface 814 of the forming element to seal the supply container S. The supply vessel S may comprise a tank exhaust sensor housed therein and may be configured to deliver a tank exhaustion signal to the master controller 300 when the upper tank is empty.

The cover assembly 818 includes a molded plastic cover element having a final exterior surface 820, 822, 284. The final outer surface is finished according to the style and shape of the other outer robot surface and can therefore be of appropriate color and / or style. Cover assembly 818 includes access ports 166 and 168 for waste container tank D and supply container S, respectively. The cover assembly 818 also includes a handle 162 and a handle pivot element 163 attached thereto that is operable to detach the integral liquid reservoir 800 from the chassis 200 or to pick up the entire robot 100 do.

According to the present invention, the plenum 562 and each air conduit 830, 832, 834, 836 are within the cleaning fluid supply vessel S, and the interconnecting of each of these elements is liquid and gas- , The cleaning fluid and the waste material are prevented from mixing with each other. The plenum 562 is formed vertically above the waste container, compartment or tank D so that the waste liquid and free particles sucked into the plenum 562 are discharged to the waste tank D (or compartment D) ). The plenum side surface 828 includes four openings formed therethrough to interconnect the plenum 562 with the four closed air conduits connecting it. The four closed air conduits 830, 832, 834, 836 may each comprise a molded plastic tube element formed with an end adapted to connect with a suitable mating opening.

16, the container air discharge opening 838 is generally rectangular, and the conduit 830 connecting the container air discharge opening 838 and the plenum 562 is formed with a generally rectangular end. This arrangement provides a large-area discharge opening 838 for receiving the associated air filter. The air filter is attached to the fan intake conduit 564 to filter the air sucked by the fan assembly 502. When the integral storage tank 800 is removed from the robot, the air filter remains attached to the air conduit 564 and can be cleaned in place or removed for cleaning or replacement if desired. The area of the air filter and the container discharge opening 838 is formed large enough to allow the wet / dry vacuum system to operate even when about 50% or more of the air flow through the filter is blocked by debris caught therein.

Figure 27 shows a second schematic exploded perspective view showing the elements of an integral tank similar to Figure 16; Figure 27 shows a number of elements that are the same as or similar to those of Figure 3. Several alternative terms are used in the following description. The elements shown in Figure 27 include a manifold including a handle, a plenum 830 and tubes 832, 834, 836 (in this embodiment, the plenum and air flow conduit are all integral, Air flow conduits replaced by rubber guide tubes), pump filters, and magnetic leads. Figure 27 shows a D-shaped flexible rubber tank cap for a clean tank and a similar cap for a waste tank. (Such a rubber tank cap has an inner side corresponding to the shape of the tube leading to the compartment, A circular seal, and a D-shaped outer portion having a receiver matched within the tank lid). When the tank is mounted in a clevis type holder or pivot clamp, the holder can assist in closing all of the D-shaped flexible rubber tank caps. The figure also shows the bottom of the tank (forming a dirty compartment), the middle of the tank, and the top of the tank (forming a clean compartment). As shown, plenums and conduits for dry and / or wet vacuuming extend through clean tanks. This is largely not found in large devices, as large devices have room for evacuating outside the clean water tanks or sewage tanks and / or for arranging other air flow conduits. Alternatively, only some of the conduits for vacuuming may extend through clean tanks (e.g., wet-only, dry-only, and wet and dry) or some or all of the conduits may extend through the dirty tank . Alternatively, one or more conduits may extend through both tanks. Alternatively, the conduit may be formed in another layer, i.e. interposed between the two tank intermediate plates. Figure 27 also shows an O-ring for sealing the top of the tank against the tube passing from the top of the tank through the tank middle to the dirty compartment. Figs. 28-30 show ball 594 in seal flap 598, airfoil, foam / air flow wall, and integral tank 592. Fig. 31 is a perspective view of the foam barrier wall in the integral tank 592. Fig.

Figs. 28-30 show ball 594 in seal flap 598, airfoil, foam / air flow wall, and integral tank 592. Fig. 31 is a perspective view of the foam barrier wall in the integral tank 592. Fig.

As shown in Fig. 27, the lower opening of the plenum (562a: in this embodiment, the "lower" refers to the operating orientation) allows particles and wastewater to fall into the waste tank (D). As shown in FIG. 16A, this opening is relatively large. Once the tank or robot is raised and leaves the operational orientation, the collected waste should be retained in the waste tank (D) to prevent it from entering the pan or escaping the waste tank to wet the user or floor. As shown in Figures 28-30, a hinged flap 598 is provided to seal the opening 562a.

The hinged flap 598 is hinged at one side of the opening 562a and opens downward. That is, when the robot is operating, the flap 598 must be kept open to allow the waste to enter the waste tank (D). However, the air flow passing over the flap 598 toward the vacuum side of the fan assembly 502 creates a low pressure area on the flap 598 (Venturi / Bernoulli effect) which, in some operating conditions, There may be a tendency to The airfoil 596 attached to the flap 598 in the plenum 562 is introduced into this air flow and the downward force effect of the airfoil 596 overwhelms the Bernoulli effect, (598). The airfoil 596 is formed as a generally horizontal (in certain embodiments, vertical) wing 596a mounted on a vertical fin 596b, similar to a T-configured aircraft tail. The airfoil 596 tilts in the direction of generating downward force or flap opening force during robot operation.

However, as shown in Figures 28-30, the hinged flap 598 is not allowed to open further than the ball 594. The ball 594 is configured to allow the flap 598 to close the flap 598 when the tank or robot is moved from the operational orientation to a non-horizontal, vertical, or partial vertical orientation (e.g., when the tank or robot is being transported) It is provided below. Alternatively, the ball 594 may prevent the flap 598 from moving beyond a predetermined distance from the opening. Regardless of the degree of movement of the flaps 598, the arrangement of the balls 594 and the flaps 598 provides for opening and closing the flaps 598 at the appropriate time. An upper conical 598a opened downward is formed in the lower portion of the hinged flap and a lower conical 592 opened upward is formed in the waste tank D. [ The wall of each cone is less than 45 degrees from horizontal and the wall of lower cone 592 is shallower than the wall of upper cone 598a and less than about 30 degrees from horizontal. In normal operating orientation, the ball 594 lies within the lower cone 592 and the waste falls around the ball 594 through the opening 562a. When the tank or robot is moved in any orientation other than horizontal, the ball 594 escapes the shallow lower cone 592 and travels along the converging wall of the upper and lower cones, pushing the flap 598 to close do. The opening seal 562a and the aligned lip seal 562b-598a around the flap 598 prevent the waste from escaping the waste tank D when the flap 598 is closed by the ball 594.

However, the vertical fin 596b achieves a purpose other than simply supporting the airfoil 596a (s). Vertical fin 596b forms a vertical wall extending substantially across the length of flap 598. [ This wall starts at or near the entrance of the wet vacuum conduit 832 and the dry vacuum conduits 834 and 836 and into the plenum 562 and extends across the length of the flap 598, And also substantially across the length of the plenum 562 to separate the dry vacuum air stream (s) from the wet vacuum air stream. Therefore, the particles generally tend to dry and hold when falling into the waste tank D. The dry side air flow moves at a higher rate than the wet side air flow entering the plenum. Keeping the foam on the low speed side helps the foam move into the tank.

As shown in Figures 28 - 30, the flap-ball-airfoil arrangement uses gravity and conventional air flow to open and close the flaps / openings, depending on the situation, and may have adverse effects on more complex operations Avoid the problem of corrosion or sludge collection in general. The combination constitutes an opening-closing member (flap), a member (airfoil) that helps to open the flap during operation, and a member (ball) that helps to close the flap when the robot is moved to the inoperative position. It is not necessary to close the flap when the robot is not working but is held horizontally since gravity will prevent the escape of the waste fluid and it may be necessary to close the flap in order to allow the fluid in the plenum to fall into the waste tank, There are several advantages to keeping open. However, when the flap is to be closed during non-operation, other mechanical means (including an airfoil, spring, ball, or weight) may close the flap as soon as the air flow stops, And a member which tends to close the flap may additionally or alternatively be included. It should be noted that the non-powered, non-electrical operation of such a mechanism does not require an independent power source and that the flap-ball-airfoil combination is simple, robust, and durable. Nonetheless, electrical and / or hydraulic actuators may still be used in place of or in addition to airfoils, balls, springs (including elastomers), and weights.

One particular alternative technique for properly opening or closing the flaps, as shown in Figure 31, is to allow the flaps to open and open during operation, and to allow the flaps to be opened when the tank or robot is moved in a non- A pendulum or an additional weight arranged to pivot to close. The pendulum or weight may be suspended from a position near the flap bottom or may be attached to a relatively rigid multi-directional arm or "hat" that forms an angle from the pendulum "shaft " Preferably against a multi-directional ball, shoulder, or loosely coupled shaft that allows the arm to tilt with respect to the flap. One support providing a suitable shaft is conical in shape with a small hole at the tip of the cone, the cone is open downward and the shaft of the pendulum is relatively loose in the hole at the tip of the cone. If the cap or arm is above the hole and the weight is movable within the cone, the assembly keeps the arm horizontal until the robot or tank is moved away from the horizontal, in which case the pendulum shaft tilts within the hole and cone , At least a portion of the cap or arm then pushes the flap to close. The flap may include a sheet for a cap or arm curved inwardly along the cap to suitably allow clearance and free movement. The pendulum weights pivot the arms or hats so that when the robot or tank is horizontal, the arms or hats are substantially level (allowing the relatively compliant flaps to open or open when the robot or tank is horizontal) At least one arm or part of the cap pushes the flap against the seal when the robot or tank is horizontal (pushes the relatively compliant flap in the vertical or non-horizontal orientation to close). The pendulum weight must be free to move and be located as far as possible from the flap (close to the far wall of the tank) to provide a long moment arm.

32 is a perspective view of the foam barrier wall 580 in the integral tank D. Fig. As described herein, a waste fluid (WTF) sensor is used at the top of the waste fluid tank. The waste fluid sensor is conductive, and when the waste fluid reaches the top of the tank, the current can pass between the two wire probes in the upper part of the compartment, indicating that the waste compartment is full, through visual or auditory signals emitted by the robot do. During cleaning, however, depending on the cleaning fluid and what has been cleaned, bubbles can form in the waste fluid compartment and bubbles can conduct current, providing a false positive reading on the waste fluid full water sensor. The foam tends to occur before or during entry of the waste fluid into the opening or entry port into the waste compartment. As shown in FIG. 32, a wall is provided between the isolated section 579 of the waste fluid compartment (where one or both of the probes are located) and the rest of the tank D. The wall 580 includes a gap or fluid entry port 578 at the bottom of the tank D but otherwise is a complete wall that isolates the probe chamber 579 and allows water to easily enter the chamber, There is sufficient air flow to enable the The bubbles may be present in the main chamber D but are not transmitted to the isolated probe chamber 579, which is generally maintained without bubbles. Thus, the sensor does not generally register the presence of bubbles in this configuration.

16 and 28, each of the container openings 840 and 838 is configured with a gasket (not shown) located outside the container opening. The gasket provides a substantial hermetic seal between the container assembly 800 and the conduits 564, 558. In one embodiment, the gasket is secured to the chassis 200 when the integral liquid supply container 800 is removed from the chassis 200. The seal is formed when the container assembly 800 is latched in place on the robot chassis. Also, some of the container openings may include a flap seal or the like to prevent liquid from escaping the container when carried by the user. The flap seal remains attached to the container.

28 illustrates that the air conduit is connected to the plenum by a flexible (e.g., elastomeric) tube. These tubes help explain the accumulation of manufacturing tolerances. Alternatively, as described herein, the entire set of plenums and conduits may be formed, for example, blow-molded or formed as other units, or the plenums and conduits may be injection molded Or may be otherwise formed units.

Thus, according to the present invention, the fan assembly 502 generates vacuum negative pressure to evacuate the air conduit 564, sucks air through the air filter disposed at the end of the air conduit 564, (830) and the plenum (562). Vacuum generated in the plenum 562 sucks air from each conduit connected thereto to draw free particles in proximity to the air intake port 556 and from the cleaning surface via air conduits 834, 836, and 666 Then, the waste liquid is sucked through the vacuum chamber 664 and the suction port 668. The free particles and waste liquid are aspirated into the plenum 562 and fall into the waste container, compartment, or tank D.

Referring to Figures 1, 3, 16 and 17, an integral liquid reservoir or tank 800 is attached to the upper side of the robot chassis 200 by a hinge element 202. The hinge element 202 is pivotally attached to the robot chassis 200 at its rear edge. The liquid reservoir 800 can be removed from the robot chassis 200 by the user and the user can fill the cleaning fluid supply container S with clean water and a measured volume of cleaning fluid such as soap or detergent. The user can also empty the waste from the waste container, compartment, or tank (D) and clean the waste container if necessary.

To facilitate handling, the unitary liquid storage tank 800 includes a handle 162 for user gripping formed integrally with the cover assembly 818 at the front edge of the robot 100. Handle 162 includes a pivot element 163 attached thereto by a hinge arrangement for cover assembly 818. In one mode of operation, the user can pick up the entire robot 100 by gripping the handle 162. In a preferred embodiment, the robot 100, when filled with liquid, weighs approximately 3-5 kg (6.6-11 lbs.) And can be easily carried by the user with one hand.

In the second operating mode, the handle 162 is used to remove the integral tank 800 from the chassis 200. In this mode, the user presses the rear edge of the handle 162, first to pivot the handle downward. The action of the downward pivot releases the unillustrated latching mechanism that attaches the front edge of the liquid storage vessel or tank 800 to the robot chassis 200. Once the latching mechanism is disengaged, the user grasps the handle 162 and lifts it vertically upward. The lifting force pivots the entire container assembly 800 about the pivot axis 204 provided by the hinge elements pivotally attached to the rear edge of the chassis 200. The hinge element 202 supports the rear end of the integral liquid reservoir 800 on the chassis 200 and the further elevation of the handle is an open position that facilitates removal of the container assembly 800 from the chassis 200 Thereby rotating the hinge element 202. In the open position, the front edge of the liquid reservoir 800 is elevated such that a further lift of the handle 162 lifts the liquid storage tank 800 from the engagement with the hinge element 202 and separates from the robot 100 .

