CN105120726B - cleaning pad - Google Patents

Abstract

A kind of pad, especially suitable for surface cleaning.The pad includes the absorbent core with the ability for absorbing and keeping fluent material and the backing layer of at least side for contacting and covering the absorbent core.The backing layer has the ability that simultaneously wicking liquid material is kept by the backing layer.Also describe the cleaning equipment containing this pad and the method using this pad.

Description

Cleaning pad

Cross reference to related applications

The application is the U.S.Application Serial of " main surface clean robot " entitled filed in 12 days November in 2013 The part of No. 14/077296 (attorney number 225899-341316) is continued, and on November 12nd, 2013 is required to submit Entitled " cleaning pad " No. 61/902838 (attorney number 225899- of U.S. Provisional Patent Application Serial 345297) and on October in 2014 3 filed in entitled " surface cleaning pad " U.S. Provisional Patent Application Serial the 62/th The priority of No. 059637 (attorney number V46645).Being each endowed jointly in this entity in above-mentioned application.Separately Outside, each full content in above-mentioned patent application is incorporated herein by reference for all purposes.

Technical field

The present invention relates to the floor-cleanings for using cleaning pad.

Background technology

Tile floor and table top are frequently necessary to clean, and some of which is inevitable with the drying cleaned to remove soil.Respectively Kind burnisher can be used for cleaning hard surface.Most of tools include the cleaning pad for being removably attached to tool.Cleaning pad can To be disposable or reusable.In some instances, cleaning pad be designed to be suitble to specific tool or It is designed to quote more than one tool.

Traditionally, wet mop is used to remove dirt and other dirty marks from floor surface (for example, dust, grease, food Product, baste, coffee, coffee grounds).People usually soaked in the bucket of water and soap or special floor-cleaning liquid mop and It is washed the floor with the mop.In some instances, the scouring that people may need to perform back and forth acts to clean specific dirt Region.Then, people, which soak the mop, cleans mop in same bucket and continues to wash the floor.In addition, people may need It kneels and washes the floor on floor, this may be not only troublesome but also laborious, particularly when floor covers large area.

Floor mop is for cleaning floor, without people always on bended knees.It is connected to the lining of mop or autonomous robot Pad can be cleaned and solid is removed from surface, and not need to user and bend over to carry out clean surface, so as to prevent hurting user.

Invention content

A kind of surface cleaning pad is described, including absorbent core, it includes the fibrous materials for absorbing and keeping fluent material； Backing layer (is also referred to as " wrapping layer ") in the whole text herein, at least side of the absorbent core is contacted and cover, comprising passing through State the fibrous material that backing layer keeps simultaneously wicking liquid material.In embodiment, cleaning pad be it is disposable or capable of washing, It is reusable.

The elements below or feature that other embodiments include combination or sub-portfolio is taken, to be less than 2.25 kilograms to weight Compact mobile robot provide and absorb and keep liquid and the advantages of suspension clast.The following member that combination or sub-portfolio are taken Without expanding and improving the leading edge of lightweight robotic in the bedding core moisture absorption gas and clast to absorbent core of part or feature-modeling, this The motor pattern and cleaning efficacy of robot will be hindered, because maximum downward force such as 1 ft lbf will no longer be applied to pad：On The pad stated, wherein the pad absorbed in about 10 seconds on pad about 20 milliliters of fluent material using about 0.9 pound of pressure；It is above-mentioned Pad, wherein the absorbent core is maintained for up to the volume of about 90% absorbed fluent material；Above-mentioned pad, wherein described Fluent material is substantially evenly distributed in entire absorbent core；Above-mentioned pad, wherein core material absorption is up to about 7 to about 10 times of its weight；Above-mentioned pad, wherein the backing layer is maintained for up to about 10% fluent material absorbed；Above-mentioned Pad, wherein the absorbent core includes cellulose fibre；Above-mentioned pad, wherein the absorbent core includes cellulose and polymer The mixture of fiber；Above-mentioned pad, wherein the absorbent core includes nonwoven cellulosic paper pulp；Above-mentioned pad, wherein described Cellulose pulp is cohesive polymer；Above-mentioned pad, wherein the polymer includes polyethylene and/or polypropylene；Above-mentioned Pad, wherein the absorbent core further includes the superficial layer containing acrylic latex, for example, to eliminate hair loss；Above-mentioned pad, wherein The pad is not for example substantially compressed or is expanded in moistening when absorbing or keeping liquid；Above-mentioned pad, wherein the pad packet It includes the back sheet for being connected to the pad and is connected to cleaning equipment particularly suitable for that will pad；Above-mentioned pad, wherein the back sheet includes Cardboard；Above-mentioned pad, wherein the cardboard back sheet is 0.1 to 0.05 inch (0.254 centimetre to 0.127 cm thick)；On The pad stated, wherein the cardboard back sheet is 0.028 inch (0.07 cm thick)；Above-mentioned pad, wherein the pad is coated with Polymer；Above-mentioned pad, wherein the polymer coating is about 0.010 to about 0.040 (0.0254 centimetre to 0.1016 of inch Cm thick)；Above-mentioned pad, wherein the polymer is any polymer or wax material, such as its salable resistance liquid is such as Water penetration (for example, such as polyvinyl alcohol or polyamine)；Above-mentioned pad, wherein the cardboard is connected to the pad using adhesive；On The pad stated, wherein the absorbent core include first, second, and third airlaid layer, each airlaid layer have top surface and Bottom surface, the bottom surface of first airlaid layer are arranged on the top surface of second airlaid layer, second air-flow into The bottom surface of stratum reticulare is arranged on the top surface of the third airlaid layer；Above-mentioned pad, wherein the backing layer surrounds absorbability It wraps up and covers them in at least both sides of core；Above-mentioned pad, wherein the backing layer includes hydroentangled layer；Above-mentioned pad, wherein The backing layer includes spun lacing spunbond (hydroentangled spundbond) or hydroentangled layer, on floor towards having on surface There is the groove of reduce thickness in wherein, and with the basis weight of 35-40gsm (gram every square metre).When pad 100 is moist, There is no the interfaces between the bottom surface of enough hydrodynamic lubrication pads and floor surface.The pad soaked completely can rely on a laminar flow On body, while pad moves on floor surface, but as humidity pad slowly absorbs fluid, profit be not sufficiently humidified so as to, inabundant Sliding wrapping layer will be dragged on floor surface.In embodiments, spunbond or spun lacing wrapping layer are manufactured using hydrophilic fibre, should Fiber reduces the surface area of the pad for the air being exposed between pad and floor surface to the maximum extent.If groove or pin hole are not It is a part for wrapping layer, then wet pad can adhere to hydrophily floor surface.Surface texture is applied to the spunbond or water of wrapping layer Otherwise thorn (such as herringbone grooves pattern or square net groove pattern) destruction will promote wet pad to adhere to wetland plate surface Surface tension.

In the embodiment of pad, the side that the backing layer includes adhering to backing layer is not contacted with the absorbent core Melt-blown abrasive fiber；Above-mentioned pad, wherein the meltblown fibers have it is a diameter of between about 0.1 micron and about 20 microns it Between；Above-mentioned pad, wherein the melt-blown abrasive fiber covers about the 44% to about 75% of the surface of the backing layer；In the reality of pad It applies in mode, the melt-blown abrasive fiber covers about the 50% to about 60% of the surface of the backing layer.Meltblown layer is carried to the pad For the advantages of be to destroy the surface tension that wet wrapping layer otherwise may be caused to adhere to wetland plate.By the way that texture and pattern are added The floor towards pad surface is added to, meltblown layer prevents pad from adhering to or encountering big drag force.Meltblown layer also provides surface texture to pad, uses Adhere to or be dried to the dirt and clast of floor surface in coarse treat, and by the airlaid inner core of pad loosen dirt and Clast is absorbed.In the embodiment of pad, the melt-blown abrasive fiber and the collection body thickness that has of the backing layer between Between about 0.5 millimeter and about 0.7 millimeter.In other words, the maximum weight from the melt-blown outer layer thickness of application to the surface of wrapping layer Folded thickness is 0.7 millimeter.In the embodiment of pad, thickness that wrapping layer has between about 0.5 millimeter and about 0.7 millimeter it Between.In embodiments, wrapping layer is inhaled with about 600% 10.1 (05) non-woven material of Global Strategic Partner (WSP) Water test specification value；Above-mentioned pad, wherein pad thickness after fluent material absorption increases less than 30%.In embodiment In, the pad is also comprising flavouring agent, cleaning agent, surfactant, foaming agent, glazing agent, chemical preservative, clast retention agent One or more of (such as DRAKESOL) and/or antibacterial agent.In embodiments, the thickness having that pads is between about Between 6.5 millimeters and about 8.5 millimeters.In embodiments, it is described pad the width that has between about 68 millimeters and about 80 millimeters it Between, length is between about 165 millimeters and about 212 millimeters.In embodiments, the width that backing layer has is between about 163 millis Between rice and about 169 millimeters, length is between about 205 millimeters and about 301 millimeters.In embodiments, absorbent core includes The first airlaid layer and the second airlaid layer for being bonded to the second airlaid layer are bonded to third airlaid layer.

Fluid wicks between these three layers, and runs through gas with keeping uniform vertical when downward power is applied to pad Stratum reticulare stacking is flowed into, is drained on the floor surface under cleaning pad without returning.In embodiments, pad keeps 90% fluid Floor surface and the power less than 1 pound are applied to, the liquid of absorption is not returned and drained on floor surface by pad.Each airlaid layer The surface tension of top and bottom contributes to the fluid that will be inhaled to be maintained in each layer so that when top layer is fully saturated, does not have Bottom surface 11b leakages across top stream into stratum reticulare are down to middle air flow into stratum reticulare, and in middle air flow networking by fluid When layer is fully saturated, the bottom surface leakage for passing through intermediate (or second) layer is down to bottom by no fluid.

In embodiments, the relative stiffness matrix of the fluid of 8-10 times of its weight of pad absorption to airlaid layer is (complete Any size is all indeformable during moistening) in, and fluid absorption is to wick to realize rather than take out by compressing release by capillary It inhales, is not the thick and heavy period pushed and withdrawn because padding be connected to robot applies very light low period of change weight. Each airlaid layer slows down inhaled fluid permeability to next adjacent airlaid layer so that period early stage that fluid applies It will not cause quickly to suck all fluids for being applied to floor surface.The vertical stacking of airlaid layer provide hinder including The bottom puddle of the airlaid core of three airlaid layers.Each airlaid layer has the resistance puddle bottom surface of their own, For preventing absorbed fluid puddle under the bottom of the bottom surface of bottom (or third) layer always.