17, the integral liquid reservoir 800 is formed with a recessed rear outer surface defining a stop region 164, and a stop region 164 is formed in the receiving region < RTI ID = 0.0 > . 3, the hinge element receiving region includes a clevis type cradle having upper and lower opposing walls 204, 206 that are mated with the reservoir or tank stop region 164 and configured to orient it . The alignment of the stop area 164 with the hinge walls 204, 206 aligns the unitary storage container 800 with the robot chassis 200 and the latching mechanism used to attach the container front edge to the chassis 200. In particular, the bottom wall 206 includes an alignment rail 208 shaped to conform to a groove 808 formed on the lower side of the stop region 164. In Figure 3, the hinge element 202 is shown pivoted to a fully open position for loading and unloading a storage vessel or tank 800. The loading and unloading positions are rotated approximately 75 degrees from the closing or operating position, but other loading and unloading orientations are considered. In the loading and unloading positions, the storage container stop region 164 is easily engaged or disengaged with the clevis type cradle of the hinge element 202. 1, the integral liquid reservoir tank 800 and the hinge element 202 are configured to provide a final, external surface that smoothly coincides nicely with the other outer surface of the robot 100. As shown in FIG. More importantly, as discussed above, the integral liquid storage tank maximizes the internal storage volume and allows the robot to automatically operate without sharp edges or corners on walls, corridors, obstructions, or cornering.

Two access ports are provided on the upper surface of the liquid storage vessel or tank 800 within the stop region 164, which are shown in Figs. 16 and 17. Fig. The access port is located within the stop region 164 so that when the liquid storage tank assembly 800 is installed in the robot chassis 200, it is hidden by the hinge element upper wall 204. The left access port 166 provides user access to the waste container, compartment, or tank D via the plenum 562. The right access port 168 provides user access to the cleaning fluid reservoir S. The left and right access ports 166, 168 are sealed by a user removable tank cap, which may be of readily distinguishably designated color or shape.

Operation drive system (900)

In a preferred embodiment, the robot 100 is supported by a three-point operating system 900 to run on a cleaning surface. The operating system 900 includes a pair of left and right separate rear drive drive wheel modules 902, 904 attached to the chassis 200 at the rear of the cleaning module. In the preferred embodiment, the rear independent drive wheels 902, 904 are supported for rotation relative to a common drive shaft 906 substantially parallel to the transverse axis 108. However, each drive wheel can be tilted relative to the transverse axis 108 such that each drive wheel has its own drive axis orientation. The drive wheel modules 902 and 904 are independently driven and controlled by the master controller 300 to advance the robot in any desired direction. The left drive module 902 is shown protruding from the bottom surface of the chassis 200 in Fig. 3 and the right drive module 904 is shown mounted on the top surface of the chassis 200 in Fig. In the preferred embodiment, the left and right drive modules 902 and 904 are each pivotally attached to the chassis 200 and are urged to engage the cleaning surface by the leaf spring 908 shown in FIG. A leaf spring 908 is mounted to bias each of the rear drive modules to pivot downwardly toward the cleaning surface when the drive wheel passes over the cliff or is raised from the cleaning surface. 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 wheel of the present invention is particularly adapted to operate on wet and slippery surfaces. In particular, as shown in Figure 20, each drive wheel 1100 includes a cup-shaped wheel element 1102 attached to drive wheel modules 902,904. The drive wheel module includes a drive motor and a drive train transmission for driving the drive wheel for operation. The drive wheel module may also include a sensor for detecting wheel slip on the cleaning surface.

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

In one embodiment, the annular tire element 1106 has an inner diameter portion 1108 of approximately 37 mm and is sized to fit snugly over the outer diameter portion 1104. The tire may be coupled, taped, or otherwise interference fit to the outer diameter portion 1104 to prevent slippage between the inner diameter portion 1108 and the outer diameter portion 1104. The radial thickness 1110 of the tire is approximately 3 mm. The tire material has a density of 224.28 - 256.32 kg / m ³ (14 - 16 lb / ft ³ ) or approximately 240.30 kg / m ³ (15 lb / ft ³ ) foamed with a cell size of 0.1 mm ± 0.02 mm Is a chloroprene monopolymer stabilized with worm disulfide black. The tire has a hardness after foaming of about 69 to 75 Shore. The tire material is sold under the trademark "DURAFOAM DK5151HD " by Monmouth Rubber and Plastics Corporation.

For example, other tire materials, including those made of neoprene and chloroprene, and other closed cell rubber sponge materials, are contemplated for specific applications. Tires made of polyvinyl chloride (PVC) and acrylonitrile-butadiene (ABS) (with or without other extrudates, hydrocarbons, carbon black, and minerals) may also be used. Additionally, the tires of the fragmented foam configuration may provide some degree of squeegee-like function when the tire is driven on a wetted surface to be cleaned. RUBATEX R411, R421, R428, R451 and R4261 (manufactured and sold by Rubatex International, LLC) and ENSOLITE (manufactured and sold by Armacell LLC) And tires made from products manufactured and sold by American Converters / VAS, Inc., are functional replacements for the DURAFOAM DK5151HD described above.

In a particular embodiment, the tire material comprises a natural rubber (s) and / or synthetic rubber (s) such as nitrile rubber (acrylonitrile), styrene-butadiene rubber (SBR), ethylene- A rubber, a fluorocarbon rubber, a latex rubber, a silicone rubber, a butyl rubber, a styrene rubber, a polybutadiene rubber, a hydrogenated nitrile rubber (HNBR), neoprene (polychloroprene), and a mixture thereof.

In a particular embodiment, the tire material comprises one or more elastomers such as polyacrylics (i.e., polyacrylonitrile and polymethylmethacrylate (PMMA)), polychlorocarbon (i.e., PVC), polyfluorocarbons Polyolefins (i.e., polyethylene, polypropylene, and polybutylene), polyesters (i.e., polyethylene terephthalate and polybutylene terephthalate), polycarbonates, polyamides, polyimides, poly Sulfone, and / or copolymers thereof. The elastomeric polymer may include homopolymers, copolymers, polymer blends, interpenetrating networks, chemically modified polymers, graft polymers, surface coating polymers, and / or surface treatment polymers.

In a particular embodiment, the tire material comprises one or more fillers, such as carbon black and a reinforcing agent such as silica, an unreinforced filler, a sulfur, a cross-linking agent, a coupling agent, a clay, a silicate, a calcium carbonate, a wax, , p-phenylenediamine ozonization inhibitor (PPDA), octylated diphenylamine, and polymerized 1,2-dihydro-2,2,4-trimethylquinolone), and other additives.

In a particular embodiment, the tire material is a tire material that has advantageous properties such as desired traction, stiffness, modulus of elasticity, hardness, tensile strength, impact strength, density, burst strength, fracture energy, crack resistance, resilience, dynamic characteristics, (I. E., Materials present in the cleaning solution and the surface being cleaned, such as dilute acid, dilute base, oil and grease, aliphatic hydrocarbons, aromatic hydrocarbons, halogenated hydrocarbons, and / Or resistance to alcohol).

It should be noted that the cell size of the closed cell foam tires may affect functionality in terms of traction, resistance to contaminants, durability, and other factors. A cell size in the range of about 20 [mu] m to about 40 [mu] m can provide acceptable performance, depending on the weight of the robot and the conditions of the surface being cleaned. The specific range includes from about 20 [mu] m to about 120 [mu] m, with an average cell size of 60 [mu] m, and from about 20 [mu] m to about 40 [mu] m for an acceptable traction force, especially across various surface and contaminated conditions.

In certain embodiments, the tire is approximately 13 mm wide, but a wider tire may provide additional traction. As discussed above, the tire can be approximately 3 mm thick, but tires greater than 4 mm - 5 mm thick can be used to increase traction. A thin tire of approximately 1½ mm and a thick tire of approximately 4½ mm may be beneficial depending on the weight, operating speed, movement pattern, and surface texture of the robot. Thick tires can receive compression fixation. Nevertheless, if the cleaning robot is heavy, a large tire may be desirable. A tire having an outer rounded or square corner may also be employed.

In order to increase the traction force, the outer diameter portion of the tire may be siping. Sipping generally reduces the travel distance for fluid removal from the contact pieces by (a) providing space for fluid seepage, (b) allowing more portions of the tire to coincide with the floor, increasing tread mobility ( c) provide traction by providing a wiping mechanism to assist with fluid removal. In at least one example, the term "siphoning " refers to tearing off the tire material to provide a pattern of thin grooves 1110 in the tire outer diameter region. In one embodiment, each groove has a depth of approximately 1.5 mm and a width of approximately 20 to 300 microns. Siphoning leaves less than ½ mm of the base of the tire, for example, with a 3½ mm deep sip on a 4 mm thick tire. The grooved pattern may provide a substantially uniformly spaced groove at approximately 2 to 200 mm spacing between adjacent grooves. By "uniformly spaced ", in one example, may mean that all siped cutouts are not necessarily at the same distance from the adjacent, but are spaced in a repeating pattern. The groove cut axis forms an angle (G) with the tire longitudinal axis. The angle G is, in certain embodiments, in the range of about 10-50 degrees.

In another embodiment, the siphoning pattern is a diamond-shaped crosshatch of 3.5 mm spacing, which can be cut at an angle of 45 [deg.] (+/- 10 [deg.]) Alternating from the axis of rotation. In practical circumferential siphing, siphoning and other siphoning patterns are also contemplated that transport the liquid away through the channel. The depth and angle of the siping can be varied depending on the particular application. Also, although increased depth or width of the siphon can increase the traction, this benefit must be balanced against affecting the structural integrity of the tire foam. In certain embodiments, it has been determined that 3 mm to 4 mm thick tires with, for example, 7 mm spacing diamond crossing siphies provide good tire traction. Large tires can accommodate fine patterns, deep siphoning, and / or wide siphoning. Additionally, tires made especially from wide tires or from certain materials may not require siphoning for effective traction. While certain siphoning patterns may be more useful on wet or dry surfaces or different types of surfaces, siphoning that provides a consistent traction force across a variety of applications may be most desirable for a general purpose robot cleaner.

Various tire materials, sizes, configurations, and siphoning affect the traction of the robot during use. In a particular embodiment, the wheel of the robot rolls directly through the injection of a cleaning solution which affects the traction force, such as contaminants encountered during cleaning. The loss of traction of the wheel may cause inefficiency of operation in the form of a wheel slip, which may disengage the robot from its intended path. This deviation can increase cleaning time and reduce battery life. Thus, the wheel of the robot should be of a configuration that provides good to excellent traction on all surfaces, with a minimum corresponding motor size.

Typical contaminants encountered during cleaning include chemicals that are ejected or not by the robot. In a liquid state (e.g., oil, soap, ammonium chloride, etc.) or in a dry state (e.g., laundry detergent, talc powder, etc.), these chemical components can decompose the tire material. In addition, robotic tires can be used to remove pollutants (e.g., soft drinks, milk, honey, mustard, eggs, etc.), dry contaminants (e.g., bread slices, rice, flour, sugar, etc.) For example, corn oil, butter, mayonnaise, etc.). All these contaminants can be encountered as residues, puddles or water films, or as dry patches. The tire materials described above have proved effective in resisting material degradation due to these various chemical components and oils. Additionally, the described cell size and tire siphoning have proven beneficial in maintaining traction while encountering wet and dry contaminants, chemicals, and the like. However, certain concentrations of dry contaminants can be stuck into the siphoning section. The chemical cleaners used in the devices described below also help emulsify certain contaminants, which can reduce possible damage due to other chemical contaminants by diluting such chemical components.

In addition to contaminants that may be encountered during use, various cleaning tools (e.g., brushes, squeegees, etc.) of the device may affect the traction of the device. The drag force generated by such a device, the contact characteristics of the device (i.e., roundness, sharpness, smoothness, warpage, roughness, etc.) and the likelihood of slip due to contaminants vary with the surface being cleaned. Limiting the contact area between the robot and the surface being cleaned reduces collateral friction, which improves traction and movement. A thrust of 1.36 - 2.27 kg (3 - 5 pounds) versus a drag of 0.72 kg (1 ½ pounds) proved to be effective on robots weighing approximately 2.27 - 4.54 kg (5 - 10) pounds. Depending on the weight of the robot cleaner, this number may vary, but acceptable performance occurs at less than about 50% drag and is improved at less than about 30% drag.

The tire material (and corresponding cell size, density, hardness, etc.), siphoning, robot weight, contamination encountered, degree of robotic automation, floor material all affect the total traction coefficient of the robot tire. For a particular robot cleaner, the traction coefficient (COT) for the minimum movement threshold is established by dividing the drag of 2 pounds (measured during the squeegees test) by a vertical force of 6.72 kg (6 pounds) applied to the tire . Thus, this minimum movement threshold is approximately 0.33. A target threshold of 0.50 was determined by measuring the performance of a fragmented black foam tire. The traction coefficients of many of the materials discussed above were within the COT range of 0.25 to 0.47 and within the acceptable range between the travel threshold and the target threshold. In addition, it is desirable that a tire that exhibits little variation in traction coefficient between wet and dry surfaces is given a variety of working conditions in which the cleaning robot is exposed.

The robotic cleaning device may also benefit from using a jacket or boot that at least partially or completely surrounds the tire. Absorbent materials such as cotton, linen, paper, silk, porous leather, chamois leather and the like can be used with the tire to increase traction. Alternatively, this sheath can completely replace the rubber wheel by simply mounting it on the outer diameter portion 1104 of the cup-shaped wheel element 1102. Whether used as a sheath for a rubber tire or as a complete replacement for a rubber tire, the material can be replaced by the user or automatically removed or replaced at the base or filling station. Additionally, the robot can be provided to the end user with a set of tires of different materials, with an indication to use a particular tire for a particular floor surface.

The cleaning solution used in the robot cleaner should be capable of easily emulsifying the contaminants and separating the dried trash without damaging the robot and the surface itself. Given the adverse effects described above for robot tires and certain chemical components, aggressiveness of the cleaning solution must be balanced against short and long term adverse effects on tires and other robotic parts. From this point of view, substantially any cleaning material that meets a particular cleaning requirement can be used in the cleaning robot. In general, solutions containing, for example, surfactants and chelating agents may be used. Additionally, pH adjusters such as citric acid may be added. Adding a fragrance such as eucalyptus, lavender, and / or lime can improve the marketability of such a cleaner, for example, and contribute to the perception that the device effectively cleans the consumer. Blue, green, or other distinct colors can also help to distinguish the cleaner for safety or other reasons. The solution is also diluted when used with a robotic vacuum cleaner, but can be cleaned effectively. During operation, there is a high possibility that the robot cleaner may pass through a particular cleaning area several times, thereby reducing the need to use a cleaner of the highest intensity. In addition, the diluted cleanser reduces wear problems for tires and other components, as described above. One such cleaning agent that has proved effective in cleaning without causing damage to the robot components is alkylpolyglucoside (e.g., 1-3% concentration) and tetrapotassium ethylenediamine-tetraacetate (tetrapotassium EDTA: 0.5 - 1.5% concentration). In use, this cleaning solution is diluted with water to produce, for example, a cleaning solution having approximately 3-6% of cleaning agent and approximately 94-97% of water. Thus, in this case, the cleaning solution actually applied to the floor may be as little as 0.03% to 0.18% of the surfactant and 0.01 to 0.1% of the chelating agent. Naturally, other detergents and their concentrations can be used in the disclosed robotic cleaner.

For example, the group of surfactants and chelating agents disclosed in U.S. Patent No. 6,774,098, the disclosure of which is incorporated herein by reference in its entirety, is also suitable for application to robots having the disclosed tire material and construction. However, in order to balance the aggressiveness of the detergent disclosed in the '098 patent with the wear caused to the machine parts, the detergent may contain (i) a solvent that does not contain a solvent or contains a solvent at a lower fraction than the chelating agent of the alcoholic solvent, (1 pass), 10% 8% (repeated pass), and 5% to 0.1% of the disclosed concentrations, respectively, and / or And / or (iii) less than a fraction of a commercial carpet cleaner, for example less than 5% silicone emulsion (e.g., And / or (iv) be replaced with, or compatible with, the offensive odor remover of the live cell culture. ≪ RTI ID = 0.0 >

In certain embodiments, the cleaning solution used in the robotic vacuum cleaner is preferably a "hard surface" described in U.S. Patent No. 6,774,098, belonging to (i), (ii), (iii), and / Quot; cleaning agent "(or it is one or more embodiments). Specific embodiments of the "hard surface cleaner" of U.S. Patent 6,774,098 are described in the following paragraphs.

In one embodiment, the hard surface cleaner comprises (a) an amine oxide of general formula I, or

(I)

A quaternary amine salt of general formula II, or

[Formula II]

(B) a very slightly water-soluble polar organic compound having a water solubility in the range of about 0.1 to about 1.0 wt.%, Wherein the polar organic compound comprises a very slightly water-soluble polar organic compound, The active agent system weight ratio ranges from about 0.1: 1 to about 1: 1, wherein R ¹ and R ² are the same or different and are selected from the group consisting of methyl, ethyl, propyl, isopropyl, hydroxyethyl, And R ³ is selected from the group consisting of straight chain alkyl, branched chain alkyl, linear chain heteroalkyl, branched chain heteroalkyl, and alkylether, each having about 10 to 20 carbon atoms, and R ⁴ is selected from 1 And an alkyl group having 5 to 5 carbon atoms, and X is a halogen atom.

In another embodiment, the hard surface cleaner comprises: (a) a combination of (i) a nonionic surfactant and a quaternary ammonium surfactant or (ii) a positive surfactant present in a total amount of from about 0.001 to 10% 50% or less of at least one water soluble or diffusible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25 ° C; (c) 0.01 to 25% of tetraammonium ethylenediamine-tetraacetate (tetraammonium EDTA) And (d) water, wherein the nonionic surfactant is an alkoxylated alkylphenol ether, or an alkoxylated alcohol, or one long chain alkyl, two short chain trialkylamine oxides, alkylamido dialkylamine oxides, Lt; RTI ID = 0.0 > nonionic < / RTI > surfactant selected from the group consisting of phosphine oxide and sulfoxide.

In another embodiment, the hard surface cleaner is selected from the group consisting of: (a) optionally, a quaternary ammonium surfactant together with an anionic, nonionic surfactant, and mixtures thereof, and wherein the total amount of from about 0.001 to 10% (B) at least one water soluble or diffusible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25 DEG C; and (c) as a chelating agent, from about 0.01 to 25% by weight of the detergent, Diols, glycol ethers, and mixtures thereof, wherein the at least one organic solvent is present in an amount of about 1 to 50% by weight of the detergent; and (d) water; And mixtures thereof.

In another embodiment, the hard surface cleaner comprises: (a) a nonionic surfactant optionally having a quaternary ammonium surfactant present in a total amount of from about 0.001 to 10%; (b) at least 0.001 mm Hg vapor pressure (C) from 0.01 to 25% of tetraammonium ethylenediamine-tetraacetate (tetraammonium EDTA) as chelating agent, (d) water, and , The amphoteric surfactant may be an alkoxylated alkylphenol ether or an alkoxylated alcohol or a group consisting of one long chain alkyl, two short chain trialkyl amine oxides, alkyl amido dialkyl amine oxides, phosphine oxides and sulfoxide Lt; RTI ID = 0.0 > nonionic < / RTI >

In a particular embodiment, the hard surface cleaner has a viscosity of less than about 100 cps and has (a) at least about 85% water dissolved, and (b) less than 0.2 g / Of at least about 0.45 equivalents / kg of an anionic anion forming a salt with a solubility of at least about 0.45 equivalents / kg; (c) at least 0.3 wt.% Detergent interface based on the weight of a component comprising an amine oxide in the form of RR ¹ R ² N → O (D) at least about 0.5% by weight of a bleach, wherein R is C ₆ -C ₁₂ alkyl, R ¹ and R ² are independently C _{1 -4} alkyl or C _{1 -4} alkyl, _-4 hydroxyalkyl, and the ion is a carbonate, fluoride, or meta-silicate ion, or a mixture of such ions, the cleaning component is alkaline, essentially free of chelating agents, phosphorus containing salts, and abrasives.

In certain embodiments, the cleaning solution used in the robotic vacuum cleaner is disclosed in U.S. Patent Nos. 5,573,710, 5,814,591, 5,972,876, 6,004,916, 6,200,941, and 6,214,784, which are incorporated herein by reference in their entirety. (Or one or more embodiments thereof) of one or more of the described hard surface cleaners.

U.S. Patent No. 5,573,710 discloses an aqueous multi-surface cleaning component that can be used for the removal of grease and stains from hard surfaces or hard fibrous materials such as carpets and furniture. (A) an amine oxide of general formula I, or

(I)

Quaternary ammonium salts of general formula II, or

[Formula II]

A surfactant system consisting of a combination of the amine oxide and a quaternary ammonium salt, and (b) a polar organic compound that is very slightly water soluble. Polar organic compounds that are very slightly water soluble may have a water solubility ranging from about 0.1 to 1.0 weight percent and the weight ratio of polar organic compounds that are very slightly water soluble to surfactant systems may range from about 0.1: 1 to about 1: 1 . R ¹ and R ² may be selected from the group consisting of methyl, ethyl, propyl, isopropyl, hydroxyethyl, and hydroxypropyl. R ¹ and R ² may be the same or different. R ³ can be selected from the group consisting of straight chain alkyl, branched chain alkyl, linear chain heteroalkyl, branched chain heteroalkyl, and alkylether, each having about 10 to 20 carbon atoms. R < ⁴ > may be selected from the group consisting of alkyl groups having from 1 to 5 carbon atoms. X is a halogen atom.

In certain instances, the component further comprises a water soluble organic compound in an amount effective to reduce streaking. The water-soluble organic compound may be selected from water-soluble glycol ethers and water-soluble alkyl alcohols. The water-soluble organic compound may have a water-solubility of at least 14.5% by weight. The weight ratio of surfactant system to water-soluble organic compound may range from about 0.033: 1 to about 0.2: 1.

U.S. Patent No. 5,814,591 describes an aqueous hard surface cleaner that improves dirt removal. (A) a non-ionic, amphoteric surfactant, or combination thereof, or (ii) a quaternary ammonium surfactant, present in a wash effective amount; (b) (C) at least one water soluble or diffusible organic solvent present in an effective amount of solubilization or diffusion; and (c) ammonium ethylenediamine-tetraacetate (ammonium EDTA) present in an amount effective to improve soil removal in the detergent, (d) water. The total surfactant may be present in an amount of about 0.001 - 10%. In the concentrated product, the surfactant may be present up to 20% by weight. The nonionic surfactant may be selected from the group consisting of alkoxylated alkylphenol ethers or alkoxylated alcohols or one long chain alkyl, two short chain trialkylamine oxides, alkylamido dialkyl amine oxides, phosphine oxides and sulfoxide Lt; RTI ID = 0.0 > non-ionic < / RTI > The at least one water soluble or diffusible organic solvent may be present in an amount of up to 50% by weight of the detergent. The ammonium EDTA may be tetraammonium EDTA and may be present in an amount of about 0.01 to 25% by weight of the total detergent.

U.S. Patent No. 5,972,876 discloses a composition comprising (a) a surfactant selected from the group consisting of anionic, nonionic surfactants, and mixtures thereof, optionally in combination with a quaternary ammonium surfactant, b) at least one water-soluble or dispersible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25 DEG C, the total amount being present in a solubilization or diffusion effective amount; and (c) as a chelating agent, Tetraacetylethylenediamine-tetraacetate (potassium EDTA), which is present as a surfactant, and (d) water. The total amount of surfactant may be present from about 0.001 to 10% by weight. The at least one organic solvent may be selected from the group consisting of alkanols, diols, glycol ethers, and mixtures thereof, and may be present in an amount of about 1 - 50 wt% of the detergent. Potassium EDTA may be present at about 0.01 to 25% by weight of the detergent.

U.S. Patent No. 6,004,916 discloses a composition comprising (a) a nonionic or amphoteric surfactant optionally having a quaternary ammonium surfactant present in a wash effective amount, (b) a solubilized or diffusion effective amount (C) a chelating agent, ammonium ethylenediamine-tetraacetate (ammonium EDTA) present in an amount effective to improve soil removal in the detergent, (d) at least one water-soluble or water- ≪ / RTI > discloses an aqueous hard surface cleaner. The surfactant may optionally be a nonionic surfactant having a quaternary ammonium surfactant. The amphoteric surfactant may be selected from the group consisting of alkoxylated alkylphenol ethers or alkoxylated alcohols or one long chain alkyl, two short chain trialkylamine oxides, alkylamido dialkylamine oxides, phosphine oxides and sulfoxide Lt; RTI ID = 0.0 > non-ionic < / RTI > The total amount of surfactant may be present in the range of about 0.001 - 10%. The at least one water soluble or diffusible organic solvent may be present in an amount of up to 50% by weight of the detergent. The ammonium EDTA may be tetraammonium EDTA present in an amount of 0.01 to 25% by weight of the total detergent.

U. S. Patent No. 6,200, 941 discloses a dilute hard surface cleaning component. The cleaning component comprises: (a) at least about 85% water dissolved; (b) at least about 0.45 equivalents / kg of water, when combined with calcium ions, to form a salt having a solubility of less than 0.2 g / Inorganic anion and at least 0.3% by weight of detergent surfactant, based on the weight of component (c). The component preferably has a viscosity of less than about 100 cps. The anion may be a carbonate, fluoride, or metasilicate ion, or a mixture of such ions. The detergent surfactant may comprise an amine oxide in the form of RR ¹ R ² N → O where R is C ₆ -C ₁₂ alkyl and R ¹ and R ² are independently C _{1 -4} alkyl or C _{1 - 4} hydroxyalkyl. The component may further comprise at least about 0.5 wt% bleach, based on the weight of the component. In one case, the cleaning component is alkaline, essentially free of chelating agents, phosphorus containing salts, and abrasives.

U.S. Patent No. 6,214,784 describes a component similar to that disclosed in U.S. Patent No. 5,972,876. The component may comprise dipotassium carbonate as a buffer.

Alternatively, the cleaning fluid may be used to cool the motor, or the motor may be used to heat the cleaning fluid. Motors used to rotate the main cleaning brush emit significant energy in the form of heat. This heat reduces motor and electronics life. It is possible to flow the cleaning fluid around the motor so that heat is transferred from the motor to the heat. This can improve cleaning performance and reduce stress on the motor. The structure includes ducts, heat transfer compounds, and thermally conductive materials for delivery, and / or motor components in contact with the duct. In addition, the use of a wet rotor motor for fluid pump or brush drive allows the motor to be immersed in a clean tank, which can simplify the connection and accumulate the waste heat into the cleaning fluid.

The nose wheel module 960, shown in exploded view in FIG. 18 and in cross section in FIG. 19, includes a nose wheel 962 housed within a caster housing 964 and attached to a vertical support assembly 966. The nose wheel module 960 is attached to the chassis 200 in front of the cleaning module to provide a third support element for supporting the chassis 200 relative to the cleaning surface. The vertical support assembly 966 is pivotally attached to the caster housing 964 at its lower end and is positioned such that when the chassis is raised from the cleaning surface or the nose wheel passes over the cliff, . The upper end of the vertical support assembly 966 may pass through and rotate relative to the chassis 200 such that when the robot 100 is operated on the cleaning surface by the rear drive wheels 902 and 904, RTI ID = 0.0 > 960 < / RTI > Thus, the nose wheel module is automatically aligned with respect to the direction of robot operation.

The chassis 200 has a nose wheel mounting well 968 for receiving the nose wheel module 960 therein. The well 968 is formed at its front circumferential edge on the lower side of the chassis 200. The upper end of the vertical support assembly 966 passes through the hole through the chassis 200 and is caught in the hole to attach the nose wheel to the chassis. The upper end of the vertical support assembly 966 also connects to a sensor element attached to the chassis 200 on its upper side.

The nose wheel assembly 962 is constructed with a molded plastic wheel 972 having an axle projection 974 extending therefrom and is mounted to the caster housing 964 by an oppositely aligned axle hole 970, As shown in Fig. The plastic wheel 972 includes three circumferential grooves within its outer diameter. The center groove 976 is provided to receive the cam followers 998 therein. The plastic wheel further includes a pair of symmetrically opposed circumferential tire grooves 978 for receiving an elastomeric o-ring 980 therein. Elastomeric o-ring 980 contacts the cleaning surface during operation, and the o-ring material properties are selected to provide the desired coefficient of friction between the nose wheel and the cleaning surface. The nose wheel assembly 962 is in rolling contact with the cleaning surface via the o-ring 980 and includes a passive element that rotates about its axis of rotation formed by the axle projection 974 when the robot 100 is traveling on the cleaning surface. to be.

The caster housing 964 is formed therethrough and has a pair of opposing clevis surfaces with aligned opposing pivot holes 982 for receiving a vertical support assembly 966 therein. Vertical attachment member 984 includes, at its lower end, a pivot element 986 that is installed between the clevis surfaces. The pivot element 986 includes a pivot axis bore 988 formed therein to align with the aligned pivot hole 982. A pivot rod 989 extends through the aligned pivot holes 982 and is press fit within the pivot axis bore 988 and captured therein. A torsion spring 990 is mounted on the pivot rod 988 and provides a spring force to deflect the caster housing 964 and the nose wheel assembly 962 to a downwardly extended position to move the nose wheel 962 to the chassis 200 so that the nose wheel 962 is rotated. The downwardly extending position is the inoperative position. The spring constant of the torsion spring 990 is sufficiently small that the weight of the robot 100 overcomes its biasing force when the robot 100 is placed on the cleaning surface for cleaning. Alternatively, when the nose wheel assembly passes over the cliff or rises on the cleaning surface, the torsional spring biasing force pivots the nose wheel to a non-actuated position extending downwardly. This state is sensed by a wheel descending sensor, which will be described later, and is sent to the master controller 300 so that the signal stops running or initiates another action.

Vertical attachment member 984 includes a hollow vertical shaft portion 992 that extends upwardly from pivot element 986. The hollow shaft portion 992 passes through an aperture in the chassis 200 and is captured internally by an o-ring retainer 994 and a thrust washer 996. This attaches the nose wheel assembly 960 to the chassis, allowing the robot to rotate freely about a vertical axis when the robot is running.