In embodiments, airlaid layer hardness in vertical direction or density are non-uniform so that outer top surface It is harder with the inside of each layer of bottom surface ratio.In embodiment, as the feature of manufacturing process, the superficial density of airlaid layer is not Uniformly so that outer top and bottom are more smooth than the inside of each layer and with less absorbability.By change each air-flow into The superficial density of the outer surface of stratum reticulare, airlaid layer keep the wicking fluid of absorbability to enter in each airlaid layer, Without being drained back to by bottom surface.By the way that three such airlaid layers are merged into the absorbent cores of pad, pad is therefore relative to tool The pad for having the single for the thickness for being equivalent to three level stack core has excellent fluid management energy.Three airlaid layers are provided to The amount of the surface tension of few three times.

In the embodiment of pad, these three airlaid layers are adhered to each other by jointing material.In some implementations In mode, the jointing material is applied at least two evenly spaced items along the length of at least side of airlaid layer In, and cover the surface area of at least side no more than 10%.In the embodiment of pad, the jointing material quilt It is sprayed in the length of at least side of airlaid layer, and covers the surface face of at least side no more than 10% Product.In the embodiment of pad, at least one airlaid layer includes the textile material based on cellulose.In some embodiments In, at least one airlaid layer and preferably whole three airlaid layers, including wood pulp.In some embodiments, One or more airlaid layers include biological components polymer, cellulose and latex, and the amount of existing polymer is up to about 15% (weight).

Also describe a kind of method for forming cleaning pad, including by the first airlaid layer be arranged on the second air-flow into On stratum reticulare；Second airlaid layer is arranged in third airlaid layer；It is and airlaid around first, second, and third Layer package wrapping layer, the wrapping layer include：Fiber composition；And it is being positioned to what is had a common boundary with the floor surface below cleaning pad The melt-blown abrasive material of fiber composition is adhered on outer surface, the fiber composition is spun lacing or spunbonded materials.

For forming the elements below or feature that the other embodiment of the method for cleaning pad includes combination or sub-portfolio is taken, It provides from floor surface scouring clast and inhales when weight is less than 2.25 kilograms of compact mobile robot to be connected in pad The advantages of receiving and keeping liquid and suspension clast, without hundred arteries and veins back and forth (birdsfoot) for interfering robot or scouring figure of overgrowing Case and cleaning effect.The bedding core moisture absorption gas and clast of combination or the elements below taken of sub-portfolio or feature-modeling are to absorbent core In without expanding and improving the leading edge of lightweight robotic, this will prevent robot from applying maximum downward force to padding：This method Also include adhering to and being randomly disposed melt-blown abrasive fiber on wrapping layer；Above-mentioned method, wherein the melt-blown abrasive fiber The diameter having is between about 8 microns and about 20 microns；Above-mentioned method further includes arrangement melt-blown abrasive material and wrapping layer to have Some collection body thicknesses are between about 0.5 millimeter and about 0.7 millimeter；Above-mentioned method is further included is arranged in package by melt-blown abrasive material On layer, to provide the covering surface ratio between about 44% and about 57% between melt-blown abrasive material and wrapping layer；Above-mentioned Pad, wherein about the 50% to about 60% of the surface of the melt-blown abrasive fiber covering backing layer；Above-mentioned method is further included One airlaid layer adheres to the second airlaid layer, and the second airlaid layer is adhered to third airlaid layer；Above-mentioned Method, wherein the airlaid layer is the textile material based on cellulose；Above-mentioned method, wherein first, second and Three airlaid layers, hydroentangled layer and melt-blown abrasive material, which are configured to the thickness after fluid absorbs, to be increased less than 30%；Above-mentioned method It further includes and airlaid layer and wrapping layer is configured to the combined width between about 80 millimeters to about 68 millimeters and about 200 millis Pattern length between 212 millimeters of meter Zhi Yue；Above-mentioned method is further included to be configured to have about by airlaid layer and wrapping layer Combined width between 6.5 millimeters to about 8.5 millimeters；Above-mentioned method, which further includes, is configured to airlaid layer have 69 millimeters Combined airflow networking length between combined airflow networking width between to about 75 millimeters and about 165 millimeters to about 171 millimeters.

A kind of surface cleaning apparatus is also described, the above-mentioned cleaning pad with the face that is connected thereto.Other embodiment packet It is mop or autonomous mobile robot to include wherein described surface cleaning apparatus；Above-mentioned surface cleaning apparatus, wherein the pad is logical It crosses and is connected to the back sheet of the pad and is releasably connected to surface cleaning apparatus；Above-mentioned surface cleaning apparatus, wherein the back of the body Lining includes cardboard；And above-mentioned surface cleaning apparatus, wherein the surface cleaning apparatus pops up also comprising relieving mechanism The pad of releasable connection.

Also describe it is a kind of using above-mentioned pad come the method for clean surface, it is to be cleaned including surface cleaning liquid is applied to Surface, and surface cleaning pad is made to pass through surface.Pad absorbed about 20 on pad using the pressure of about 400 gram forces in about 10 seconds The fluent material of milliliter.In some embodiments, absorbent core is maintained for up to the body of about 90% absorbed fluent material Product.In some embodiments, absorbed fluent material is substantially evenly distributed on entire core.In some embodiments In, core material absorption is up to about 7 to about 10 times of its weight.In some embodiments, backing layer is maintained for up to about 10% quilt The fluent material of absorption.

Also describe a kind of mobile robot.In embodiments, the robot includes：Robot body limits Drive forwards direction；Driver supports the robot body to manipulate the robot on the surface, cleaning assemblies, It is arranged on the robot body.The cleaning assemblies includes pad support, and being configured to receive has center edge and side The cleaning pad of edge, the pad support include relieving mechanism, are configured to pop up pad when activating relieving mechanism.The robot is also Fluid applicator including being configured to apply a fluid to floor surface, wherein and connecting with the driver and cleaning assemblies Logical controller circuitry, the controller circuitry control driver and fluid applicator are performed simultaneously cleaning procedure.Cleaning procedure Floor surface region including applying a fluid to the footprint area for being substantially equal to robot, and individually to move cleaning pad Center edge and lateral edges by the motor pattern in floor surface region by robot back to floor surface region, to use The whole surface region of the fluid moisturizing cleansing pad of application.

Other embodiments include above-mentioned robot, wherein the cleaning procedure further include with initial volume flow rate to Floor surface applies fluid to soak the cleaning pad, and the initial volume flow rate is when the cleaning pad is wetted than subsequent Volume flow rate is relatively high.In one embodiment, the first volume flow rate is by initially in such as 1-3 minutes for a period of time It sprays every 1.5 feet of about 1mL fluids and sets, the second volume flow rate is set by every 3 feet sprinklings, wherein each spray flow The volume of body is less than 1 milliliter.Fluid applicator applies the floor surface region before fluid to cleaning pad and in mobile machine People's drives forwards on direction, and fluid is applied to the previously occupied floor surface region of cleaning pad.In embodiment In, the floor surface region that had previously occupied is stored in can be on the map of access controller circuit.In embodiments, fluid Floor surface region is applied to, robot has pulled back from least one robot footprint before fluid is applied immediately The distance of length so that the salient point sensor that fluid is applied only to the floor that may pass through rather than triggers in robot (touches Hit) switch or proximity sensor wall, piece of furniture, carpet or other non-floor areas.In embodiments, cleaning procedure is performed Further include and move mobile cleaning pad with hundred arteries and veins, along centrode forwardly and rearwardly, along track forwardly and rearwardly to left side simultaneously It is and forwardly and rearwardly to right side and remote from starting point along centrode along centrode far from starting point and along track From.Robot driver includes the left and right sidesing driving wheel being arranged in the corresponding left and right portion of robot body, and the center of gravity of robot Before driving wheel so that the most of of robot total weight are located on pad support.Because pad is during fluid absorbs It does not expand, so the weight of robot is remained positioned in entire cleaning procedure on pad support.The total weight of robot is with 3 ratios 1 pro rate is between pad support and driving wheel, and total weight of the robot when not keeping any fluid is between about 1 kilogram Between about 1.5 kilograms of pounds, when keeping fluid between about 1.5 kilograms to 4.5 kilograms.In embodiments, robot Main body and pad support all limit substantially rectangular footprint.In addition, in embodiments, robot, which further includes, is arranged on pad support Vibrating motor on top.In some embodiments, robot further includes switching push button, for actuation pad carriage release mechanism And pop up pad.Back sheet on pad is engaged with pad support, and pad support includes prominent protrusion, is positioned to for along back sheet Neighboring is aligned and combines one or more formed slots notch of back sheet.In some embodiments, pad support includes Prominent protrusion, be positioned to for except along the position alignment in addition to neighboring and combine back sheet it is one or more into Shape slots cut.

A kind of mobile floor clean robot is also described, including：Robot body, restriction drive forwards direction；It drives Dynamic device supports the robot body to manipulate the robot on the surface, and the driver includes left and right sidesing driving wheel, it Be arranged in the corresponding left and right portion of the robot body.The robot includes cleaning assemblies, is arranged on the machine On human agent, the cleaning assemblies includes pad support, is arranged on the driving wheel forepart and with top and bottom, described In the bottom surface that bottom has is arranged between about 0.5 centimetre of the surface and about 1.5 centimetres and it is configured to receive cleaning pad. The bottom surface of the pad support includes at least the 40% of the surface area of robot footprint, and the bottom surface has from its extension The prominent protrusions of one or more, for being engaged with the cooperation slit on pad assembly.In embodiments, the robot includes Orbit shaker has the track-bound less than 1 centimetre being arranged on the top of the pad support.The pad support configuration Track-bound into the orbit shaker for allowing more than 80% is transferred at the top of the cleaning pad received and is received Cleaning pad bottom surface.One or more of protrusions help pad to be directed at pad support, and in the oscillation of orbital oscillation Period will

Pad is securely held in place, while robot is moved with the cleaning pattern cleaned back and forth.In embodiments, it is described Pad support includes relieving mechanism, is configured to pop up from the bottom surface of the pad support when activating relieving mechanism and pad so that uses Family need not touch used dirty pad to dispose it.Actuating relieving mechanism keep simultaneously robot on refuse container will pad from Pad support is ejected into the refuse container under it.

In some embodiments, the track-bound of orbit shaker during at least part of clean run less than 0.5 Centimetre.In addition, robot forwardly and rearwardly drives while vibrates cleaning pad.In embodiments, robot is moved with hundred arteries and veins and driven It moves to move cleaning pad, along centrode forwardly and rearwardly, along track forwardly and rearwardly to left side and along central track Mark is far from starting point and along track forwardly and rearwardly to right side and along centrode far from starting point.Cleaning pad has There is the top surface for the bottom surface for being connected to pad support, the top of pad is substantially stationary relative to the pad support of oscillation.In embodiment party In formula, robot cleaner component further includes：Reservoir keeps the fluid of certain volume；And fluid applicator, it is and described Reservoir fluid connects.The direction that drives forwards that the fluid applicator is configured to before along the pad support applies fluid. Cleaning pad is configured to absorb about the 90% of the fluid volume being maintained in the reservoir, and following floor is padded without leaking into On surface, while receive 1 pound of downward force.The pad further includes back sheet for being engaged with pad support on cleaning pad, advance expenditure The prominent protrusion of one or more on frame bottom is positioned to the formed slots notch for being directed at and engaging back sheet.It is one Or multiple protrusions help pad to be directed at pad support, and be securely held in place pad in the duration of oscillation of orbital oscillation, together When robot moved with the cleaning pattern cleaned back and forth.In embodiments, the pad support includes relieving mechanism, is configured to It pops up and pads from the bottom surface of the pad support when activating relieving mechanism so that user need not touch used dirty pad to dispose It.Actuating relieving mechanism keep simultaneously robot on the refuse container by pad from pad support be ejected into it under refuse container In.

A kind of method for operating mobile floor clean robot is also described, is included in and is driven forwards by what robot limited Side drive up first distance to first position, while along support robot floor surface move carried by robot it is clear Clean pad, cleaning pad have center edge and lateral edges；Second is driven up in the reverse drive side opposite with driving forwards direction Distance moves cleaning pad to the second position along floor surface；From the second position, the side of driving forwards before cleaning pad Upwards but behind first position, the area of the footprint area for being substantially equal to robot on floor surface is applied a fluid to Domain；And robot is returned to by the motor pattern in the region with individually moving the center edge of cleaning pad and lateral edges The region, with using the fluid moisturizing cleansing pad applied.

Other embodiment includes：Above-mentioned method also includes driving on left driving direction or right driving direction, simultaneously It is driven after by fluid spray on floor surface along alternate forward and reverse direction by the fluid of application；Above-mentioned side Fluid in method, wherein floor surface is included in relative to the multiple position spray fluids for driving forwards direction；Above-mentioned method, Wherein described second distance is at least equal to the length of a footprint area of robot；Above-mentioned method, wherein it is clear to move floor Clean robot includes：Robot body, restriction drive forwards direction and with bottoms；Drive system supports the machine It device human agent and is configured to manipulate the robot on floor surface.

An aspect of this disclosure provides a kind of mobile robot, with robot body, drive system and cleaning Component.Cleaning assemblies includes pad support, fluid applicator and controller.Drive system supports robot body in floor surface On operate machine people.Cleaning assemblies is arranged on robot body, and is including pad support, fluid applicator and with driving The controller that system is connected with cleaning systems.Pad support is configured to receive the cleaning pad with center edge and lateral edges.The pad Stent includes being configured to the relieving mechanism of the pop-up pad when activating relieving mechanism.Fluid applicator is configured to apply a fluid to ground Plate surface.Controller controls drive system and fluid reality applicator, is performed simultaneously cleaning procedure.Cleaning procedure includes applying fluid The region for the footprint area for being substantially equal to robot is added to, and is led to individually moving the center edge of cleaning pad and lateral edges Robot is returned to the region by the motor pattern for crossing the region, with using the fluid moisturizing cleansing pad applied.

Embodiment of the present disclosure can include following one or more features.In some embodiments, cleaning procedure It further includes and fluid is applied to soak the cleaning pad to surface with initial volume flow rate, the initial volume flow rate is in the cleaning It is more relatively high than subsequent volume flow rate when padding wetted.In one embodiment, the first volume flow rate passes through initially one The every 1.5 feet of about 1mL fluids of sprinkling in the such as 1-3 minute time of section and set, the second volume flow rate by every 3 feet spray and Setting, wherein the volume of each spray fluid is less than 1 milliliter.

In some instances, fluid applicator apply fluid to cleaning pad before region and in the row of mobile robot Into on direction.In some instances, fluid is applied to the region that cleaning pad had previously occupied.In some instances, cleaning pad has been The region occupied is recorded in can be on the map stored of access controller.

In some instances, fluid applicator apply a fluid to robot immediately apply fluid before retreated from The region of the distance of at least one robot footprint length is opened.Execution cleaning procedure, which is further included, to be moved to move cleaning with hundred arteries and veins Pad, along centrode forwardly and rearwardly, along track forwardly and rearwardly to left side and along centrode far from starting point, And along track forwardly and rearwardly to right side and along centrode far from starting point.

In some embodiments, drive system includes being arranged on the left and right driving in the corresponding left and right portion of robot body Wheel.The center of gravity of robot is located at before driving wheel so that the most of of robot total weight are located on pad support.Robot 20 total weight can be with 3 to 1 pro rate between pad support and driving wheel.In some instances, the gross weight of robot Amount is between about 2 pounds and about 5 pounds.

In some instances, robot body and pad support all limit substantially rectangular footprint.Additionally or alternatively, it pads The width that the bottom surface of stent can have is between about 60 millimeters and about 80 millimeters, and length is between about 180 millimeters and 215 millis Between rice.

In some embodiments, robot includes switching push button, for actuation pad carriage release mechanism and pops up pad. In some embodiments, pad includes the back sheet for being engaged with pad support, and pad support includes prominent protrusion, is positioned to use In the formed slots notch for being directed at and engaging back sheet.

An aspect of this disclosure provides a kind of mobile floor clean robot, with robot body, driver, Cleaning assemblies, pad support and controller circuitry.Robot body limits and drives forwards direction.Driver support robot body with Operate machine people on floor surface.Cleaning assemblies is arranged on robot body, and including pad support, reservoir and spraying Device.The bottom surface configuration that pad support has into receiving cleaning pad and be arranged to engage floor surface, the bottom surface have from Its prominent protrusion of one or more extended.

One or more of protrusions help pad being directed at pad support, and will pad jail in the duration of oscillation of orbital oscillation Admittedly be held in place, while robot is moved with the cleaning pattern cleaned back and forth.In embodiments, the pad support includes releasing Laying mechanism is configured to pop up from the bottom surface of the pad support when activating relieving mechanism and pad so that user, which need not touch, to be made Used dirty pad disposes it.Actuating relieving mechanism keeps robot to be ejected into pad from pad support on refuse container simultaneously In refuse container under it.

Into the fluid for keeping certain volume, the sprayer connected with reservoir fluid is configured to along advance expenditure reservoir arrangements Direction spray fluid is driven forwards before frame.Controller circuitry communicates with drive system and cleaning systems, and performs Cleaning procedure.The cleaning procedure that controller circuitry performs is that robot is allowed to drive the first distance in the forward driving direction to the Then one position drives up second distance to the second position in the reverse drive side opposite with driving forwards direction.Clean journey Sequence permission robot driving forwards on direction but behind first position before pad support from the second position, fluid is sprayed It is sprinkled upon on floor surface.In this way, robot only applies a fluid to the salient point in the floor that may pass through rather than triggering robot Sensor (collision) switchs or wall, piece of furniture, carpet or other non-floor areas of proximity sensor.By fluid spray on ground After in plate surface, cleaning procedure allows robot to be driven, while along floor on alternate forward and reverse driving direction Surface smear cleaning pad.

Embodiment of the present disclosure can include following one or more features.In some embodiments, driver packet Include the left and right sidesing driving wheel being arranged in the corresponding left and right portion of robot body.The center of gravity of robot is located at before driving wheel, makes The most of of robot total weight are obtained to be located on pad support.The total weight of robot can be with 3 to 1 pro rate in advance expenditure Between frame and driving wheel.In some instances, the total weight of robot is (about 1 to 2.25 thousand between about 2 pounds and about 5 pounds Gram).The left and right motor that driver can include driving main body (it is with front and rear) and be arranged in driving main body.It is left Right driving wheel can be connected to corresponding left and right motor.Drive system can also include the arm from the forepart extension of driving main body. The arm is pivotably connected to the robot body before driving wheel, to allow driving wheel relative to floor surface vertical shift. The rear portion of driving main body can limit slit, which is sized to lead slideably received within what is from robot body extended To raised.

In some instances, robot body and pad support all limit substantially rectangular footprint.Additionally or alternatively, it pads The width that the bottom surface of stent can have is between about 60 millimeters and about 80 millimeters, and length is between about 180 millimeters and 215 millis Between rice.

Reservoir can keep about 200 milliliters of liquid measure.Additionally or alternatively, robot can include being arranged on advance expenditure Vibrating motor or orbit shaker on the top of frame.

In some embodiments, robot includes switching push button, for actuation pad carriage release mechanism and pops up pad. In some embodiments, pad includes the back sheet for being engaged with pad support, and pad support includes prominent protrusion, is positioned to use In the formed slots notch for being directed at and engaging back sheet.

Another aspect of the present disclosure provides a kind of mobile floor clean robot, including robot body, driver and Cleaning assemblies.Robot body limits and drives forwards direction.Drive system supports robot body to be manipulated on floor surface Robot.Cleaning assemblies is arranged on robot body, and including pad support and orbit shaker.Pad support is arranged on driving Before wheel, and with top and bottom.The bottom surface that the bottom has is arranged in about 0.5 centimetre of peace treaty of floor surface In between 1.5 centimetres and receive cleaning pad.The bottom surface of the pad support includes the surface area of robot footprint at least 40%, and with the prominent protrusion of one or more from its extension.Orbit shaker is arranged on the top of pad support, and The track-bound having is less than 1 centimetre.The pad support is configured to allow for the track model of more than 80% orbit shaker Enclose the bottom surface that kept cleaning pad is transferred at the top of the cleaning pad kept.

In some embodiments, the track-bound of orbit shaker during at least part of clean run less than 0.5 Centimetre.Additionally or alternatively, robot can drive cleaning pad forward or backward while cleaning pad is vibrating.

One or more of protrusions help pad being directed at pad support, and will pad jail in the duration of oscillation of orbital oscillation Admittedly be held in place, while robot is moved with the cleaning pattern cleaned back and forth.In embodiments, the pad support includes releasing Laying mechanism is configured to pop up from the bottom surface of the pad support when activating relieving mechanism and pad so that user, which need not touch, to be made Used dirty pad disposes it.Actuating relieving mechanism keeps robot to be ejected into pad from pad support on refuse container simultaneously In refuse container under it.

In some instances, robot is moved with hundred arteries and veins and moved, along centrode forwardly and rearwardly, along track forward Backward to left side and along centrode far from starting point and along track forwardly and rearwardly to right side and in Heart track is far from starting point.

In some instances, cleaning pad, which has, is connected to the top surface of pad support bottom surface, and the top padded is relative to shaking Dynamic pad support is substantially motionless.

In some instances, the pad support has relieving mechanism, is configured to when activating relieving mechanism from the pad The bottom surface pop-up pad of stent.In some instances, robot includes switching push button, for actuation pad carriage release mechanism and bullet Go out pad.In some instances, pad includes the back sheet for being engaged with pad support, and pad support includes prominent protrusion, positioning Into for being directed at and engage the formed slots notch of back sheet.

In some instances, the total weight of robot with 3 to 1 pro rate between pad support and driving wheel.Machine The total weight of people can be between about 2 pounds and about 5 pounds (about 1 to 2.25 kilogram).