The nose wheel assembly 960 counts the wheel rotation, determines the wheel rotation speed, and detects when the wheel is in a downward position, i.e., when the caster 964 is pivoted downward by the force of the torsion spring 990, And a sensing element for generating a sensor signal used by the control module 300. The sensor uses a cam follower plunger 998 that includes a moving sensor element in response to wheel rotation to generate a wheel rotation signal. The cam follower 998 includes an " L "shaped rod that is movably supported within the hollow shaft 992 and has a vertical portion that extends through the hole in the chassis 200 and over its upper surface. The lower end of the rod 992 fits within the wheel center peripheral groove 976 to form a cam follower that is movable relative thereto. The cam follower 998 is held in contact with the offset hub 1000 shown in Fig. The offset hub 1000 includes an eccentric feature formed asymmetrically with respect to the nose wheel rotational axis within the circumferential groove 976. With each rotation of the wheel 962, the offset hub 1000 causes oscillation of the cam follower 998, which travels reciprocally along a substantially vertical axis.

Figures 33 - 35 illustrate an alternative construction for the front casters. As shown in Figures 33 - 34, the front casters include a stagnation sensor (to determine that the non-driving front casters rotate) and a function of a wheel drop switch (to determine that the wheel no longer touches the ground) And can be generally configured as described above. A hook member 998 having a vertical shaft and a horizontal hook is wound around the eccentric boss 999 formed in the middle of the caster wheel. The hook member sensor member 998 is free to move freely within the support 984 (without interfering with the rotation of the casters) when the caster wheel rotates about its rotation axis for forward movement and against the support 984 for rotation And it can also slide vertically within the support portion 984. [ As the actuator moves up and down in a sinusoidal waveform, one sensor (generally an optical or magnetic "congestion" sensor near the top of the element 998, as described herein) can be used to track whether the robot is moving forward have. Alternatively two sensors are used and one is separated by substantially two times the offset of the boss 999 to be near each vertical end of the possible travel of the member 998. [ Two sensors improve resolution. Alternatively, the two sensors may be modeled or replaced with a linear sensor to provide an analog profile for the wheel rotation time (e.g., even in two carefully positioned sensors, the opposite of the member 998) The analog output intensity of the optical, magnetic, or electrical detection of the ends may provide substantially opposite ends of the sinusoidal signal upon rotation, providing speed and limited total mileage information). They are positioned according to the position of the front casters on their suspension during normal use of the robot. In addition, the wheel drop sensor (optics, magnetism, etc.) is located below the congestion sensor. As described, the wheel is biased to pivot to move within its vertical range that oscillates on its support housing 984,970, providing a spring-loaded suspension. If the front wheel of the robot falls on the cliff or when picking up the robot, the member 998 moves below the range of the wheel falling sensor, so that this can be detected. Thus, the assembly with member 998 and sensor acts as a stagnation sensor and a wheel drop sensor, and can also act as a speed sensor. As described herein, the sipping of the tire material is a cross hatch of the diagonal cutouts. The cutout may be an angle of 20 to 70 degrees from the forward movement line of the robot.

The one-turn wheel sensor per revolution includes a permanent magnet 1002 attached to the upper end of an "L" shaped rod by an attachment element 1004. Magnet 1002 oscillates through periodic vertical movement in each complete rotation of the nose wheel. The magnet 1002 generates a magnetic field that is used to interact with a reed switch (not shown) mounted on the chassis 200 at a fixed position relative to the moving magnet 1002. The reed switch is activated by the magnetic field whenever the magnet 1002 is at its top position of its movement. Which generates one signal per revolution perceived by the master controller 300. The second reed switch may also be located close to the magnet 1002, and may be calibrated to generate a wheel down signal. The second reed switch is placed in a position where it is affected by the magnetic field when the magnet 1002 falls to the non-operating wheel lowering position.

Basic shape factor

In the embodiment of the robot of the present invention, the diameter of the robot circular cross-section 102 is 370 mm or 14.57 inches, i.e. approximately 35-40 cm or 12-15 inches, and the height of the robot 100 on the cleaning surface is 85 mm or 3.3 inches, i.e., about 7- 100 mm or 3-4½ inches. These sizes cross the house door frame under the baseboard and clean many typical chairs, tables, portable islands, beneath unrestored chairs, and some toilet seats, sinks, and other pottery fixtures. However, the automatic cleaning robot 100 of the present invention may be formed with other cross-sectional diameter and height dimensions and other cross-sectional shapes such as square, rectangular, and triangular, and volume shapes such as cubes, rods, and pyramids . The height of the robot is smaller than the height of a 25.4 cm (10 ") cabinet baseboard (approximately the height of a wheelchair-accessible baseboard or a European baseboard), preferably a 10.16 cm (4") cabinet baseboard . Alternatively, the height of such a portion of the robot that cleans the inside of the pallet can be limited, and the remainder of the robot is higher.

One embodiment of the robot according to the present invention may be manufactured as a mass-produced commercial product using a highly integrated physical structure. As shown in FIG. 1B, such an embodiment includes several components, a robotic body, a wet fluid tank, a battery, and a cleaning head. The tank may be a structural element (e.g., the robot is carried by a tank handle with the fluid being filled), or the robot may be a chassis-body structure or a set of self-supporting monocoque structures. If defined in a particular environment, the monocoque may mean "substantial monocoque" or "at least partial monocoque ", and other alternative definitions are not excluded (e.g., having a supporting rib or frame, A robot including a load retaining portion that can have a chassis-like element such as a cantilevered support). A robot with various components is within the scope of the present invention. One such cleaning robot includes a motor-driven brush or wiper, a first housing to receive a fluid tank, and a second housing to receive a steerable drive mechanism. The coupling mechanism couples the first housing to the second housing to form a substantially cylindrical outer surface of the cleaning robot. The cleaning robot dispenses the fluid from the fluid tank and brushes or wipes the wet surface with the fluid.

In another embodiment, the cleaning robot includes a motor-driven brush or wiper, a tank formed as an upper cylinder section for storing fluid, and a platform formed as a lower cylinder section. The platform accommodates a steerable drive mechanism. The coupling mechanism couples the tank to the platform and the upper cylinder section of the tank matches the lower cylinder section of the platform to form a substantially cylindrical outer surface of the cleaning robot.

The integration of the fluid tank as part of the cylindrical body enables the wet cleaning to be performed by the automatic robot at the maximum possible cleaning time. If the body is not entirely cylindrical, that is, if it does not have a circular periphery, the escape from corners and corridors, which are slightly larger than the robot, becomes difficult, and automaticness is affected. By integrating the fluid tank into the robot body, the tank volume can be maximized. Other shapes of a constant width (rosette triangles or constant width polygons) are also possible as peripheral shapes and are considered within the meaning of the term "cylindrical" for the purposes of the present invention, And has the maximum possible fluid capacity.

Another embodiment of the cleaning robot described herein includes a partial monocoat tank that receives at least one of a waste fluid compartment, a dispensing fluid compartment, a waste fluid compartment, or a dispensing fluid compartment, and a partial monocoque tank that accommodates a steerable drive mechanism. . The coupling mechanism couples the partial monocoque tank to the partial monocoque platform to form a substantially cylindrical outer surface of the cleaning robot. The cleaning robot brushes the surface at least partially wetted by the fluid dispensed by the cleaning robot.

Other embodiments include a motorized brush or wiper, a tank containing a fluid compartment for storing fluid, a platform including a mounting portion for receiving the tank, a fluid connection between the tank and the platform, and a vacuum connection between the tank and the platform . The coupling mechanically engages the tank with the platform. The engagement of the coupling seals the fluid connection and the vacuum connection and forms a substantially cylindrical outer surface of the cleaning robot. The cleaning robot brushes the surface at least partially wetted by the fluid from the fluid compartment. The fluid from the fluid compartment can be picked up by vacuum (which can pick up dry particles before the brush or wiper), but this is not necessarily the case.

Another embodiment includes a motorized brush or wiper, a monocoque tank that receives a fluid compartment, and a platform that includes a pivot mount that receives one end of the tank and rotates to match the monocoque tank to the platform. The coupling mechanically engages the monocoque tank with the platform such that engagement of the coupling forms a substantially cylindrical outer surface of the cleaning robot. The cleaning robot brushes the surface at least partially wetted by the fluid from the fluid compartment. The pivotal mounting portion may optionally be arranged to house the tank at the same angle as when the user carried the tank. The tank is angled into the user's hand due to the handle configuration.

Another embodiment of the robot cleaner includes a motorized brush or wiper, a tank containing a fluid compartment for storing fluid, a platform including a mounting portion for receiving the tank, a fluid connection between the tank and the platform, As shown in FIG. The coupling mechanically engages the tank with the platform such that the coupling engagement seals the fluid connection and the vacuum connection and forms a substantially cylindrical outer surface of the cleaning robot. The cleaning robot brushes the surface at least partially wetted by the fluid from the fluid compartment.

In yet another embodiment, the scavenging robot includes a tank that receives a fluid compartment for storing fluid, a cleaning head that includes a motorized brush and vacuum, and a platform. The platform includes a first receptacle for receiving the battery. The mounting portion houses the tank so that the tank covers the battery. The battery does not need to be under the tank and can be attached directly to the body on the top or side. Additionally, the cleaning head, in one embodiment, can not be removed or replaced unless the tank is pivoted upward, as the tank and associated components can create an interlock with the cleaning head if the tank is latched in place.

The cleaning head may be considered as part of the platform, or alternatively the second receptacle may receive the cleaning head from one side of the platform. The robot includes a fluid connection between the tank and the platform (e.g., so that the platform can distribute the fluid), a tank and platform and / or cleaning head (e.g., so that the material aspirated by the platform can accumulate in the tank) As shown in FIG. One or both of the vacuum connection and the fluid connection can be made directly between the tank and the cleaning head, for example by matching the seals on the tank and on the cleaning head. The coupling may mechanically engage the tank to the platform and seal the fluid connection and the vacuum connection.

Although all such combinations can use brushes or wipers, the use of brushes causes less friction than wipers, and many bristles on the rotating brush still provide continuous, continuous, and repeated contact with the surface. The term "brush" includes a rotating, reciprocating, orbital motion, a belt drive, a movable pad, a brush, a sponge,

Although different ratios are possible, it is advantageous to maximize the fluid tank volume if the fluid tank is more than 50% of the top surface, less than 50% of the side wall, and less than 50% of the bottom surface of the robot. However, it is more advantageous if the fluid tank is less than 25% of the lower surface and more than 75% of the upper surface, which balances the need to support the tank with the maximum volume.

As described herein, a motor-driven brush is housed within a cleaning head that is removably inserted within the side of the first housing, and includes a lock, click lock, click engagement Device, or detent mechanism. This allows the cleaning head to be removed without removing the tank. If the battery is under the tank and on the body, the cleaning head can also be removed without removing the battery. The battery may be similarly arranged using a similar structure so as to be removably inserted from the side of the robot, with an optional lock, click lock, click engagement, or detent mechanism to maintain the electrical connection. The battery may also be integrated within the tank or body and may include one or more replaceable, rechargeable, or replenishable batteries, a fuel cell, or a fuel tank, or a combination thereof.

The coupling mechanism for securing the tank to the body may include a handle of the fluid tank, and only the entire substantially cylindrical robot or tank is carried by the fluid tank handle. The handle may also include a lock, click lock, click engagement device, or detent mechanism. The handle as shown herein includes a push button for locking the tank into engagement with the body, another push button for releasing the tank from the body, and a mechanism for receiving a pull handle used as a handle. The coupling mechanism may include a pivot and a lock, which receives one end of the tank and rotates the tank to engage the lock.

Many of the above embodiments utilize a tank structure that functions as a fluid compartment and a support or structural element of the robot. Additionally, the tanks can accommodate clean fluid and dirty fluid compartments, as in the illustrated embodiment. Alternatively, additional tanks may be provided for the concentrate to separate clean fluid and dirty fluid and / or to mix with water in one of the tanks. More compartments may be provided (e.g., compartment for defoamer, compartment for fuel, etc.). Embodiments will illustrate how tanks or combination tanks can be self-supporting, or act as structural members, and those skilled in the art will recognize that the same type of coupling and support can easily be modified for one or more tanks.

As described herein, the two compartments of the tank are arranged so that when the fluid is moved from one compartment to the ground and then picked up, the center of gravity is maintained substantially in place and / or substantially above the drive wheel . The structure uses compartments stacked vertically or partially stacked with each other with a compartment full centroid within 10 cm of each other. Alternatively, the compartments may be concentric (so that one is inside the other in the lateral direction), or they may be fitted together (e.g., L-shaped portions or fingers that are laterally interdigitated with each other), or all of the clean compartments Or a portion may be a flexible bladder surrounded by a dirty compartment inside a dirty compartment so that the flexible bladder is compressed as the clean fluid leaves it, but the dirty fluid filling the dirty compartment occupies the place of the clean fluid. The flexible bladder may be part of the bottom of a clean tank that enters, expands, or expands into a dirty tank. For example, in Figure 27, the fan-shaped flat portion of the second plastic element 812 (tank middle portion) on the left and / or right of the opening 562a (as shown in Figure 27) , ≪ / RTI > extensible, or as an accordion-like component. For this purpose, the plenum 562 may be arranged with straight sides in that direction.

Within the tank, various types of compartment configurations are possible. They may be separated, joined by a wall (as shown), or may be separate deformable compartments, or may be enclosed compartments. Certain compartments may be superimposed and deformable, or may include buckling walls separating the compartments. The walls separating the compartments may be hinged, accorded, etc., and the compartments may be separated by one or more semipermeable, osmotic or reverse osmosis membranes or other filters. One of the "compartment" or "tank" may be rigid, deformable, or buckable, except where otherwise specified. The same compartment can be used for two different fluids in different situations (water and premixed cleanser compartment, treatment or gloss agent compartment, etc.). The compartments in the tank may be suitably used for water or solvents, mixed wash solutions, concentrates, dirty fluids, dry particles, fuels, fragrances, defoamers, markers, polishes, treatments, waxes and the like.

Most of the above examples have removable tanks, but in alternative embodiments, the tanks may be permanent. The term "coupling" is intended to refer to a coupling for easily mounting one object to another, including reversible type couplings such as snap, catch, latch, hook, click lock, detent lock, screw, bayonet, Means a group of mechanisms. This also includes the use of gravity and guides to hold the upper part on the lower part or to fit the compatible elastomeric parts. The term "easily detachable" generally distinguishes such permanent couplings from permanent couplings such as adhesives / welds (for example, permanent, except for repair, such as screws or bolts). Semi permanent or permanent coupling may be more substantial in the case of a large robot that is emptied by a docking or floor station (the embodiment may include a compatible docking or floor station).

As described above, the platform may also include a spray, a spreader, a nozzle, a capillary action, a wiping cloth, or other fluid dispensing mechanism, and / or a brush, vacuum, squeegee, Pumping cloth, or other fluid collection mechanism. As used above, "wetted by fluid" may occur before or after the fluid is stored by the tank (e.g., the fluid may be manually applied by a person or picked up by a robot, Or the fluid may be left on the surface by the robot to dry or evaporate, for example depending on the type of fluid to polish or floor treatment). One or both housings may be substantially monocoque, or may include a lock on a chassis portion or an added chassis portion.

When a pivot holder is used, the pivot holder is metal and has durability and rigidity. The use of heavy metal pivots can increase the weight of the robot (pressure and mopping force), and more significantly, the center of gravity of the main housing (depending on where the metal pivot is located, if necessary) . If a metal handle is used at the opposite end of the robot, the two metal parts can facilitate balancing and positioning of the desired center of gravity. However, balancing and positioning can be achieved by the use of a metal support frame that instead displaces the center of gravity of the robot toward the wheel / belt driven contact line, or simply by moving the center of gravity of the fluid-filled robot to the wheel / (E. G., Cast iron) that is properly positioned to displace it.

For a robot designed for coverage (including cleaning robots), it is best to position the differential drive wheel on the diameter to allow the robot to rotate in place. However, it is advantageous to position the working width or the cleaning head on the diameter of the circular robot, since this gives the widest working width. For a particular vacuum cleaner manufactured under the name Rumba by the i-Robot Corporation, the wheel is positioned on the diameter of the circular periphery for this purpose, since the side brush can be used to follow the wall to contain particles in the working width . Only one side of the brush is needed, according to the robot each time on the same side of the wall.

However, for wet-cloth robots that apply liquids, side brushes are not so effective. Although the present invention contemplates the use of a dry or wet side brush that is substantially physically similar to a dry vacuum cleaner to aid in dry cleaning or wet cleaning or both, this is not believed to be essential. Additionally, placing the cleaning head on the diameter of the circular periphery so that the width of the cleaning head comes closest to the wall helps to provide effective cleaning. In the case of different curves of constant width, the cleaning head can be located on the widest span, and the differential drive wheels are arranged close to the diameter of the circumference that defines the robot perimeter (alternatively, (Using a holomonic drive by an omnidirectional wheel).

When the cleaning head is on the diameter of the circumferential periphery, it can abut the corners of the robot, thereby improving edge cleaning performance. Additionally, if the robot is always controlled and configured to follow walls and obstacles on one dominant side, the cleaning head only needs to strike one side of the robot. Such an arrangement allows space on the non-dominant side for other purposes. In the case of one embodiment of the robot, this rectangular edge space is used for the gear train and the engagement structure to enable the cleaning head to slide in a cartridge manner from one lateral side (edge cleaning / dominant side) of the robot (See FIGS. 3 and 3B).

One specific embodiment of the cleaning system is a dry material pick-up, followed by fluid (water) application, followed by a fluid pick-up. The reason why the dry material pick-up precedes the fluid application is that, as described herein, primarily the moisture pickup is mainly for the wastewater / waste fluid, has a variety of adverse effects on the moisture pickup and can be picked up more easily And not about large, free debris.

Additional cleaning steps may be incorporated into the wet cleaning robot according to the present invention. For example, the step of applying a dry material may include a step of picking up the dried material, such as polishing powder, catalyst, reactant, etc., or other dry material accumulated and mixed with the fluid (leaving off the water spray and collecting the dry material, May be included after the step of losing.

It is also possible to eliminate the dry material pick-up step, for example when the moisture pick-up mechanism accommodates such debris, when other measures are taken to address the possibility of wet particles or debris. One embodiment of the apparatus may use a scrubbing brush preceding the lateral strip vacuum / squeegee along the cleaning path. As an example, in an alternative embodiment, where the scrub brush is positioned to rotate within the spout of the vacuum, leading to debris into the spout of the vacuum, the dry pick-up step may be less important. It is also possible to change the cleaning system so that the fluid application process does not immediately precede the fluid pickup process. As an example, in an alternative embodiment, the first robot applies fluid, the second robot picks up the fluid, or a single robot applies the fluid in one pass and, in two passes along the same path, Lt; / RTI >

For example, in the case of waxes or polishes, it is also possible to change the cleaning system so that the fluid pick-up process is not performed. In another embodiment, the robot can apply one kind of fluid (e.g., cleaning fluid), pick it up, and apply a second type of fluid (e.g., wax or polish) that is not picked up.

The fluid application process is applied to the brush, roller, belt, web, pad, or other rubbing medium rather than directly to the bottom, and the fluid is first brought into contact with the floor primarily when it is held by the rubbing medium , It is also possible to change the cleaning system.

As described herein, certain new cleaning systems are particularly suitable for the robotic cleaner of the present invention. However, although there is a specific combination of cleaning procedures that form a cleaning system with unique advantages as described herein, the process or part of the system is not critical. Many of the robot types and configurations described herein are new and advantageous for any wet cleaning system (just as an example, a structure associated with a wet cleaning head that extends only to one side edge where the robot is always cleaning).

As described herein, the robot is preferably about 3-5 kg when fully filled with fluid. For household use, the robot can be as heavy as about 10 kg. An exemplary range for the physical dimensions of the robot is a total mass of about 2 to 10 kg, a cleaning width of about 10 cm to 40 cm within a diameter of about 20 to 50 cm, a wheel diameter of about 3 cm to 20 cm, It is a drive wheel contact line about 2 cm - 10 cm for all drive wheels (2, 3, 4 drive wheels) and a drive wheel contact patch for all wheels about 2 cm ² or more. An exemplary robot has a coarse weight of less than about 4 kg and a payload weight of less than about 5 kg, and may provide about 1 kg (or 800-1200 mL) of clean or dirty fluid (when the robot applies fluid and picks it up) . The waste tank is sized according to the efficiency of the pick-up process. For example, in a relatively inefficient squeegee designed or arranged to leave a predetermined amount of wetting fluid at each passage (e.g., such that the cleaning fluid stays and acts progressively on stains or dried food pieces) Waste tanks can be designed to be less than clean tanks. A portion of the accumulated fluid may not be picked up and the other portion may evaporate before it can be picked up. It may be necessary to determine the size of the waste tank above a clean fluid tank, if the dry matter pickup precedes the moisture pickup and an efficient squeegee (e.g., silicon) is used. A certain percentage of the tank volume, for example more than 5%, can also be dedicated to bubble reception or control, which can increase the size of the waste tank.

Practical automatic hard surface cleaning robots are masses of less than about 10 kg and have at least one rubbing or wiping member. In order to effectively brush, polish, or scrub the surface, the rubbing or wiping member creates a drag force, and for a robot of less than 10 kg, preferably up to about 40%, preferably no more than about 25% Should produce an average drag. The drag (total drag associated with the blade, squeegee, drag component) should not exceed about 25% of the robot to ensure good mobility in the absence of an active suspension / constant weight system, This will remove the weight from the tire and affect the movement force. The maximum available drag force is typically less than about 40% of the robot weight on a slippery surface with a surfactant-based (low surface tension) cleaning fluid, and may be as high as about 50% under optimal conditions, and the drag / . However, for successful automatic operation, in order to have sufficient thrust to overcome small hazards and obstacles, to pass over thresholds that can encounter non-rubbing or brushing members, and to escape jams and other emergencies , The robot should have a thrust / pull force that is greater than about 150% of the average drag / parasitic power provided by the drive wheel. The rotary brush can generate drag or thrust depending on the direction of rotation, and the present invention takes all of them into consideration. Having a weight of about 8.6 pounds and having a drag of less than 2 to 3 1/2 pounds due to brush, wiper, squeegee, and idle wheel friction, but with only a driving wheel or a forward rotating brush An example of a robot disclosed in detail herein having a thrust greater than 3 to 5½ pounds due to a combined drive wheel is an example of a robot that can be successfully cleaned and operated automatically. Sometimes, the weight has to be added to improve the traction by adding more weight to the wheel (e.g., in one embodiment of the device, a metal handle, a clevis pivot mount, a larger motor than needed, and / Or ballast). Without adding or adding weight, one embodiment of the present device derives a functional fraction of the thrust from a forward rotating brush (which is turned off in reverse), which is not a necessary feature in a large industrial vacuum cleaner.

The width of cleaning heads for masses of domestic cleaning robots of less than 10 kg (or even 20 kg) is significantly different from industrial self-cleaning. According to an embodiment of the present invention, this means that from a cleaning width of 1 cm per 1 kg of robot mass (wet) cleaning width, ideally about 5 or 6 cm per 1 kg of robot mass, to 10 cm (the higher ratio applies to the generally lower mass). It is difficult to apply sufficient wiping or rubbing force over a cleaning width of more than 10 cm per robot mass of 1 kg, and less than 1 cm per 1 kg robot mass may result in inefficient cleaning widths or very heavy It can not be carried easily by a normal (or weak) person. Self-propelled industrial cleaning machines will typically be less than 1 to 3 cm cleaning width per 1 kg machine mass.

The ratio of these dimensions or characteristics affects whether robots of 10 kg, in some cases less than 20 kg, are effective for general household use. Although some such ratios have been explicitly described above, it is contemplated that a certain ratio (e.g., a wheel contact area of cm ² per robot weight of one pound, a wheel contact length of cm per drag of one pound, etc.) Although not limited to a set of configurations, it is expressly contemplated to be uniquely disclosed in the present invention.

While this specification details the optimal material configuration and shape for robots tires or tracks that are available on the wet housing surface, particular combinations of these materials and tire shapes with other cleaner elements are particularly effective. For the tire itself, as described, one advantageous configuration is a 3 mm foam tire thickness with a sip of 2 mm depth. This configuration works properly when supporting less than 3 to 4 kg per tire. The ideal combination of siphoning, cell structure, and absorbency for tires is affected by robot weight.

At least one manual wiper or squeegee is advantageous in wet cleaning robots. For example, a wet vacuum part should be immediately followed by a squeegee to form the thickness of the water film to be picked up. The wet (squeegee) squeege surpasses a random obstacle of greater than 2 mm, but is ideally suf fi ciently flexible enough to exceed the robot's ground clearance (in the case of the embodiments described herein, a minimum height of 4 1/2 mm or ground clearance) And a range of movement.

Any reaction force seen by the squeegee in the direction against gravity should be subtracted from the available traction force, not exceed about 20% of the robot's weight, and ideally no more than about 10% of the robot's weight. A certain amount of ambient pressure with the same reactive force is needed for the squeegee to clean and collect the fluid. The physical parameters of the squeegee must be well controlled and balanced to obtain an effective combination of fluid collection, reaction forces, wear, and flexible response to obstacles. A working edge radius of about 3/10 mm for a squeegee of less than about 300 mm is particularly effective and a squeegee at a working edge of about 1/10 to 5/10 mm can be expected to be practical according to other facilities. The abrasion, squeegee performance, and drag are parallel to the floor within about ½ mm (alternatively, within about 1/100) of their working length at the working edge of about 3/10 mm or less as described above, A substantially rectangular cross section (optionally, a trapezoid) and / or a thickness of about 1 mm (alternatively, about ½ to 1½ mm), which is straight within about 1/500 mm (optionally within about 1/100) , Squares of about 90 degrees (alternatively, about 60 to 120 degrees). Deviations from this parameter require that a larger ambient pressure (force opposing gravity) be compensated, reducing the available traction.

This exemplary wet vacuum / squeegee assembly is disclosed in the present invention, one of which uses a "divided squeegee ", wherein the moisture pickup is primarily provided by a vacuum channel between the forward wet squeegee and the rear wet squeegee, The two squeegees are separate members that can slide relative to each other when the squeegee is deformed during use. As shown in Fig. 12 herein, the rear wet squeegee on the left side of the figure is separated from the front wet squeegee adjacent to the brush when the cartridge is opened for cleaning. The front wet squeegee is formed with a gun eye on the inner surface to provide a series of vacuum channels and the main task of the front wet squeegee is to appropriately deform to maintain the vacuum in the channel and to transfer the front end of the channel to the bottom. A forward wet squeegee (of a split squeegee design) maintains a constant open cross-sectional area to define the aerodynamic parameters for the downstream wet squeegee. To achieve this, however, the front wet squeegee only has to contact the floor at the designated location, and does not require ambient pressure to operate. The forward wet squeegee should be able to overcome obstacles in the robot's ground clearance beyond any obstacles above the minimum height of about 4½ mm of the robot, for example to a rear or wet ground clearance of 4½ mm. The front wetted portion must maintain an aerodynamic cross-sectional area at about 80-120%, ideally about 90-110% of the design point (e.g., the projected cross-sectional area in the static design) at any location along its length. Deviations in cross-sectional area create inconsistent vacuum aids for the squeegee, reducing cleaning performance.

When a squeegee is used in or behind a dry vacuum, the dry vacuum squeegee can be moved to any arbitrary obstacle higher than the frontal ground clearance, for example, to an arbitrary height greater than about 6½ mm height of the forward (dry) In order to overcome obstacles, it must have sufficient flexibility and range of movement (in this example, the front height may be higher or lower). Despite the use of the term "dry squeegee" or "doctor blade" in this specification, because the primary purpose of a "dry squeegee" or "doctor blade" is an air flow guide rather than as an original doctor blade or squeegee, The end of the squeegee may optionally be designed to be separated from the floor, for example from 0 to about 1 mm, ideally ½ mm. The ambient pressure is not necessarily required for the dry vacuum squeegee, i.e. the air flow guide blade, to function properly for optimum performance. The ideal airflow guide blades can pivot about 10-30 degrees, ideally about 20 degrees back and forth.

When a brush or wiper is used, a stationary and rotary brush or wiper must contact the floor over a wide range of surface changes (e.g., in wet cleaning scenarios, including tiles, planes, timber, deep grout flooring). This contact is generally achieved in accordance with the present invention in one or both of the following two ways. The brushes or wipers may be fabricated using a floating mount (e.g., on a spring, elastomer, guide, etc.) and / or using appropriate flexibility for the design amount of interference or engagement of the rubbing brush or wiper against the surface Respectively. As discussed above, any reaction force that is visible to the brush / rubbing device against gravity should be subtracted from the available traction force and not exceed about 10% of the robot's weight. The spiral design of the rotating brush helps to minimize the force opposing gravity and reduces the energy demand for rotation.

Most of the embodiments described herein using rotating brushes use a single brush. Two or more opposing rotating brushes, or more, with one or more brushes, for example one brush on each side of the centerline of the robot, may be provided. A differential rotary brush may also be employed. In such a case, two brushes, each substantially half the width of the robot at the rotational diameter, are located on each side of the rotational center line, each extending along half of the diameter. Each brush is connected to a separate drive and motor and can rotate in different directions at different speeds, in opposite directions or in the same direction, providing rotational and translational power for the robot.