In some instances, robot body and pad support all limit substantially rectangular footprint.Additionally or alternatively, it pads The width that the bottom surface of stent can have is between about 60 millimeters and about 80 millimeters, and length is between about 180 millimeters and 215 millis Between rice.

The cleaning assemblies can also include at least one column, be arranged on the top of pad support, be dimensioned Into the corresponding aperture reception for being limited by robot body.The cross-sectional diameter that at least one column can have is along its length Change in size.Additionally or alternatively, at least one column can include damping material.

In some embodiments, cleaning assemblies further includes the reservoir and and reservoir fluid for keeping certain volume fluid The sprayer of connection.Sprayer is configured to drive forwards direction spray fluid before along pad support.Reservoir can be kept About 200 milliliters of liquid measure.

The left and right motor that driver can include driving main body (it is with front and rear) and be arranged in driving main body. Left and right sidesing driving wheel is connected to corresponding left and right motor.Driver can also include the arm from the forepart extension of driving main body.The arm The robot body being pivotably connected to before driving wheel, to allow driving wheel relative to floor surface vertical shift.Driving The rear portion of main body can limit slit, which is sized to dash forward slideably received within the guiding extended from robot body It rises.In one embodiment, the cleaning pad absorption being arranged on the bottom surface of advance expenditure frame body is maintained in the reservoir Fluid volume about 90%.The thickness that cleaning pad has is between about 6.5 millimeters and about 8.5 millimeters, and width is between about 68 Between millimeter and about 80 millimeters, length is between about 165 millimeters and about 212 millimeters.

In some instances, a kind of method be included in by the side of driving forwards that robot limits drive up the first distance to First position, while move the cleaning pad that is carried by robot along the floor surface of support robot.Cleaning pad has center Region and the side region of transverse central area.The method also includes on the reverse drive direction opposite with driving forwards direction Driving second distance moves cleaning pad to the second position, while along floor surface.In this way, only apply a fluid to can for robot Salient point sensor (collision) on the floor that passes through rather than triggering robot switchs or the wall of proximity sensor, piece of furniture, Blanket or other non-floor areas.The method is additionally included in before cleaning pad but applies fluid behind first position The region of the footprint area for being substantially equal to robot on to floor surface.The method further includes individually to move cleaning pad Central part and side by the motor pattern in the region by robot back to the region for applying fluid, with using the stream applied Body moisturizing cleansing pad.

In some instances, the method includes being driven on left driving direction or right driving direction, while by fluid It is driven after being sprayed on floor surface along alternate forward and reverse direction.Fluid, which is applied on floor surface, to be included Relative to the multiple position spray fluids for driving forwards direction.In some instances, the second distance is at least equal to machine The length of the footprint area of people.

In another aspect of the present disclosure, a kind of method for operating mobile floor clean robot is included in be limited by robot The side of driving forwards drive up first distance to first position, while along support robot floor surface smearing by machine The cleaning pad that people carries.The method includes driving up second distance in the reverse drive side opposite with driving forwards direction to arrive The second position, while smear cleaning pad along floor surface.The method is additionally included in before cleaning pad and drives forwards direction It but will be on fluid spray to floor surface behind first position.The method is additionally included in alternate forward and reverse and drives Dynamic side drives up, while smears cleaning pad along floor surface after by fluid spray on floor surface.

In some embodiments, the method includes driving fluid spray on floor surface, while in inverse direction It moves or has driven second distance on opposite driving direction.In embodiments, the method includes in left driving side To or right driving direction on drive, while by fluid spray on floor surface after along alternate forward and reverse direction drive It is dynamic.Fluid spray can be included relative to the multiple position spray fluids for driving forwards direction on floor surface.One In a little embodiments, the second distance is greater than or equal to first distance.

The mobile floor clean robot can include robot body, driver, pad support, reservoir and spraying Device.Robot body, which limits, drives forwards direction and with bottom.Drive system supports robot body and in floor table Operate machine people on face.Pad support is arranged on the bottom of robot body and keeps cleaning pad.Pad support, which has, to be configured to The relieving mechanism of pad is popped up at the time of activation, and the pad further includes the back sheet for being engaged with pad support.The bottom that pad support has Surface has the protrusion protrusion from its extension, and size, shape and the position of protrusion protrusion are determined to be alignment and engage backing The slots cut of layer.

Reservoir is accommodated by robot body and keeps fluid (for example, 200ml).Equally accommodated by robot body Sprayer is connected with reservoir fluid, and drives forwards spray fluid on direction before cleaning pad.It is arranged on pad support Cleaning pad on the bottom of main body can absorb about 90% of the fluid included in reservoir.In some instances, cleaning pad The width having is between about 68 millimeters and about 80 millimeters, and length is between about 200 millimeters and about 212 millimeters.Cleaning pad The thickness that can have is between about 6.5 millimeters and about 8.5 millimeters.The details of one or more embodiments of the disclosure exists It is set forth in following drawing and description.

In some embodiments, fluid applicator is a kind of sprayer, including at least two nozzles, is each being applied Fluid is uniformly distributed on entire floor surface in two items of fluid.Two nozzles be each configured to with another The different angle and distance spray fluid of nozzle.In some embodiments, two nozzles are vertically stacked at fluid applicator In recess portion in, and with horizontal tilt and being separated from each other so that a nozzle forwardly and downwardly sprays relatively long length Fluid, with using the region applied before fluid covering robot supplied forward, and another nozzle forwardly and downwardly sprays The fluid of relatively short length, so that the application fluid supplied backward more connects in the region of application fluid than being distributed by pipe top nozzle On region before nearly robot.

In embodiments, nozzle distributes fluid in the expanding machinery people width for size and at least one robot In the zone map of length.In some embodiments, pipe top nozzle and bottom nozzle apply fluid in two differences for applying fluid In item spaced apart, the item does not extend into the entire width of robot so that pads forwardly and rearwardly to incline as described herein The outer edge of item of the oblique scouring action across application fluid.In embodiment, apply the item covering robot width of fluid The width of 75-95% and the pattern length of robot length.In embodiments, apply fluid item can it is substantially rectangular or Ellipse.In embodiments, nozzle is each from following by the no fluid of fluid that small size is sucked in nozzle opening The nozzle leakage of example of spraying completes each sprinkling period.

In some embodiments, the pad includes the cardboard back sheet for adhering to the top surface of pad.Cardboard backing Layer protrudes past the longitudinal edge of pad, and the protrusion longitudinal edge of cardboard back sheet is attached to the pad support of robot.In a reality It applies in example, the thickness of cardboard back sheet between 0.02 inch and 0.03 inch (thickness is 0.05 centimetre to 0.762 centimetre), Width is between 68 and 72 millimeters, and length is between 90-94 millimeters.In one embodiment, cardboard back sheet is 0.026 Inch, 70 mm wides and 92 millimeters are long.In one embodiment, cardboard back sheet is coated in using waterproof coating on both sides, Such as the combination of wax or polymer or waterproof material, such as wax/polyvinyl alcohol, polyamine, and cardboard back sheet when wetted not Disintegrate.

In embodiments, pad is disposable pad.In other examples, pad is reusable superfine fibre cloth pad, With with this paper with regard to those identical absorption characteristics described in embodiment.With capable of washing, reusable superfine fibre In the example of cloth, the top surface of cloth includes fixed rigid backing layer, and shape is determined to be and positions imaging with regard to described in embodiment Cardboard back sheet.Rigid backing layer is by being subjected to heat-resisting, capable of washing material system of the mechanical drying without the backing that melts or degrade Into.Rigid backing layer tool has the dimensions, and with as described herein with regard to the described advance expenditure of embodiment hereof The notch that the embodiment of frame is used interchangeably.

In other examples, pad is disposable dry cloth, and the individual layer needle thorn spinning of retention hair is carried out including exposed fibers Viscous or spun lacing material.Dry pad includes chemical treatment, and viscous characteristics are increased to pad for carrying out keeping dirt and clast.One In a embodiment, chemical treatment is a kind of commercially available material of such as trade name DRAKESOL.

In some instances, it pads and is fixed to autonomous robot by being connected to the pad support of robot.Pad relieving mechanism It adjusts to upward or pad fixed position.It pads relieving mechanism and includes retainer or lip, the cardboard at pad top is fixed to by catching Pad is firmly held in place by the protrusion longitudinal edge of backing layer.In this example, the tip or end of relieving mechanism are padded Including moveable retaining clip and pop-up protrusion, upward sliding passes through slit or opening in pad support, and narrow by this Slot is pushed into down position to discharge fixed pad on the cardboard back sheet connected by pushing down on.

By the description and the appended drawings and by claims, other aspects, features and advantages will be apparent.

Description of the drawings

Figure 1A is the exploded view of exemplary cleaning pad.

Figure 1B is the exploded view of the wrapping layer of the exemplary cleaning pad of Fig. 1.

Fig. 1 C are the sectional views of exemplary cleaning pad.

Fig. 1 D are the sectional views of exemplary cleaning pad, and wherein airlaid layer includes super-absorbent polymer.

Fig. 2A is the schematic diagram of the exemplary arrangement of the operation handled for spun lacing.

Fig. 2 B are the perspective views for the spun lacing process for being used to prepare the hydroentangled layer used in exemplary cleaning pad.

Fig. 3 is the perspective view for the device for being used to prepare the abrasive material meltblown layer used in exemplary cleaning pad.

Fig. 4 is the perspective view that clean autonomous mobile robot is carried out by using exemplary cleaning pad.

Fig. 5 is the perspective view using the mop of exemplary cleaning pad.

Fig. 6 is the bottom view of exemplary cleaning pad.

Fig. 7 is the schematic diagram for forming the exemplary arrangement of the operation of cleaning pad.

Fig. 8 A are the perspective views of exemplary cleaning pad.

Fig. 8 B are the decomposition perspective views of the exemplary cleaning pad of Fig. 8 A.

Fig. 8 C are the top views of exemplary cleaning pad.

Fig. 8 D are the bottom views of the Exemplary connection mechanisms for padding as described herein.

Fig. 8 E are in a fixed position for the side view of the Exemplary connection mechanisms padded as described herein.

Fig. 8 F are the top views of exemplary connecting bracket for padding as described herein.

Fig. 8 G are for the cutaway side sectional view of the Exemplary connection mechanisms padded as described herein in releasing position.

Fig. 9 A-9C are the top views that exemplary autonomous mobile robot uses fluid injection floor surface with it.

Fig. 9 D are that exemplary autonomous mobile robot cleans the top view of floor surface with it.

Fig. 9 E are the bottom views of exemplary cleaning pad.

Fig. 9 F are that exemplary autonomous mobile robot cleans the top view of floor surface with it.

Fig. 9 G are that exemplary autonomous mobile robot cleans the top view of floor surface with it.

Figure 10 is the schematic diagram of the robot controller of the exemplary autonomous mobile robot of Fig. 4.

Same reference numerals in each attached drawing refer to identical element.

Specific embodiment

With reference to Figure 1A, 1B and 1C, in some embodiments, disposable cleaning pad 100 includes stacked multiple absorbabilities Airlaid layer 101,102,103, they are optionally bonded to each other, and by abrasive material melt-blown element 106 can be made placed on it Outer nonwoven layers 105 wrap up.In some instances, cleaning pad 100 includes one or more airlaid/dustless (airlaid) Layer 101,102,103.As shown in the figure, cleaning pad 100 include it is first, second, and third airlaid/without knoisphere 101,102, 103, but additional airlaid layer is also possible.The quantity of airlaid layer 101,102,103 can depend on cleaning pad 100 need the amount of cleaning solution 172 absorbed.Each airlaid layer 101,102,103 have top surface 101a, 102a, 103a and Bottom surface 101b, 102b, 103b.The bottom surface 101b of first (or top) airlaid layer 101 is arranged in the second airlaid layer 102 Top surface 102a on, the bottom surface 102b of the second airlaid layer 102 is arranged in the top surface of third (or bottom) airlaid layer 103 On 103a.Fluid wicks between these three layers, and runs through with keeping uniform vertical when downward power is applied to pad 100 Airlaid layer stacks, and is drained on the floor surface under cleaning pad 100 without returning.In embodiments, pad 100 is kept 90% fluid is applied to floor surface 10 and the power less than 1 pound, and the liquid of absorption is not returned and drains to floor surface 10 by pad 100 On.The surface tension of the top and bottom of each airlaid layer contributes to the fluid that will be inhaled to be maintained in each layer so that When top layer 101 is fully saturated, the bottom surface 101b leakages across top stream into stratum reticulare 101 are down to middle air flow by no fluid Into stratum reticulare 102, and when middle air flow is fully saturated into stratum reticulare 102, no fluid will pass through intermediate (or second) layer 102 Bottom is down in 102b leakages in bottom surface.

In embodiments, pad 100 absorbs 8-10 times of its weight to the relative stiffness base of airlaid layer 101,102,103 In matter, and fluid absorption is to wick to realize rather than by compressing release suction by capillary, because of the machine that pad is be connected to Device people 400 applies very light low period of change weight, is not the thick and heavy period pushed and withdrawn.Each airlaid layer 101, 102nd, 103 slow down inhaled fluid permeability to next adjacent airlaid layer 101,102,103 so that the early stage of fluid application Period will not cause quickly to suck all fluids for being applied to floor surface.The vertical stacks of airlaid layer 101,102,103 It is folded that the bottom puddle hindered in the airlaid core including three airlaid layers 101,102,103 is provided.It is each airlaid Layer 101,102,103 has resistance puddle bottom surface 101b, 102b, 103b of their own, for preventing absorbed fluid always The puddle under the bottom of the bottom surface 103b of bottom (or third) layer 103b.

In embodiment, the hardness or density of airlaid layer 101,102,103 in vertical direction are non-uniform, are made It is harder than the inside of each layer to obtain outer top and bottom.In embodiment, the superficial density of airlaid layer 101,102,103 is not Uniformly so that outer top and bottom are more smooth than the inside of each layer and with less absorbability.By change each air-flow into The superficial density of outer surface 101b, 102b, 103b of stratum reticulare 101,102,103, airlaid layer 101,102,103 keep absorbing The wicking fluid of property is entered in each airlaid layer, without being drained back to by bottom surface 101b, 102b, 103b.By by three Such airlaid layer 101,102,103 is merged into the absorbent cores of pad 100, and pad 100 is therefore relative to being equivalent to three The pad of the single of the thickness of layer stacking core has excellent fluid management energy.Three airlaid layers 101,102,103 provide At least amount of the surface tension of three times, for the fluid inhaled to be maintained to the absorption of each airlaid layer 101,102,103 In core.

Wrapping layer 104 is wrapped up around airlaid layer 101,102,103, and prevents airlaid layer 101,102,103 It is exposed.Wrapping layer 104 includes wrapping layer 105 (for example, spun lacing (spunlace) layer) and abrasive material 106.Wrapping layer 105 surrounds First, second, and third airlaid layer 101,102,103 is wrapped up.Wrapping layer 105 has top surface 105a and bottom surface 105b. The top surface 105b covering airlaid layers 101,102,103 of wrapping layer 105.Wrapping layer 105 can have natural or artificial fibre Tie up the flexible material of (for example, spun lacing or spunbond).Abrasive material 106 is arranged on the bottom side 105b of wrapping layer 105.It is applied to cleaning The fluid on the floor 10 below pad 100 is transmitted by wrapping layer 105 and entered in airlaid layer 101,102,103.It surrounds The wrapping layer 105 that airlaid layer 101,102,103 is wrapped up is that original absorbance material is prevented to be exposed to the biography in airlaid layer Defeated layer.If wrapping layer 105 has very much absorbability, pad 100 will be drawn onto on floor 10 and be difficult movement.For example, machine People may attempt that when mobile cleaning pad 100 passes through floor surface 10 suction can not be overcome.In addition, wrapping layer 105 is picked up by grinding Dirt and clast that outer layer 106 unclamps are damaged, and the cleaning fluid 172 in glimmer pool may be left in air dried surface 10 On, without leaving streak marks on floor 10.The cleaning solution in glimmer pool between 1.5 and 3.5 milliliters/square metre, and The dry duration is no more than three minutes, and dry preferably between about 2 minutes and 3 minutes.

Disposable cleaning pad 100 absorbs the liquid on floor surface 10 by capillarity (also referred to as wicking).Capillary Effect, which is happened at liquid, to be flowed in a narrow space in the case of no external force such as gravity.Capillarity is because of bonding Power, cohesive force and surface tension and fluid is allowed to be moved in the space of porous material.Fluid adheres to wall of a container can be Upward power is caused on liquid edge and causes to tend to upward meniscus.Surface tension is complete for holding surface.Capillary Effect be happened to the bonding force of wall it is more stronger than the cohesive force between fluid molecule when.

In some instances, by fluff pulp, (it is made of one kind by long fibre cork to airlaid layer 101,102,103 Type wood pulp/chemical pulp) made of web form materials.Chemical pulp is by applying heat to wood in large container The combination with chemical material is considered to be worth doing to decompose lignin (with reference to the organic substance of wood cell in the block) come what is created.By fluff pulp system Into web form materials can be very huge, porous, soft, and with good water absorbing properties.Web form materials will not scratch Floor surface even if still keeping its intensity when it is moistened, and can be washed and be reused.

With reference to Fig. 1 D, in some embodiments, airlaid layer 101,102,103 is included for the airlaid of moistening The absorbed layer of the mixture of paper and super absorbent polymer 108 (such as Sodium Polyacrylate).Polymer includes plastics and rubber material Material is mainly chemically based on the organic compound of carbon, hydrogen and other nonmetalloids.Polymer usually has larger point Minor structure, usually has low density and can very flexibly.Super absorbent polymer 108 (also referred to as slush moulding powder) phase Than in its own mass absorption and keeping a large amount of fluid.The ability that super absorbent polymer 108 absorbs water depends on aqueous solution Ion concentration.Absorbable up to 500 times of its weight of super absorbent polymer 108 deionized-distilled water (30-60 times its Volume), and 99.9% liquid can be become.When in the salting liquid for being put into 0.9%, the suction of super absorbent polymer 108 The property received significantly is down to about 50 times of its weight.Valency cation in salting liquid prevents super absorbent polymer 108 and hydrone knot It closes.Super absorbent polymer 108 can expand, and cleaning pad 100 is promoted also to expand.Various tools 400,500 can use cleaning Pad 100, and in some instances, tool 400,500 can not support expansive cleaning pad 100.For example, pad 100 Expansion may upset the physical property of compact and portable robot 400, and compact robot 400 is caused to tilt and apply upwards The sundries that less power is used to remove from floor 10 to pad 100.Therefore, poor absorbable polymer 108 can be used for meeting clear Clean pad absorbability requirement.In one embodiment, pad 100 can include pocket along the length of pad in middle section, allow to surpass Absorbable polymer is expanded into these pockets, and allows the thickness for padding with super absorbent polymer expansion and keeping constant Degree.

In some embodiments, no knoisphere 101,102,103 includes cellulose pulp non-woven material, which passes through Air is bonded with bicomponent fibre.In some instances, wood pulp cellulose fiber with low melting point bi-component polyethylene and/ Or polypropylene thermal bonding.The mixture forms solid absorbency core, maintains shape that it is formed and is uniformly dispersed The fluid absorbed, so as to prevent cleaning solution from collecting minimum point in this layer and prevent additional fluid from gathering.Air-flow into Stratum reticulare 101,102,103 can be manufactured by the bleached wood pulp for looking like thick-layer cardboard.Paper pulp enters has blade on rotor Beater grinder, hit thick-layer paper pulp and by its damping (devibrate) into single fiber.Single fiber, which enters, to be had Look like the distributor of the sieve rotor of flour bolt.Fiber is formed to the piece having in lower section on another sieve of applied vacuum In material, in this stage, the sheet material is mixed with the sheet material of bicomponent fibre.The hot wind blown melt the bi-component come with it is airlaid Bonding.

Airlaid layer is located at so as to the liquid that absorption is substantially evenly distributed on entire core, and liquid will not be in sandwich layer Any position puddle.Mobile robot 400 equably sprays fluid 172 before robot, and pad 100 is when advancing forward The solution 173a, the 173b that are applied evenly distributed is picked up along its length.In one embodiment, airlaid layer 101,102, 103 bond with the spray adhesive being uniformly applied on the surface of airlaid layer 101,102,103.In one embodiment, Adhesive is polyolefin, and by it is thin it is even in a manner of be applied to obtain reliable adhesion, without create protuberance and it is hard Region.Spray adhesive also creates the surface interface uniformly bonded, allow fluid wick into airlaid layer 101,102, 103, without big mechanical obstacles (for example, suture needle or relatively large not seep through patch or protuberance), and airlaid layer 101st, the surface interface that this between 102,103 uniformly engages prevents the puddle between layer 101,102,103.

Very small amount of acrylic latex binder micro- can be sprayed on surface to combine outer layer and reduce to the greatest extent de- It falls and helps to reduce hair loss.Hair loss is the situation about occurring when being carefully entangled in apparent on object or fabric of cotton, fiber crops or fiber.Gas Flowing into stratum reticulare 101,102,103 can disappear including 15% biological components polymer, 85% cellulose and latex at top Except hair loss.

Wrapping layer 105 can be made of thin and absorption fluid any material.In addition, wrapping layer 105 can be smooth , to prevent from scratching floor surface 10.In some embodiments, cleaning pad 100 can include in following detergent composition It is one or more：Butoxypropanol, alkyl polyglycoside, alkyl dimethyl ammonium chloride, Emulsifier EL-60, linear alkyl benzene sulfonic acid Salt, oxyacetic acid --- for example they serve as surfactant, and among other things to attack squama and inorganic deposition (attack scale and mineral deposits)；And including smell, antibacterial or antifungal preservative.