The cleaning robot according to an embodiment of the present invention also includes a suspension system mainly including a pivoting wheel assembly including elasticity and / or damping, which has a traveling height designed in consideration of the vertical force. Ideally, the suspension can ideally deliver within about 2% (optionally, 1-5%) of the minimum downward force of the robot (i.e., the robot mass will have an upward force from elastic or compliant contact, such as brush / squeegee, . That is, the suspension is placed against a "hard stop" with only about 2% of the applied downforce applied (the spring stop has another 98%, optionally between 95% and 99%), The obstacle or interference causes the suspension to lift or float the robot above the obstacle and maintains the maximum available force on the tire contact portion. This spring force (and consequently, robot tractive force) can be maximized by having an active system that changes its force against a changing robot load (relative clean and dirty tank level). The active suspension is provided by an electric actuator or solenoid with appropriate damping and spring resistance, hydraulic pressure, etc., as will be appreciated by those skilled in the art.

The center of gravity of the robot tends to move during recovery of the fluid unless the cleaning agent and waste tanks are balanced to keep the same center of gravity position constantly. Maintaining the same center of gravity position (by tank compartment design), if the fluid recovery system can recover almost any fluid applied regardless of the surface, or if modeling predicts how much fluid will be recovered into the waste tank The passive suspension system may allow the maximum available traction to be delivered. The present invention comprises a first compartment having a profile that substantially retains the position of the compartment center of gravity when the compartment is emptied and a second compartment having a profile that substantially maintains the position of the compartment center of gravity when the compartment is filled Consider the tank design, wherein the center of gravity of the combined tanks is substantially maintained within the wheel diameter and on the wheel. This is more easily accomplished in tanks that are at least partially stacked in the vertical direction.

While the configured cleaning tanks are integral, the present invention contemplates the use of cleaning fluid cartridges. The user inserts the sealed plastic cartridge into the indentation or cavity in the robot housing and the cartridge completes the upper and / or lateral outer profile of the robot smoothly or substantially smoothly (possibly slightly elevated) Is configured to contain a pre-measured amount of cleaning fluid. Securing the cartridge into the robot punctures or ruptures the cartridge housing, allowing the cleaning fluid to mix with the correct amount of water.

As noted above, without perfect fluid recovery or active suspension, good mobility can be achieved by modeling or assuming a minimum fraction of fluid that is collected across all surfaces (e.g., 70% of the applied fluid) Can be achieved by designing the profile of the compartment and the center of gravity position. Alternatively or additionally, setting the spring force to maximum lift (empty tank) conditions can contribute to excellent traction and mobility. In general, the suspension run should be at least equal to the maximum obstacle allowed by the bumper (and other edge barriers) to travel under the robot.

Maximizing the diameter of the wheel reduces energy and traction requirements for a given obstacle or depression. The maximum design obstacle mount capacity is less than about 10% of the wheel diameter. The 4.5 mm obstacle or depression should be overcome by a 45 mm diameter wheel. In most of the embodiments described herein, robots are short and flat for various reasons. The bumper is installed low enough to distinguish between the carpet, the threshold, and the hard floor, and a bumper of about 3 mm from the ground will prevent the robot from climbing on the carpet (about 2 - 5 mm of bumper surface clearance). The remainder of the robot work surface, for example the vacuum cleaner under the robot and the wet cleaning head, also has members (air guides, squeegees, brushes) extending towards the floor which are more effective due to the low ground clearance. Since the ground clearance in one embodiment is between 3 and 6 mm, the wheel may be only 30 mm to 60 mm. However, even when a low obstacle is mentioned, the larger one is typically better.

As shown in the various figures, there is a thin lateral tab disposed at the bottom of the front bumper 220, spaced along the length of the frontal bumper, in this case the front bumper. This tab acts as a mechanical carpet detector to assist in detecting the main crash or obstacle of the bumper 220 and is mounted about 3 mm from the bottom about the lower circumference of the front bumper to allow the front wheel The carpet is a member protruding toward the height that passes under the robot before climbing the carpet. The tab extends below the front edge of the front bumper. In addition, the inner cover 200a of the robot required to shield the interior of the robot when the tank assembly is removed provides additional rigidity and reduces the requirements for the chassis 200 (lower part 200b).

Robot controller (circuit) and control

According to at least one embodiment, the robot may include a generally circular or round chassis 200 (see FIG. 3, for example) in which at least the first and second drive wheels 1100 may be rotatably connected. The drive wheel 1100 may be positioned on the lower portion of the chassis 200 to maintain the robot across the cleaning surface when the drive wheel 1100 is driven. Furthermore, the drive wheels 1100 can be positioned such that the center of each of the respective drive wheels 1100 lies along an imaginary line that is generally parallel to the plane of the cleaning surface, for example. Various control sequences for the robot and its parts of the present invention are described herein. In addition, robots are described in U.S. Patent Applications Nos. 11 / 176,048, 10 / 453,202 and 11 / 166,986, which are hereby incorporated by reference in their entirety, and Campbell et al. &Quot; which is incorporated herein by reference in its entirety, including but not limited to U.S. Provisional Patent Application No. 60 / 741,442, filed December 2, 2005, entitled " The navigation system can be used to operate through the working environment.

In one embodiment, the imaginary line may extend through the center point of the robot's circular chassis 200, and the drive wheels 1100, including the left and right drive wheels, may extend from opposite mutually opposite outer edges of the chassis 200, Respectively. The drive wheel 1100 can be driven simultaneously in the forward rotational direction to propel the robot on the next cleaning surface and the drive wheel can be driven differentially while one of the drive wheels 1100 is driven to rotate faster than the other So that the yawing of the chassis 200 rotates about its center point. As a result, the robot can move even when there is no space, which allows the drive wheels 1100, which are driven differentially, to rotate the robot's chassis 200 without simultaneously pushing the robot forward or backward with respect to the cleaning surface (This can be achieved, for example, by driving each of the drive wheels 1100 in opposite directions at the same rotational speed).

According to another embodiment, the robot chassis 200 has a substantially linear shape and extends from a first point along the outer circumferential edge of the circular chassis 200 to a second point along the outer circumferential edge of the circular chassis 200, May include a scrubbing module 600 (e.g., see FIG. 12A) that may extend to two points (e.g., generally define a central nut line through the center of the circular chassis 200). In such an embodiment, both drive wheels 1100 may be mounted on the front or rear side of the rubbing module 600 and in a specific embodiment, for example, in the rear of the rubbing module 600 to contribute to the operational stability of the robot, And is positioned on the lower portion of the chassis 200. Other drive wheel positions are possible. As one example, the robot includes four drive wheels on the front and rear of the cleaning head on each side of the robot, one on the front side of the cleaning head on the right side and one on the rear side, As shown in Fig. Such a configuration can provide the robot with a movement that is more similar to that of a robot having a differential drive on the centerline and, among other things, facilitates software optimization for controlling movement of the robot.

According to one embodiment, the mobile robot 100 may clean the floor or other cleaning surface using, for example, a generally helical path. For example, by selecting a spiral path in accordance with the effective width of the liquid applicator 700, the robot can effectively stack the cleaning fluid on the cleaning surface of the largest area. In such a case, the robot with the dominant side rotates away from the dominant side, causing the dominant side (i.e. the side where the cleaning head extends to the edge and the robot follows the obstacle) to form the outside of the helix. For simple spirals, this can be left in an uncleaned place, for example, the cleaning head is offset to the right, the robot can leave a turn to the left, and the lower part of the robot without a cleaning head range is slightly cleaned (These circles are temporary if the robot can randomly return to the same place before the end of the cleaning cycle). This can be resolved by following the helix to the center pass based on the speculative navigation or by following the helix into one or two octaves based on the speculative navigation. However, if the robot encounters a wall or an obstacle before the spiral method commences a center pass, then this interruption leaves a small possibility of leaving an uncleaned circle (from the obstacle in the direction of the helix, Lt; / RTI >

An alternative coverage pattern that does not necessarily create such a location is shown in FIG. In such a pattern, the mobile robot 100 may follow an overlapping pattern similar to that used by the ice resurfacing machine used in the skate link, to ensure that all areas within the path are adequately covered. Figure 46 shows a typical wheel path as a dotted line 911 and a common coverage path as a solid line 913. [ The patterns are most simply a series of circles or ellipses that overlap each other, and the diameter of the following path is larger than the width of the coverage track. This can be done as a series of overlapping rounded corner squares or rectangles, rectangles, as shown in Fig. As shown in FIG. 46, the exemplary pattern uses a rotation that is essentially perpendicular to the differential steering. The robot travels a certain distance away from the first track, rotates parallel to it, runs parallel thereto, and then rotates back to the first track, so that it rotates before the first track and superposes it, And is operated in parallel along one track. The overlap is sufficient to cover any "blank place" caused by the offset cleaning head or the offset differential wheel. The robot then rotates at a position essentially similar to the first rotation and repeats this process of processing the track made as the first track. Subsequently, the robot will leave the blank, which is the non-cleaned area at the start of the coverage pattern, but the robot will displace the overlapping ellipse, circle, square, or rectangle so that the blank area is eventually covered. As can be seen in Figure 46, the first loop of the pattern and the diameter of the subsequent loops, or the distance across them, may be any size, since the robot will eventually overlay the coverage. If a large loop also includes many straight lines, it has excellent cleaning efficiency. However, if the loop is too large, drift errors accumulate, and obstacles that disrupt the pattern can be encountered. If the loop is too small, too much of the time is consumed in differential rotation, which is slower than straight running and is not as satisfactory as straight running. In this case, the above-described coverage pattern is of a size that completely covers the center of the loop during the third through fifth parallel passes (parallel or irregular, circular, elliptical, square, or rectangular) Over half of the cleaning width is overlapped. One exemplary tight coverage pattern overlaps by about 120% - 200% of the straight line distance from the wheel center to the cleaning head edge (alternatively, the cleaning width is offset by about 120% - 200% Loops, or alternatively simply by about 1/5 - 1/3 of the cleaning head width, or alternatively by about 2/3 - 4/5 of the cleaning head width) Have loops that are about three or four times less than the working diameter. These loops are substantially circular, polygonal, and square (the latter two have curved corners when the robot rotates).

Figure 48 shows a mobile robot having left and right drive wheels 1100 positioned on the rear lower portion of the chassis 200, wherein the dashed lines indicate virtual lines extending through the center of both drive wheels 1100 . However, since the virtual line of the "diameter-offset" robot does not pass the center point of the chassis 200 (unlike the rectilinear robot shown in Fig. 47, for example), the left and right drive wheels 1100 The differential yawing control achieved by driving differs from the embodiment in which the virtual line passes through the center point of the chassis 200. [ For example, in contrast to the center point crossover example, the robot shown in FIG. 49 undergoes simultaneous forward or backward movement by the robot with respect to the cleaning surface when the yawing of the robot is changed by differentially driving the driving wheel 1100 . Thus, control of a diameter-offset robot (herein an "offset robot") for various tasks such as sharp rotation, progression along a curved path, cliff follow, bump follow- Offset robot, taking into account the difference due to the offset of the drive wheel 1100 from the diameter of the non-diameter-offset robot (i.e., the imaginary line bisecting the center). Several exemplary offset robot behaviors that the robot's controller can control to control the robot are described below.

The robot may include a bump follow-up behavior. The bump follow-up behavior facilitates escape of the offset robot from a narrow or partially blocked area (such as, for example, the narrow end of an alcove or corridor). The bump follow-up behavior may include at least two steps. (1) rotation at a position when the bumper (or other suitable contact or pressure sensor for detecting contact with an obstacle of the robot, such as a leaf spring switch, a magnet proximity switch, etc.) is compressed ) And (2) movement in a generally arcuate path in the opposite direction of rotation to a reduced radius until the bumper is recompressed.

According to at least one exemplary embodiment, step 1 of the algorithm modifies the radius of rotation to hold the bumper against the wall while rotating (see FIG. 49). L1 is an imaginary line extending through the center of drive wheel 1100 and the robot can rotate at any point on this line. L2 is a perpendicular line perpendicular to the wall and passing through the center of the robot (point C). Point (A) is the 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.

To rotate the robot while keeping 'd' constant, the robot adjusts the respective wheel speeds for the first and second drive wheels 1100 such that the robot rotates about point A. This may be a continuous process that causes point A to move relative to the cleaning surface as the robot rotates.

Referring to Figure 50, for example, the controller implements an algorithm based on a control cycle to achieve the appropriate behavior. In the initial step S101, the robot waits for a control cycle, after which the robot recalculates the estimated position of point A in step S102. Thereafter, the robot sets respective rotational speeds for the respective driving wheels 1100 according to the recalculated position of A in step S103, and the next process is repeated in the first step S101.

According to an embodiment in which the robot may not have a sensor indicating which angle the wall is with respect to the robot, the control algorithm determines the position of the point A on the basis of the bumper switch being closed (left, right or both) And can update its estimate when the bumper switch closure state changes. Thus, this estimate allows the bump follow-up behavior to work well most of the time.

Referring to FIGS. 51 and 52, an exemplary estimation procedure is illustrated, wherein the 'bump quadrant' refers to which bump switch is closed, ie, 'left' means that only the left switch is closed, Right " means only the right switch, " both " means that the left and right switches are closed. Fig. 51 shows an example of a continuous algorithm for updating the wall angle every control cycle, and Fig. 52 shows how the estimation is updated when the wall quadrant is changed.

For example, as shown in Fig. 51, in an initial step S201, the robot forms an initial estimate of the wall angle based on the bump quadrant, and then waits for a subsequent control cycle at S202. When the control cycle is started, the robot determines in S203 whether the currently detected bump quadrant differs from the previous bump quadrant, and if so, in S205 re-estimates the wall angle based on the previous bump quadrant and the current bump quadrant , The process returns to S202 to wait for a subsequent control cycle (thereby forming a processing loop). However, if the current and previous bump quadrants are the same, the robot estimates the wall angle based on the wheel movement during the control cycle instead of the bump quadrant difference at S204, and then returns to the control cycle wait step S202.

As shown in FIG. 52, the process may include a connected test step (S301, S307, S312, S317), including determining whether the previous pump quadrant was left, both, or right, or whether the current quadrant is left or right , S319). If the determination at this initial series of connected test steps is not yes, then the robot reaches a baseline estimate for a wall angle of 0 ° at S321. However, if, on the other hand, the robot determines that the previous bump quadrant was right, then the robot then determines in S302 if the current bump quadrant is both (in this case the robot is at S305, (In this case, the robot estimates the wall angle at 0 DEG at S306) at S303, and otherwise, at S304, the estimation is initialized to 0 DEG . On the other hand, if the previous bump quadrant is instead both, as determined in S307, the process estimates the wall angle as 7.5 degrees at S301 if the current bump quadrant is determined to be left at S308, or if the current bump quadrant If it is the right side as determined in S309, it is estimated to be -7.5 DEG in S311, otherwise the wall angle estimate is initialized to 0 DEG in S304. Also, if the previous bump quadrant was to the right as determined at S312, then the robot only estimates the wall angle at -15.5 at S315 if the current bump quadrant is both as determined at S313, otherwise the estimate is S314 Is determined as the left side of the bump quadrant, via S316, otherwise through S304).

On the other hand, when the previous bump quadrant has not yet been detected, if the previous bump quadrant is not left, right, or both, as can occur in the initial control cycle, the robot moves to S317, (In this case, the estimate is 30 [deg.] In S318) or to the right (in this case, the estimate is -30 [deg.] In S320) as determined in S319, Is initialized to 0 DEG in S321.

The robot may also have cliff avoidance and panic rotational behavior. Also, the robot may exit the corner and use a directional locking algorithm to distribute it across a room or other area containing the cleaning surface. This can sometimes cause the robot to spin into obstacles or cliffs that have just been detected. Thus, an offset robot (which may occur because the offset robot can not rotate about its center without involving a forward or a backward translation relative to the cleaning surface) is rotated towards the obstacle or cliff that it has just detected, (E.g., a distance of up to about 10 mm, but about 5 mm to about twice the diameter offset could alternatively be used) to avoid crashing in a cliff You can retreat. Retracting too far can fall in other cliffs that may be placed behind the robot because the robot may not have a cliff sensor in the back of the robot in some embodiments. Moreover, the robot can also be rotated (e.g., in a non-limiting example, 20 degrees, or alternatively, any angle within the range of 0 to 90 degrees) as it rotates toward the detected cliff, can do.

Figure 53 shows an exemplary algorithm that the offset robot may employ. In an initial step S401, the robot determines the direction of the detected cliff, based on which of the cliff sensors, at least the right cliff sensor and the left cliff sensor, is triggered (as a non-limiting example), and only the right cliff sensor , The robot determines that the cliff is on the right side, and if only the left cliff sensor is triggered, the robot determines that the cliff is on the left side, otherwise, the robot randomly determines the direction instead. Next, in step S402, the robot determines whether the direction is locked and whether or not the direction is different from the direction toward the cliff. If yes, then in step S403, the robot is retracted (e.g., a certain distance, such as 10 mm, the distance may be set dynamically in response to another environment or behavior factor known to the robot or by any suitable predetermined amount (E.g., a certain amount, such as 20 degrees, alternatively the amount of rotation may be set dynamically or it may be any suitable amount). Otherwise, at S404, the robot then proceeds according to the normal cliff avoidance behavior.

The panic rotational behavior is used to escape when the robot determines that it can not escape from the obstruction. In an embodiment in which the robot is an offset robot and can not rotate in position relative to its center without necessarily moving forward or backward, thus exposing the offset robot to the risk of crossing over the cliff, When confronted, the direction of the panic rotation can be reversed.

54, according to an example of a panic rotational behavior for an offset robot, for example, the robot can randomly select the rotational direction and size for rotating about its center in a first step S501 have. The robot can then start its rotation in S502, and then waits for the next control cycle in S503. Thereafter, the robot sets its speed in S504 based on the selected rotation angle, and checks in S505 whether or not a cliff is detected. If so, the robot then reverses its direction of rotation at S506, and the control process then returns to S503, waiting for a further control cycle, otherwise the control process simply returns to S503, And waits for a subsequent control cycle.

The robot can have a reflective behavior to handle low traction forces. The robot may have other elements or protrusions on the bottom of the robot chassis that can operate in a wet environment where the floor or other cleaning surface is wet and may reduce the wheel contact force in contact with the floor. To deal with this, once the bumper is triggered, the reflective behavior for the robot can retract at least about 10 mm (or any other suitable distance) and then retract beyond 20 mm (or other suitable distance) When the bumper is released, the retraction stops. In contrast to conventional robots, robots in accordance with this embodiment can retract a minimum amount prior to scanning to determine if the bumper has been released. The total distance can also be kept to a minimum, so as to avoid accidental crashing in the cliff and allow the robot to rotate.

The robot may also include a floor transition and fall portion and a wheel falling behavior for detecting a progressively inclined obstacle or object that can not be detected by a bumper or other obstacle detection sensor. For example, when the front of the robot rises above a shallow transition portion in the floor, or when the front of the robot is raised by a gradual rising portion or object on the cleaning surface that does not inform the robot of its presence by triggering a bumper or other sensor, The front wheel 1100 of the front wheel 1100 may fall and thus lose contact with the surface. Thus, the robot may include a sensor that is triggered when it falls to its lowest position (or any other sub-normal point suitable for indicating possible contact loss) of the wheel of the robot. Thus, when the front wheel falls, the robot can then react to the triggering of the wheel fall sensor in a manner similar to the bumper impact. As a non-limiting example, after retracting a short distance, if the wheel does not return (e.g., the wheel drop sensor fails to stop triggering), the robot may then be stopped for safety reasons , A wheel drop error code, an alarm, or other indication). By responding to the wheel drop state as a bump, for example, the robot can avoid climbing onto a carpet or other unwanted floor surface or obstacle.

Fig. 55 is a graph showing the relationship between the wheel dropping behavior and the wheel dropping behavior in the first step S601 when the robot moves to a specific distance (for example, 50 mm) or a specific time lapse amount (for example, (For example, if the wheel fall sensor is a continuous type sensor, not a pulse type or repeating type sensor) and / or moves backward at S602 until the wheel fall sensor is no longer triggered. Thereafter, the robot determines in S604 whether the wheel fall sensor is no longer triggered, and if so, the robot can then enter the reflective behavior and / or continue to clean the cleaning surface (alternatively, For example, the robot may simply return to its normal mode or any other suitable behavior mode). On the other hand, if the wheel drop sensor does not stop triggering, the robot can then stop its cleaning behavior (or a possible running behavior) and, as a non-limiting example, at S606, Error code, or other "distress" indication to notify the user that they have entered the stationary "safe" mode.

A specific embodiment of the wet cleaning behavior is described below. According to some embodiments in which the robot includes components for wet cleaning of the cleaning surface (by including the liquid applicator module 700 and associated elements), the vacuum fan motor may operate for the entire time the robot cleans. As a result, any liquid previously deposited on the cleaning surface, e.g., cleaning fluid left in a previous cleaning cycle, or liquid from a beverage spilled on the floor by a person, or any other fluid is removed from the cleaning surface And any liquid or moisture remaining in the robot or robot part (e.g., as a result of a wet cleaning operation performed by the robot) may be dried faster as a result of air flow over the residual liquid or moisture . Thus, the robot can be dried suitably faster and the likelihood of undesired leakage or outflow of liquid from the robot, which can occur when the wet robot is handled earlier by the user, can be reduced. Furthermore, the brush and pump can be controlled according to the cleaning and moving characteristics of the robot. Additional robotic behavior associated with wet cleaning robots is described below.

The robotic drying process may be performed, for example, by a timer that causes the robot to initiate a drying process at a particular time of day, or by one or more conditions such as after a certain elapsed time during a wet cleaning cycle, or alternatively, In response to a steep descent of the battery voltage supplied to the robot, which may indicate that the robot is not going to be activated. As an advantage, for example, the robot can be configured to ensure that the power supply from the battery is dried before it is completely exhausted.

An embodiment of the main brush control will be described later. When the robot is moving, the main brush can rotate clockwise as viewed from the right side of the robot, for example, as shown in Fig. As a result, a turning force is applied to the robot when the clockwise rotating main brush makes contact with the cleaning surface or floor, thereby facilitating the forward propelling of the robot to the cleaning surface. Similarly, when retracting, the robot can turn off the brush, and the robot can also be moved to a position that is at least about 25 mm (e.g., an alternative suitable distance or time delay May be used) may be left untill the brush is moved forward. Alternatively, the brush may be rotated in a backward direction (e.g., counterclockwise as viewed from the right side of the robot), when the robot is retracted, to provide an additional backward thrust as a non-limiting example .

Figure 56 illustrates an exemplary brush control process in accordance with such an embodiment. The robot can perform the following control cycle (step S701: the behavior control process is alternatively referred to herein as "first step ", although it is not limited to start at any suitable point, And then, at S702, determines whether the robot is retracted. Otherwise, the robot then turns on the brush (can leave the brush turned on) in S703, and then returns to the first step S701.

On the other hand, if it is determined that the robot is retracting, the robot can then turn off the brush at S704, and then wait for the next control cycle at S705. In the next control cycle, the robot again retracts And if so, the process returns to the immediately preceding waiting step S705 to form a lower loop and again wait for the next control cycle. If, however, the robot determines that he is not retracting in this lower loop, it will leave the next lower loop and at S707 (e.g., setting an integer value stored in the electronic memory to zero, or a count register, , Or other suitable counter) to set the distance counter to the initial state, and then to wait for the next control cycle again at S708 to enter another lower loop. In the next control cycle, the robot can then increment (or decrement) the curry counter at S709, and then at S710, the distance counter determines the threshold (e.g., 25 mm or 1 second, or any other suitable threshold) Has been reached or exceeded.

If the robot determines that the distance counter has not reached or exceeded the threshold, the robot may repeat this sub-loop, for example, by returning the process to step S708 and then returning to the wait for control cycle. Otherwise, the robot may instead turn on the brush at step S703 (or leave it on) and return to the first step S701 of the brush control process.

For embodiments of the robot including wet cleaning capability, for example, a pump that can be controlled to dispense the cleaning fluid onto the cleaning surface can be included. In order to effectively distribute the cleaning fluid on the floor, the robot can control the output shaft of the pump at a prescribed rotational speed, including embodiments that do not include a mechanical speed sensor. In addition, the robot can be operated in a variety of situations at the time of cleaning, for example, to avoid applying too much fluid in one place, such as when the robot is not traversing the cleaning surface at a rate appropriate to properly dispense the cleaning fluid. Can be turned off. In addition, the robot can perform a specific sequence at startup to quickly priming the pump. Furthermore, the pump can be turned off after 5 minutes and after cleaning to properly dry the interior of the robot, but it can be about 15 seconds to 15 minutes, depending on the air flow and fluid characteristics. Other examples of pump control and pump related behavior are described below.

In one embodiment, the robot can identify the floor area of the room being cleaned by initially traversing and recording the room boundary, or by receiving information from the user or computer. Thereafter, the robot can control the pump in proportion to the identified size of the room, to ensure that the entire floor (or at least its maximum or optimal area) receives, for example, an effective amount of cleaning fluid. As an advantage, the cleaning fluid can be saved and the risk of leaving a partially cleaned floor can be reduced.

In at least one embodiment, the robot may include a pump, which is a reciprocating diaphragm pump having two chambers. 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 at a specific rotational speed to dispense the correct amount of cleaning fluid. In order to avoid the cost and potential unreliability of the mechanical sensor, an electrical sensor may be included. When driven at a substantially constant voltage, for example, the current drawn by the pump may be represented by a signal having a period that varies with the output speed of the pump, as shown in the non-limiting example in FIG. By measuring the current of the pump over time and analyzing the result data, the rate at which the pump rotates can be determined.

As described herein, the diaphragm pump dispenses water in front of the cleaning head. A single thin film interposed between the two housing portions serves as an inlet and outlet check valve and a pumping chamber. The pump has two independent circuits that supply two output nozzles. The pump is actuated by the cam so that the nozzle output is constant per unit distance from which it is ejected. In other words, the cam drives the pump so that each nozzle delivers a uniform liquid across the entire width of the cleaning brush. The output of each pump channel is directed to a nozzle positioned in line with each end of the cleaning brush and directly opposite each other in front of the cleaning head. The nozzle ejects water in front of it, parallel to the cleaning head. It ejects directly from a phase at the same frequency in an effort to minimize the linear travel distance between the output liquids. The reason for the two nozzles is to reduce or eliminate any non-uniformities or inaccuracies that appear in a single nozzle. By having two opposing nozzles, the output is averaged and the cleaning fluid is evenly applied.

In at least one embodiment, the robot may analyze data regarding the pump speed using a quasi-automatic calibration algorithm or other suitable algorithm. The current drawn by the pump can be sampled at every control cycle (typically about 67 times per second, or 10 to 200 times per second, for example) and can be input into the buffer. The buffer analyzes each control cycle (or other appropriate periodic rate) to estimate the period of the signal. The quasi-autocalibration algorithm, according to one example, outputs a calibration value for a range of sample periods (e.g., time, interval, and time) at intervals of, for example, about 194 ms (corresponding to 79 RPM) to about 761 ms It should be noted that the specific value of the velocity is merely a non-limiting example, which may be replaced by any other suitable value). The calibration value is calculated by summing the absolute value of the difference in the number of samples in the buffer separated by the sample period. A lower calibration value generally indicates better matching.

Since the quasi-autocorrelation algorithm can sometimes be matched for frequencies having periods that are multiples of the correct period, it is possible to misrepresent the match for the wrong frequency, and if the two lobes of the signal are similar in magnitude, Can be misjudged against half. To help avoid this problem, an estimate of the pump speed can be calculated from the voltage supplied to the pump and the current drawn. According to an exemplary embodiment, this may be based on data measured from various sensors to measure an appropriate constant. According to this process, examples of formulas for determining an estimated pump RPM based on voltage and current readings may among other things include:

Period from voltage = 61 - 2.5 x V,

Nominal current = 8.4 + 3.95 x V,

Tilt = 1.3302 - 0.07502 x V,

Period = period from voltage + (I - nominal current) x slope,

RPM = 4020 / cycle.

All of these should be considered as ± 5%, or ± 20%, but the values have been experimentally determined taking into account the tolerance variation between the pump and the motor.

58 shows an example of an algorithm used to determine pump speed. In the initial step S801, the robot calculates a calibration value for each cycle, and then, at S802, finds two minimum calibration values that exceed 50 below the average value. This is an experimentally determined constant, and is a non-limiting example. Appropriate values will vary widely depending on the actual pump current value, how the pump current is converted to a digital value, and the sampling rate. Then, the robot determines if there is no valid calibration value in S803, and if not, the process determines in S804 that the cycle is not true, and on the other hand, if it is not a determination that there is no valid calibration value, . If so, the process returns the period of one validity period in S806. Otherwise, the process determines in step S807 whether the two calibration values have a period of no more than three peaks, and if so, the process returns a period of smaller calibration values in step S808.

Otherwise, the process determines in step S809 if the minimum calibration value has a value less than or equal to 25, and in such case, the process returns a shorter period of calibration in step S810. As above, this is an experimentally determined constant, and is intended only as an example. Otherwise, the process then determines at S811 whether the period is 1.5x, 2x, or 3x. Otherwise, the process determines in S812 that the period is not known, otherwise, the process proceeds to calculate an estimate of the period in S813 (the estimate is calculated as described above), and then in S814, And if so, the process returns a cycle closer to the estimate at S815; otherwise, the process returns a smaller cycle at S816.

The robot may include a pump disabling control. In some embodiments, the pump can be stopped in various situations to avoid the robot not picking up the liquid or applying water on the floor (which it can not). For example, when the robot is retracted, the pump is actuated (causing the cleaning liquid to laminate) and the applied water (if the robot does not traverse the area it has retreated) It can not be picked up.