In some instances, wrapping layer 105 is spun lacing non-woven material.Spun lacing is also referred to as spun lacing, water entanglement, jet stream and twines Knot or hydrodynamic needling.Spun lacing is to tangle usually to be formed in porous belts or the mobile loose fiber perforated or patterning sieves by card Net to form the method for sheet structure by making fiber by the thin and tall pressure water jet of multipass.Water entanglement method makes it possible to lead to It crosses addition fibrous material such as cotton paper, airlaid, spun lacing and spunbond non-woven and unique fabric is formed with compound non-knitmesh.This A little materials provide the performance advantage needed for a variety of wipe applications due to its improved performance and cost structure.

With reference to Fig. 2A and 2B, spun lacing process 200 includes precursor net forming process 202a.Precursor Netcom is often by the short fibre of textile-like Dimension is made.These nets can be made of single web or by many different fibre blends.Typical four kinds of fibers Selection is polyester, viscose glue, polypropylene and cotton.Can also use these fibers in each variant, such as organic cotton and Lyocell materials and Tencel staple fibres.Biodegradable PLA (polylactic acid) fiber can also be used.

Precursor net forming process 202a can include forming airlaid comb, can be used for providing because the higher of fiber is horizontal To more isotropic net of orientation.Combing is a kind of method for the thin net for manufacturing parallel fiber.It can also be by using this The combing system of type obtains higher bulk density.The net of staple fiber once being formed, then can be by forming cellulose fibre Air second layer fiber is placed on the top of the substrate or by " lamination " pre-formed nonwoven web, such as tissue, Spun lacing or spunbond.In some instances, viscose non-woven material is combined with airlaid layer, therefore obtained fabric does not need to The combing step of spun lacing continuous fiber and cellulosic pulp fibers.Then the fiber composition enters fibre matting process 204, High-pressure water jet 210 is arranged including number, they repeat conventional mechanical acupuncture process and individually wind fiber, so as to make them Become to tangle, form net 212.

Spun lacing process 200 includes fibre matting process 204 being applied to fiber composition.Fibre matting process 204 includes 210 injection water of high-pressure water jet is arranged from number, to repeat conventional mechanical acupuncture process and individually wind fiber, so as to make it Become to tangle, formed net 212.Net 212 is placed on (after net formation and carding process 202) by two or more On the conveyer belt 214 that a pulley 216 rotates.During and/or after each water injection process, net 212 passes through 218 drum of suction, It aspirates water from fiber and fiber holding is allowed to move to next high-pressure water jet 210.

The nonwoven substrate 215 of reinforcing is then dried in air dryer process 206 by air dryer, Ran Hou It is wound in winding process 208.

Wrapping layer 105 can be printed on and be hot pressed print.It is in fabric or other materials to imprint and go print (debosing) The process of raised or sunken design is created in material.The fiber of relatively low fusing such as polypropylene can be used for realizing better heat Coining.The friction coefficient of wrapping layer 105 is based on surface type and humidity changes.In one embodiment, it is moved on glass Dry pad 100 has the friction coefficient of about 0.4 to about 0.5, and the wet pad on ceramic tile has the friction system of about 0.25 to about 0.4 Number.Wrapping layer 105 can include hydraulic pressure and print, and assign 3-D view on fabric.Hydraulic pressure print is usually more less expensive than being thermally bonded. In one example, the coining of wrapping layer 105 has herringbone pattern.Around a series of packet of airlaid layers 101,102,103 package Covering layer 105 makes it possible to form the absorbent core that locking absorbs fluid.The layering of airlaid sandwich layer 101,102,103 causes Capillarity and remain able to through combination core and in each individual layer 101,102,103.In addition, form the core of pad Airlaid layer 101,102,103 keep their shape, while fluid is uniformly distributed through each liquid retaining layer, and And it prevents from that collecting for additional absorbent may be forbidden.

It wears meltblown layer 106 and includes meltblown fibers 107, this is used as by multiple thin generally rounded die capillaries Molten thermoplastic is extruded by melting filament or long filament assembles the long filament of cutting molten thermoplastic to reduce its diameter High-speed flow and the fiber that is formed.Therefore, meltblown fibers 107 are carried by high-speed flow and are placed on the surface for collecting fiber On, therefore form net/web (web) of the meltblown fibers 107 of random distribution.

In some instances, abrasion meltblown layer 106 is to provide one layer of meltblown fibers 107 of rough surface.Meltblown fibers 107 Formed by melt blown process 300 (referring to Fig. 3) with high-throughput, which generates foam or hair-like fiber, by because of temperature and The other conditions run and the polymer flowed out from die hole is formed.Abrasive material 106 is formed in (example on the top of wrapping layer 105 Such as, another meltblown layer, spunbond layer or hydroentangled layer).Wrapping layer 105 can be fish-bone hydraulic pressure print non-woven material, poly- by being mixed with The ratio of viscose glue (artificial silk) fiber of ester fiber is made.In some instances, the basis weight that abrasion meltblown layer 106 has (also referred to as per Gram Mass) is equal to 55g/m²(gram every square metre).The basis weight that wrapping layer 105 can have is about 30gsm (gram every square metre) is between about 65gsm.In other examples, the basis weight that wrapping layer can have is between about 35- Between 40gsm.Basis weight is a kind of measurement used in textile and paper industry, for measuring product per unit area Quality.In one embodiment, wrapping layer 105 is the spun lacing spunbond or spun lacing material formed together with its further groove (not shown) Material, the recess portion allow fluid and soil suspension more directly to pass through to airlaid layer 101,102,103, and in pad 100 The amount of the cohesion suction between wrapping layer 105 and floor surface 10 is reduced during moistening.In one embodiment, groove is herringbone Pattern.In another embodiment, groove type squarely grid is dimensioned and is partitioned between 0.50 and 1.0 millimeter It is rectangular between and in grid protocol length 2.0-2.5 millimeters spaced intermediate.In one embodiment, the size quilt of groove It determines and is partitioned into 0.75 millimeter rectangular, and in the length of 2.25 millimeters spaced intermediate of grid protocol.In another embodiment In, wrapping layer 105 is that wherein have to improve the wicking capacity of wrapping layer 105 and reduce wet wrapping layer 105 and floor table The spunbond of the pinprick of cohesive force or spun lacing material between face 10.Herringbone, rectangular and needle thorn groove prevent because fluid evaporator and/ Or it is wicked from the back side of liner and generates negative pressure in the external of wrapping layer.Due to not moved freely in wrapping layer 105 or There is no some textures on wrapping layer 105, the fluid of wicking cannot be replaced, and it causes by being applied to the fluid of floor surface 10 Suction between pad 100 and floor.The low-density spunbond or spun lacing material of 35-40gsm with water embossed grooves, surface texture And pattern (such as herringbone) or the surface texture of the form in needle thorn groove or hole combine the suction prevented between pad and floor. Meltblown layer 105 further helps in anti-suction here.

In addition, when pad 100 is moist, there is no enough fluids to carry out the friendship between the bottom surface of lubricating pad and floor surface 10 Interface.The pad 100 soaked completely can be relied in a layer fluid, while robot 400 is in movement, but with moist pad 100 Fluid is slowly absorbed, the wrapping layer 106 of sufficient lubrication be not sufficiently humidified so as to, non-will be dragged on floor surface 10.In embodiment In, spunbond or spun lacing wrapping layer 105 are manufactured using hydrophilic fibre, which is reduced to the maximum extent is exposed to pad 100 and ground The surface area of the pad 100 of air between plate surface 10.If groove or pin hole are not a parts for wrapping layer 100, wet Pad 100 can adhere to hydrophily floor surface 10.Surface texture is applied to the spunbond of wrapping layer 105 or otherwise spun lacing destruction will Wet pad 100 is promoted to adhere to the surface tension of wetland plate surface 10.

The weight of abrasion meltblown layer 106 so that wearing meltblown layer 106 is used as absorbed layer, and allow fluid from meltblown layer 106 are absorbed, and are kept by airlaid layer 101,102,103.In some instances, meltblown layer 106 covers spun lacing package The about 60-70% of the surface area of layer 105, in other examples, meltblown layer 106 cover the table of spunbond or spun lacing wrapping layer 105 The about 50-60% of face area.

Meltblown fibers 107 can have different arrangements and configuration on spun lacing wrapping layer 105.In some instances, it melts Spray fiber 107 is randomly disposed as on wrapping layer 105.Meltblown fibers 107 can be arranged in one or more in clean surface 109 In a part 109a-e.Clean surface 109 is the bottom surface of cleaning pad 100 contacted with floor surface 10.In clean surface 109 Covering between melt-blown abrasive fiber 107 and wrapping layer 105 that one or more part 109a-e have is compared more than 50%.Melt-blown Layer provides the advantage that the surface tension for destroying and wet wrapping layer otherwise may being caused to adhere to wetland plate to the pad.By by line Reason and pattern are added to the floor towards pad surface, and meltblown layer prevents pad from adhering to or encountering big drag force.Meltblown layer is also provided to pad Surface texture adheres to or is dried to the dirt and clast of floor surface for coarse treat, and pass through pad it is airlaid in Core loosens dirt and clast is absorbed.

As shown in figure 3, melt blown process 300 is squeezed out and pull molten plastic resin using the high-speed air 310 of heating To form the process of fiber or long filament 107.Fibers/filaments 107 cool down, and net 106 is then formed on the top of diaphragm 320. This process 300 is similar to spunbond, but the fiber 107 generated here is more fine and range at 0.1 to 20 micron (for example, 0.1-5 Micron) diameter range.Melt-blown is also considered as melt-spun or spunbond process.Extrusion die 312 shown in process shown in Fig. 3 Meltblown polypropylene fibres are expressed into and nonwoven web 106 are formed in continuous poriferous conveyer by (beam).It is by six primary clusterings： Extruder, metering pump, extrusion die, web forming device, net bracing means and wind.Other processes are also possible.

There are two types of the basic mold design 312 being used together with melt blown technology, single row mould and multiple rows of mold.Both set The main distinction between meter is the amount of used air and the handling capacity of mold.Bigger can be realized using multiple rows of mold Handling capacity.Multiple rows of mold usually has the hole of two to ten eight rows, and per inch is there are about 300 holes, and traditional single row mould is per English It is very little to have 25 to 35 holes.Any mold design 312 can be used for forming meltblown fibers 107.The throughput ratio of this process is used 200+ kgs/hr/meter (kilogram every meter per hour) being obtained in the spunbond with its bigger fibre diameter or spun lacing is small It is more.Conventional mold is 70 to 90 kgs/hr/meters substantially extrudable, and multiple rows of mold can reach about 160 kgs/hr/ Rice.

In some embodiments, the diameter that meltblown fibers 107 have is average between about 0.1 micron to about 5 microns About 2.5 microns.Handling capacity and air mass flow have biggest impact to reducing fibre diameter, and melting and air themperature are arrived with mold The distance of forming table influences smaller.Optimization process variable and it can generate meltblown web, average fiber using metallocene polypropylene For diameter in the range of 0.3 to 0.5 micron, maximum fiber diameter is less than 3 microns.There is superior ventilation property very by offer High head net, there is the wrapping layer 104 of the meltblown fibers 107 of the size, which can provide obstacle, prevents liquid from cleaning pad 100 Leakage.Can meltblown fibers 107 be created by using homopolypropylene；However, it is also possible to it is squeezed out by melt blown process His some resins, such as polyethylene, polyester, polyamide and polyvinyl alcohol.In some embodiments, meltblown layer 106 is by poly- breast Sour (PLA), biodegradable non-woven fleece are formed.

In some instances, airlaid layer 101,102,103, wearing layer 104 and wrapping layer 104 (i.e. cleaning pad 100) The combined width W having_TBetween about 68 millimeters and about 80 millimeters, pattern length (not shown) is between about 200 millimeters of peace treaties Between 212 millimeters.In some instances, including airlaid layer 101,102,103, the cleaning of wearing layer 104 and wrapping layer 105 The combination thickness T that pad 100 has_TBetween 6.5 millimeters and about 8.5 millimeters.Additionally or alternatively, airlaid layer 101, 102nd, the 103 combined airflow networking width (W having_A1+W_A2+W_A3) between 69 millimeters and about 75 millimeters, combined airflow networking Length (L_A1+L_A2+L_A3) between about 165 millimeters and about 171 millimeters.Cleaning pad 100 can be born by tool 400,500 (examples Such as, robot or mop) apply to its pressure, because tool 400,500 will cause cleaning pad 100 to be passed through in robot 400 Scouring action is imitated during floor surface 10 to move back and forth.

In some embodiments, in the just cleaning floor surface 10 of cleaning pad 100, absorption is applied to floor surface 10 cleaning fluid 172.Cleaning pad 100 can absorb enough fluids without changing its shape.Therefore, when cleaning pad 100 connects When being used together with clean robot 400, cleaning pad 100 has before floor surface 10 is cleaned and after cleaning floor surface 10 There is substantially similar size.Cleaning pad 100 volume can increase when it absorbs fluid.In some instances, the thickness of cleaning pad Spend T_TIncrease after fluid absorbs and be less than 30%.

In some embodiments, wrapping layer 104 has specification listed in the following Table 1：

Table 1

ASTM D3776M-09A and ASTM D5034-09 are that the standard from U.S.'s test and materials association (ASTM) is surveyed Examination.ASTM D3776M-09A coverings measure the fabric quality of per unit area (weight), and suitable for most of fabrics. ASTM D5034-09 (also referred to as grab method) are the standard method of test of the fracture strength and elongation for fabric.WSP 120.6 and WSP 10.0 (05) is the standardized test created by world strategy partner for testing non-woven fabric attribute.

With reference to Figure 1A-1D, Fig. 3, Fig. 4-6 and Fig. 9 A-9C, cleaning pad 100 is configured to clean floor surface 10 and absorb Fluid on floor surface 10.In some instances, cleaning pad 100 is connected to burnisher such as mobile robot 400 or hand Hold mop 500.Burnisher 400,500 can include sprayer 462,512, and cleaning fluid 172 is injected in floor surface On 10.Tool 400,500 is used to clean and remove any stain (for example, dirt, grease, food, baste, coffee, coffee Slag), they are absorbed together with the fluid 172 applied for dissolving and/or unclamping stain 22 by pad 100.Some stains may have Viscoelasticity property shows viscosity and elastic characteristic (such as honey).Cleaning pad 100 has absorbability, and has outer Surface 105a includes the abrasive material 106 applied at random containing meltblown fibers 107.When tool 400,500 surrounds floor surface 10 When mobile, cleaning pad 100 wipes floor surface 10, and inhale using the abrasive material side 105b of the abrasive material 106b containing meltblown fibers It receives using than being otherwise sprayed onto on floor surface 10 as the power of the only light weight needed for cleaning the mop with non-abradant cleaning element Cleaning solution.

With reference to Fig. 4, in some embodiments, tool 400 is the autonomous mobile robot 400 of compact and portable, weight Less than 5 pounds and navigate and cleaning floor surface 10.Mobile robot 400 can include what is supported by drive system (not shown) Main body 410, the drive system can be manipulated based on the driving instruction for example with x, y and θ component on entire floor surface 10 Robot 400.As shown in the figure, robot body 410 has square shape.However, main body 410 can also have other shapes Shape, the including but not limited to combination of circle, ellipse, tear drop shape, rectangle, square or rectangular forepart and rounded back section, Or the longitudinal asymmetric combination of these arbitrary shapes.Robot body 410 has forepart 412 and rear portion 414.Main body 410 is also wrapped Include bottom (not shown) and top 418.The bottom of robot body 410 is additionally included in two back angles of robot 400 One or more of one or two rear portion steep cliff sensor (not shown) and in the forward corner of mobile robot 400 One or more of one or two forepart steep cliff sensor, for preventing from prominent surface tumble.In embodiment, it hangs Precipice sensor can be that machinery declines sensor or the proximity sensor based on light, for example, IR (infrared ray) to, double transmitters, list A receiver or dual collector, single transmitter are directed at the downward proximity sensor based on IR light of floor surface 10.One In a little examples, one or more forepart steep cliff sensors and one or more rear portion steep cliff sensors are to be respectively relative to forward corner It is placed with the certain angle of back angle so that they cut corners, across covering between the side wall of robot 400 and as much as possible Lid corner exceeds the floor level variation that accommodated threshold value is dropped by existing reversible robot wheel to detect.By steep cliff sensor Being placed close to the corner of robot 400 ensures that they will immediately trigger, and prevent when robot 400 be suspended in floor decline Only robot wheel crosses drop edge.

In some embodiments, the forepart 412 of main body 410 carries movable bumper 430, at longitudinal direction (A, F) or Laterally collision is detected on the direction of (L, R).Bumper 430 has the shape of complementary robot body 410, and to robot master Extend before body 410 so that the overall dimensions of forepart 412 (robot as shown more wider than the rear portion 414 of robot body 410 With square shape).The bottom support cleaning pad 100 of robot body 410.In embodiment, pad 100 extends beyond insurance The width of thick stick 430 so that the outer edge of pad 100 can be positioned up to tough and reach surface or entrance along it by robot 400 Gap, such wall floor interface, and the surface or gap are cleaned, while robot by the extending edge of pad 100 400 are moved in a manner of being moved with wall.The embodiment for extending beyond the pad 100 of the width of bumper 430 enables robot 400 Crack and gap other than the range of enough clean robot main bodys 410. Shown in 9E, pad 100 cuts off end 100d straight from the shoulder so that airlaid layer 101,102,103 is exposed to pad 100 Two end 100d.With wrapping layer 105 be sealed in pad 100 end 100d and compressed air stream into stratum reticulare 101,102,103 By contrast, the overall length of pad 100 can be used for fluid to absorb and clean to end 100d.Any part of airlaid core is not wrapped Covering layer 105 is compressed, therefore cannot absorb fluid 172.In addition, the used disposable pad 100 of the present embodiment is completed to clean When will not have sealed envelope layer 105 the soft end for being impregnated with moistening.All fluids 172 will regularly be absorbed and It is kept by airlaid core, prevents any dirty wet end dripped and prevent user's engagement pad 100 out of turn.

As shown in Fig. 4 and Fig. 9 A-9G, robot 400 can drive the specific part to cover floor surface 10 back and forth.Work as machine When device people 400 drives back and forth, therefore the passed through region of cleaning simultaneously provides depth scouring floor surface 10.By robot body 410 reservoirs 475 accommodated keep cleaning fluid 172 (i.e. cleaning solution), and can accommodate 170-230 milliliters of fluid. In embodiment, reservoir 475 accommodates 200 milliliters of fluid.Robot 400 can include being connected to reservoir 475 by pipe Fluid applicator 462.Fluid applicator 462 can be sprayer, and at least one nozzle 464 having is on floor surface 10 Distribute fluid.Fluid applicator 462 can have multiple nozzles 464, be respectively configured to the angle to be different from another nozzle 464 Fluid is sprayed with distance.In some instances, robot 400 includes two nozzles 464, is vertically stacked at fluid applicator It in recess portion in 462 and tilts and is spaced apart so that a nozzle 464a forwardly and downwardly sprays the stream of relatively long length Body 172a, with using the region for applying 400 front of fluid 173a covering robot supplied forward, another nozzle 464b forward and The fluid 172b of relatively short length is sprayed downwards, so that the application fluid 173b supplied backward by pipe top nozzle 464a than being distributed The region for applying fluid 173a closer on the region before robot 400.In embodiment, nozzle 464 or nozzle 464a, 464b are by fluid 172,172a, 172b distribution in the expanding machinery people width W for size_RWith at least one robot Length L_RZone map in.In some embodiments, pipe top nozzle 464a and bottom nozzle 464b applies fluid 172a, 172b and exists In the item that two different intervals of application fluid 173a, 173b are opened, the item does not extend into the entire width W of robot 400_R, So that pad 100 is acted with the scouring tilted forward and backward as described herein across the outer of the item for applying fluid 173a, 173b Edge.In embodiment, apply the item covering robot width W of fluid 173a, 173b_R75-95% width W_SAnd robot Length L_R75-95% pattern length L_S.In some embodiments, robot 400 is only sprayed at crossing for floor surface 10 On region.

In addition, the spot moved back and forth on broken floor surface 10 of robot 400.Broken spot is then by cleaning pad 100 absorb.In some instances, if cleaning pad 100 picks up excessive liquid such as fluid 172, cleaning pad 1,000 Enough spray fluids are taken fully to avoid non-uniform striped.In the case where very few fluid absorbs, robot 400 can leave stream Body and wheel trace.In some embodiments, cleaning pad 100 leaves fluid remnants, can be water or some other detergent (packet Include the solution containing detergent), to provide visible gloss on the floor surface 10 being swabbed.In some instances, the stream Body contains antiseptic solution, such as the alcohol containing solution.Therefore, thin layer remnants are intended to not absorbed by cleaning pad 100, to allow to flow Body kills higher proportion of germ.Therefore, cleaning pad 100 is non-swelling or expands, and provide total mat thickness T_TSmall size increase. This characteristic of cleaning pad 100 prevents robot 400 from tilting backwards when if cleaning pad 100 expands or falling forward.Cleaning Pad 100 supports the forepart of robot with enough rigidity.In some instances, cleaning pad 100, which absorbs, is up to included in machine The 180ml or 90% of total fluid in device people reservoir 475.In some instances, cleaning pad is kept for about 55 to about 60 milliliters Fluid, and fully saturated wrapping layer keeps about 6 to about 8 milliliters of fluid 172.In some instances, airlaid core 101, 102nd, 103 ratios kept with the liquid of outer casing 105 are about 9:1 to about 5:1.