The conditions under which the pump can be stopped include, among other things, (1) when the robot moves backward, (2) when the robot rotates in position (for a non-offset robot embodiment) (or alternatively, (3) when the robot rotates about a point closer to the center of rotation than about half of the wheel spacing, and / or (4) when the robot Or detecting a situation that is interpreted as a stuck state.

Fig. 59 shows an example of a sequence for implementing the fixing behavior for the wet cleaning robot. In the first step (S901: this is referred to as "the first step" for convenience of explanation, it should be noted that the process may alternatively start at any other suitable step in the process) Flip, or mechanical switch, or any other suitable structure, and may also be referred to herein as a " virtual fix "variable or flag indicating a" Quot; false "and the opposite state is called" true "). The process then waits for the next control cycle at S902 and then at S903 it is determined if the robot is in a constant bumper panic state (e.g., a state in which the bumper is continuously triggered), and if so, The fixation is set to true and the fixing process is repeated by returning to the first step S901 after waiting for the bumper to be restored for 2 seconds (for example, 0.2 to 10 seconds) in S905. Otherwise, the process determines in S906 whether any other panic condition exists, and if so, the process sets virtual sticking to true in S907 and waits for the bumper, cliff sensor, and / or virtual wall sensor to be activated in S908 , And then returns to the first step S901. Otherwise, the process determines in step S909 whether the wheel fall sensor is triggered, and if so, the process sets virtual sticking to true in step S910, and in step S911, Is restored, and then returns to the first step. Otherwise, the process returns to S902 to form a lower loop and wait for the next control cycle.

The robot's pump may also require a priming sequence. In an embodiment of the robot including the pump, the pump can be operated at a maximum voltage for 2 seconds (or any other suitable interval) at start-up (as a non-limiting example) to facilitate priming of the pump.

Drying cycles may also be included in certain embodiments of the cleaning robot. For example, a wet cleaning robot may suck substantially dirty cleaning fluid (and / or other liquid) continuously from the floor or cleaning surface. The fluid can form a residue along the vacuum channel inside the robot. In order to avoid leakage of fluid or residue from the robot (which may form a liquid sump or layer on the cleaning surface) after a cleaning cycle, the robot may, after the cleaning has stopped, (Referred to herein as a "drying cycle"). During the drying cycle, the vacuum can be maintained and / or the brushes can be held in rotation to dry the brush and its compartments. The robot also allows the robot to pick up any liquid that remains beneath the robot that can be pushed around the squeegee of the robot and avoids potential damage to the floor or cleaning surface that may occur by rotating the brush in one place (For example, in his normal cleaning pattern) in order to achieve a desired result.

The robot has an additional sensor. In accordance with at least one embodiment, a wet scrubbing robot may comprise, among other things, one or more sensors, such as fluid level sensors, filters, cleaning heads, and / or tank presence sensors. As a non-limiting example, a robot may include two fluid level sensors, one to sense the presence of any clean fluid, and the other to sense whether the waste fluid is full. Each sensor can use the same electronic device and drive process. FIG. 60 illustrates exemplary electronic circuitry in which R1 and R2 are current limiting resistors (which may have the same value, or alternatively, other values).

To obtain a reading from the sensor, the control process can set the output 1 to + 5V, the output 2 to 0V, and read the analog input (reading 1). This can then be reversed by setting output 1 to 0V and output 2 to + 5V (the other voltage values (+3.3, 12, 24) would be appropriate for different system voltages). The process then re-reads the analog input (read 2), subtracts the two readings (i.e., subtracts the read 2 from the read 1), and consequently, Voltage is obtained. Thus, for example, the following set of equations can be used to calculate the resistance across the sensing voltage.

The voltage across R1 (or R2) = (5V from the voltage applied to the pin - sense voltage) / 2,

The current across R1 (or R2) = the voltage across R1 / R1, and / or

Sense resistor = sense voltage / current across R1.

In general, these formulas are valid if R1 and R2 are the same, and different formulas will be required if R1 and R2 are different. If the sense resistor is below the threshold, the sensor indicates that the fluid is bridging the electrodes. As an example, R1 and R2 may be 2 k? (Alternatively, 300-5000?), And the threshold may be 30 k? (Or alternatively any other suitable value such as 5k or 80 k? .

The robot may also include a filter, a cleaning head, and a tank sensor. Each such component (filter, cleaning head assembly, and tank assembly) may include magnets. There may be a reed switch that is closed at the corresponding location in the robot in the presence of a sufficiently strong magnetic field (alternatively, a relay switch, a pressure sensor, an optical sensor, or any other An appropriate system can be used). This allows the control system to verify that these parts are properly installed. Since the filter can be very important and the vacuum fan is very easily damaged by foreign matter and the robot does not clean the floor without a cleaning head assembly or tank, the control system can, according to at least one embodiment, If one is lost or lost during use, the robot may not be allowed to operate.

To avoid accidentally preventing the robot from operating when the tank is actually present but the sensor fails, the control system can allow the robot to clean if the tank presence sensor is not operational. According to one embodiment, when the tank presence sensor is activated at the start of operation and the tank presence signal is removed during operation, the robot may stop.

The user interface to the robot may simply be a power button. However, additionally, a cleaning button may be provided. In one example, each power button is provided with light.

As shown in Figure 62, in order to provide the user with information about the operation of the robot, the power button may be red, for example, red for discharge, green (for different charging cycles or battery charging cycles, Or slow), green for full charge, red for blinking non-installation, and battery charging status. The cleaning button may be used to signal, for example, the green for cleaning, the blue flicker for drying (cleaning is almost complete), the tank empty, the blue for cleaning cycle complete, the cleaning tank condition, Can be used.

Thus, in this user interface example, the robot has a battery and a replenishable substance tank, the panel has two light buttons, one of which controls on / off or power operation of the robot, Depending on the condition, the other button is illuminated in a pattern and / or color, the other button initiates a cleaning operation by the robot using a replenishable material tank, and the status of the replenishable material in the tank and / And are optionally illuminated in a pattern and / or color depending on the cleaning cycle used and / or the state of the drying cycle. "Illumination" essentially means activation, and includes forms that make the warning more visible without actual illumination (color change, change in contrast, protrusion, etc.). The alternative uses a button and a pattern and / or color to signal the power and / or replenishable material conditions as described above. Pressing one or two buttons in combination (touch, hold, double touch, push simultaneously, press one, touch one) immediately starts drying, retracting sensor failure, or providing access to test or diagnostic mode And the like.

As shown in FIG. 63, additional important information for monitoring the automatic operation can be provided by the status indicator. In such a case, the status indicator may be an illuminatable phrase that directly displays the problem, along with the color recognized as a warning by most people. If the indicator is an illuminatable sentence message, the user does not need to refer to the user's manual to interpret the problem on the robot, and the robot does not include unnecessary complexity due to the inclusion of the display panel and associated control elements. In this case, the warning light indicating that the user is "checking the tank" should actually use the word "tank check" (E.g., green, blue, purple, or white) for a simple status message (e.g., yellow, red, orange) or for a simple status message (e.g., a cleaning cycle is complete). Additionally or alternatively, the "brush check" and "stuck state" indicators are useful in this context. The brush confirmation message may appear, for example, by detecting the motor load, when the brush is caught or improperly installed. The "stuck state" message appears as a result of the robot's recognition of stuck or stuck conditions after proper panic, snore prevention, escape and other stall prevention (sometimes "trajectory" One detection follows the stagnation of the front wheel as each driving wheel rotates. The service code 7-segment display element can provide information enabling the problem to be diagnosed by the user or by the technician.

Thus, in this user interface example, the robot has a motorized drive and / or electric brush and / or a replenishable material tank, the panel being selectively patterned and / or shaped according to the state of the robotic drive and / or brush and / And / or a warning display device which can be illuminated in color. In a particular embodiment, the display device is a real sentence message. More preferably, the illumination is a warning and a non-warning color depending on the situation. Replenishable material tanks shall be capable of delivering tank malfunction and tank exhaustion messages. Again, these indicators are optionally illuminated in a pattern.

Operation and Maintenance

Figs. 36 to 41 illustrate a method for operating and maintaining a cleaning robot physically configured for operation, maintenance, and maintenance, and also show the steps of stacking / assembling components of the robot and / Information. Figs. 37-41 illustrate hand position, movement, and other physical actions that are easily recognized, and the easily recognized orientation, position, and configuration of the cleaning robot, and the present invention includes everything that is readily discernible from this figure.

According to Figures 36-41, one embodiment of the robot allows the tank to be physically positioned to provide access to the interior area (S2), or to allow the cleaning head to be physically removed from the robot body (S3 ). As shown in Figs. 36 - 41, the cleaning head and the release of the tank can be handled independently, independently of each other. If the tank is in the unlocked position (S2), the tank can be unloaded (S4). However, without leaving the tank (S4), the interior area can be used and the user can then use the filter S12, which is visible and accessible, the visible and accessible vacuum port (grommet) S14, And a battery S16 that is visible and accessible. S12, S14, and S16 can each be performed without taking out the tank, since each of them is easier (S4) when the tank is unloaded (S4), but the tank does not interfere with the general approach to the inner area at the unlocked position. The filter may be cleaned and reinstalled after being removed (S20). The battery can be positioned and handled differently, for example, to be inserted into the robot body or tank, without the tank being released, and the outer surface of the battery substantially coincides with the outer profile of the robot when the battery is in place.

When the tank is taken out (S4), if the dirty tank is full, it can be emptied (S6) and cleaned (S18). However, whether the dirty tank is full or empty, the clean tank may be filled with cleaning fluid S8 or water S10, and they do not depend on each other. A tank filled with a mixed cleaning fluid and water (or premixing and / or cartridge cleaning fluid and / or water as described herein) is mounted (S22), then "clicked" (S24). The robot can then operate automatically. Such an operation can be performed in whole or in part by a docking or cleaning station of the robot. In such a case, it may be advantageous not to release the tank or to unload the tank, but rather the area of the robot's fluid and the area containing the washable components such as a filter or vacuum port may be provided in the compartment of the tank provided for the purpose of automated tank emptying Lt; RTI ID = 0.0 > port. The present invention contemplates automated docking and / or emptying of tanks and / or robots, and refers in its entirety to the specific description from the literature incorporated herein by reference. In such a case, some or all of the steps of Fig. 36 are process steps performed by the mechanism of the docking or emptying station in communication with the processors of the processor, the manipulator, and the robot.

In certain embodiments, cleaning head release and tank release are dependent. In such a case, the release to the cleaning head is within the robot body, and the tank must be in the release position to access the cleaning head, as shown in the figure. In the downward or latched position, the tank locks the cleaning head in place and prevents access to the cleaning head release button. In this configuration, the cleaning head is engaged with the tank via a vacuum channel extending from the tank through the robot body (as shown in the figure) into the cleaning head. In such a case, the vertical overlap is beneficial for the sealing contact, and pulling the cleaning head laterally against the channel causes wear, so that the cleaning head can be designed to be released only when the tank is released to avoid such wear .

Although the invention has been described above in terms of a preferred embodiment, it will be appreciated by those skilled in the art that it is not limited thereto. The various features and aspects of the invention described above may be used individually or in combination. Moreover, although the present invention has been described in the context of its implementation in a particular environment, for a particular application, such as for floor cleaning, it will be appreciated by those skilled in the art that the utility of the present invention is not limited thereto, But may be used in many environments and implementations, including but not limited to surfaces. Accordingly, the claims that follow are to be construed in view of the full scope and spirit of the invention as described herein.

Claims (14)

It is an automatic cleaning robot,
A chassis defining a channel open to the cleaning surface,
An air jet port and an air intake port disposed in the channel,
A drive system supported by the chassis and configured to move the robot over a cleaning surface;
A waste storage vessel supported by the chassis and in fluid communication with the air intake port,
An air movement system supported by the chassis and configured to generate negative and positive pressure;
And a debris guide strip disposed behind the channel,
Wherein the air jet port is disposed along a first transverse edge of the chassis, the air intake port is spaced from the air jet port,
Wherein the drive system includes left and right drive wheels defining a transverse axis and configured to move the robot along a longitudinal axis substantially perpendicular to the transverse axis,
Wherein the air movement system includes a conduit for removing particles from the cleaning surface by applying positive pressure laterally at the air jet port to move free particles of the cleaning surface and applying negative pressure at the air intake port,
Wherein the debris guide strip is configured to guide free particles, which are moved by air exiting the air jet port, toward the air intake port, wherein the debris guide strip has a first portion disposed at the rear of the air jet port, And a second portion disposed in the second portion. The automatic cleaning robot according to claim 1, wherein the air intake port is located behind the air jet port. The automatic cleaning robot according to claim 2, wherein the left and right drive wheels are located behind the air intake port. 2. The system of claim 1 wherein the air intake port is disposed along a second transverse edge of the chassis and a second lateral edge of the chassis is substantially opposite the first transverse edge of the chassis, robot. The automatic cleaning robot according to claim 1, further comprising a rotating brush contacting the cleaning surface when the automatic cleaning robot moves on the cleaning surface, the rotating brush being in fluid communication with the waste storage container. 2. The automatic cleaning robot of claim 1, wherein the chassis is substantially cylindrical with a diameter substantially parallel to the transverse axis and a height substantially perpendicular to the transverse axis. The automatic cleaning robot according to claim 1, comprising a nose wheel supported by the chassis in front of the left and right drive wheels. The automatic cleaning robot according to claim 7, wherein the nose wheel is supported by the chassis in front of the air jet port. The automatic cleaning robot according to claim 1, wherein the air intake port is a long opening forming a cleaning width of the robot. 2. The robot of claim 1, wherein the drive system is configured to move a first transverse edge of the robot adjacent a wall or obstacle encountered when the robot moves over the cleaning surface. The automatic cleaning robot according to claim 1, wherein the waste storage container is removably connected to the chassis. It is an automatic cleaning robot,
A chassis forming a channel,
An air jet port disposed in the channel along a lateral edge of the chassis,
A drive system supported by the chassis and configured to move the robot over a cleaning surface;
An air movement system supported by the chassis and configured to generate positive pressure,
And a debris guide strip disposed behind the channel,
Wherein the drive system includes left and right drive wheels defining a transverse axis and configured to move a first transverse edge of the robot adjacent a wall or obstacle encountered when the robot moves over the cleaning surface,
Wherein the air movement system includes a conduit for moving the free particles of the cleaning surface by applying a positive pressure laterally at the air jet port,
Wherein the debris guide strip is configured to guide free particles, which are moved by air discharged from an air jet port, toward another portion of the channel. 13. The apparatus of claim 12, wherein the chassis further defines an air intake port spaced apart from the air jet port, and wherein the air movement system generates negative pressure at the air intake port to remove moving particles from the cleaning surface. Composed, automatic cleaning robot. 13. The robot cleaner of claim 12, further comprising a waste storage container supported by the chassis and in fluid communication with the air intake port.

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