The size and shape of pad 100 and robot 400, which are determined into, causes fluid to be transferred to absorption pad 100 dynamic from reservoir State keeps the anterior-posterior balance less than 5 pounds of robots 400 during moving.Fluid distribution design is into causing robot 400 on ground Pad 100 is continuously promoted in plate surface 10, without interfering the increasingly pad 100 of saturation and decrescence shared fluid reservoir 475, is carried It rises 412 before the back side 414 of robot 400 and the robot 400 that fell downwards, and thus applies and inhibit the downward of movement Power is to robot 400.Robot 400 can movable cushion 100 pass through floor surface 10, even if when pad 100 completely by saturated with fluid When.However, robot 400 includes tracking the amount of advanced floor surface 10 and/or remains in fluid in reservoir 475 The component of amount, and provide a user audible and/or visible alarm：Pad 100 needs replacing and/or reservoir 475 needs to backfill. In embodiment, if pad 100 is fully saturated, robot 400 stops mobile and is maintained at appropriate on floor surface Position, and still have floor to be cleaned if pad 100 is replaced.

The sprinkling of one embodiment of mobile robot 400, pad wetting and scouring action is shown in detail in Fig. 9 A to 9G. In some embodiments, fluid 172 is only applied to the region of floor surface 10 that robot 100 passed by by robot 400. In one example, fluid applicator 462 have multiple nozzle 464a, 464b, be each configured to another nozzle 464a, Fluid 172a, 172b are sprayed on directions different 464b.Fluid applicator 462 can apply fluid 172 downwards rather than outward, will Fluid 172 is directly dripped or is sprayed at before robot 100.In some instances, fluid applicator 462 be microfiber cloth or Item, fluid distribution brush or sprayer.

With reference to Fig. 9 A-9D and 9F-9G, in some embodiments, robot 400 can be by along forward direction F directions Barrier 20 moves, then edge is backward or inverse direction A moves to perform cleaning behavior.As illustrated in figures 9a and 9b, robot 400 The first distance Fd to first position L1 can be driven along direction is driven forwards.When robot 400 moves backward second distance Ad extremely During the L2 of the second position, nozzle 464a, 464b are in robot 400 in the floor surface being had already passed through along direction F is driven forwards It is longer along length forward and/or is in downward direction sprayed simultaneously before robot 400 after 10 region movement at least distance D Fluid 172a and the shorter fluid 172b to floor surface 10 of length on.In one example, fluid 172 is applied to substantially Equal to or less than the region of the region footprint AF of robot 400.Since distance D is across at least length L of robot 400_R's Distance, so robot 400 determines that the region that floor 10 is crossed is if robot 100 not yet verifies that there are clean and tidy floor surfaces 10 not will be applied to that furniture, wall 20, steep cliff, carpet or other tables thereon for receiving cleaning solution 172 by cleaning solution 172 The clean and tidy floor surface 10 that face or barrier occupy.By then being moved back in the forward position forward direction F for applying cleaning solution 172 Dynamic, robot 400 identifies boundary, such as floor variation and wall, and prevents these projects of fluid damages.

As shown in Fig. 4,9B and 9C, in some instances, fluid applicator 462 is sprayer 462, including at least two Fluid 172 is each uniformly distributed in entire floor by nozzle 464a, 464b in two items for applying fluid 173a, 173b On surface 10.Two nozzles 464a, 464b are each configured to the angle and distance different from another nozzle 464a, 464b Spray fluid.In some instances, two nozzles 464a, 464b are vertically stacked in the recess portion in fluid applicator 462, and And with horizontal tilt and being separated from each other so that a nozzle 464a forwardly and downwardly sprays the fluid of relatively long length 172a, with using the region for applying 400 front of fluid 173a covering robot supplied forward, and another nozzle 464b forward and The fluid 172b of relatively short length is sprayed downwards, so that the application fluid 173b supplied backward by pipe top nozzle 464a than being distributed The region for applying fluid 173a closer on the region before robot 400.In embodiment, nozzle 464 or nozzle 464a, 464b are by fluid 172,172a, 172b distribution in the expanding machinery people width W for size_RWith at least one robot Length L_RZone map in.In some embodiments, pipe top nozzle 464a and bottom nozzle 464b applies fluid 172a, 172b and exists In the item that two different intervals of application fluid 173a, 173b are opened, the item does not extend into the entire width W of robot 400_R, So that pad 100 is acted with the scouring tilted forward and backward as described herein across the outer of the item for applying fluid 173a, 173b Edge.In embodiment, apply the item covering robot width W of fluid 173a, 173b_R75-95% width W_SAnd robot Length L_R75-95% pattern length L_S.In embodiment, the item for applying fluid 173a, 173b can be substantially rectangular or ellipse It is round.In embodiment, nozzle 464a, 464b by nozzle opening suck small size the no fluid 172 of fluid from The nozzle leakage of each spraying example is followed to complete each sprinkling period.

With reference to Fig. 9 D, 9F and 9G, in some instances, robot 400 can drive the spy to cover floor surface 10 back and forth Determine part, moisturizing cleansing pad 100 and/or scouring floor surface 10 when clean run starts.Robot 400 drives back and forth, clearly It is clean to pass through region, therefore provide thorough scouring to floor surface 10.Robot 400 vibrates in the track of 12-15mm to be connected The pad 100 connect to clean floor 10, and applies to pad 1 pound or less of down thrust.

In some instances, fluid applicator 462 applies fluid 172 to the region of 100 front of cleaning pad and in movement On the direction of the traveling (for example, forward direction F) of robot 100.In some instances, fluid 172 is applied to cleaning pad 100 Previously occupied region.In some instances, the region that cleaning pad 100 already takes up, which is recorded in, can access such as figure On the map stored of robot controller 150 shown in 10.Robot 400 can include cleaning or handling floor table The cleaning systems 1060 in face 10.

In some instances, robot 400 according to be stored on the non-transitory memory 1054 of robot 400 or By map of the robot 400 during clean run by being stored on the addressable exterior storage medium of wired or wireless device On its cover place know its somewhere.400 sensor 5010 of robot can include camera and/or one or more A ranging laser is used to build space map.In some instances, robot controller 1050 uses wall, furniture, floor The map of variation and other barriers 10 is sufficiently apart from so that robot 400 is positioned and is placed in before cleaning solution 172 is applied Barrier and/or the position of floor variation.This has the advantage of be applied to fluid 172 not having known barrier above The region of floor surface 10.

In some instances, robot 100 moves with moisturizing cleansing pad 100 and/or cleans fluid 172 with moving back and forth The floor surface 10 being applied to.Robot 400 can pass through the footprint area on floor surface 10 that fluid 172 has been applied to Domain AF is moved in hundred arteries and veins patterns.As shown in the figure, in some embodiments, hundred arteries and veins cleaning procedures are related to along centrode 1000 in direction of advance F and backward or on inverse direction A and along left track 1010 and right track 1005 in forward direction F and Mobile robot 100 on backward directions A.In some instances, left track 1010 and right track 1005 be in the form of arc along Centrode 1000 is from the outwardly extending arching trajectory of starting point.Left track 1010 and right track 1005 can be from center with straight line 1000 outwardly extending straight path of track.

Fig. 9 D and 9F show two hundred arteries and veins tracks.In the example of Fig. 9 D, robot 400 exists along centrode 1000 It is moved on forward direction F from position A, until it encounters wall 20 and trigger sensor 5010, such as salient point sensor in position B. Robot 400 is equal to or more than what is covered by fluid application then along the distance that centrode moves on backward directions A Distance.For example, robot 400 moves backward an at least robot length l to position G, the position along centrode 1000 Can be the position identical with position A.Fluid 172 is applied to the footprint of substantially equal to or less than robot 100 by robot 400 The region of region AF, and back to wall 20, cleaning pad 400 passes through fluid 172 and cleans floor surface 10.From position B, robot 100 retract before the positioning belt for returning to covering residual track or along left track 1010 or along right track 1005.Each machine When device people 400 forwardly and rearwardly moves along centrode 1000, left track 1010 and right track 1005, cleaning pad 100 passes through Apply fluid 172, the floor surface 10 being applied to from fluid 172 cleans dirt, clast and other particulate matters, and will be dirty Fluid is absorbed into cleaning pad 100 and far from floor surface 10.With the wiping of wetting pad that the solvent properties of cleaning solution 172 are combined Action is washed to crush and unclamp dry spot and dirt.The cleaning solution 172 applied by robot 400 has hanged the clast loosened, makes Cleaning pad 100 is obtained to absorb suspension clast and wicked far from floor surface 10.

In the example shown in Fig. 9 F, robot 400 equally passes through along centrode 1000 from initial position (position A) Apply fluid 172 and be moved to wall position (position B).Robot 400 leaves wall 20 to position C along centrode 1000, can To be the position identical with position A, before left and right track 1010,1005 is covered, position D and F, cleaning fluid 172 are extended to It is distributed by cleaning pad 100 along track 1010,1005.In one example, each robot 400 along track from centrode 1000 when extending outwardly, and robot 400 is returned to along centrode as the position indicated by position A, C, E and G, such as Fig. 9 F institutes Show.In some embodiments, robot 400 can change move along the backward directions A of one or more different tracks and The sequence of forward direction F movements moves cleaning pad 100 with effective and efficient overlay pattern and cleaning fluid 172 passes through floor Surface.

In some instances, robot 100 can move to soak clearly when starting clean run with hundred arteries and veins overlay patterns All parts of clean pad 100.As shown in fig. 9e, the bottom surface 100b of cleaning pad 100 has central area PC and right left side edge area Domain PR and PL.When robot 100 starts clean run or cleaning procedure, cleaning pad 100 is dry, and is needed wetted To reduce friction, and cleaning fluid 172 is extended therefrom to clean clast also along floor surface 10.

Therefore, robot 400 initially applies fluid when starting clean run with higher volume flow rate so that cleaning pad 100 is easily wetted.In one embodiment, the first volume flow rate passes through initially at such as 1-3 minutes for a period of time Interior to spray every 1.5 feet of about 1mL fluids and set, the second volume flow rate is set by every 3 feet sprinklings, wherein each sprinkling The volume of fluid is less than 1 milliliter.In embodiment, each to the two feet application fluids 172 when bringing into operation of robot 400, To make 105 saturation of wrapping layer of pad 100 in clean run early stage.Through after a period of time and/or after distance, such as 2-10 minutes Duration, robot 400 applies fluid with every three to five feet of interval, because pad 100 is wetted and can clean Floor 10.If Fig. 9 G are shown, in some instances, when starting clean run, robot 400 is driven by applying fluid 172 Cleaning pad 100 so that the central area PC of the bottom surface 100b of the cleaning pad 100 and left and right edge area PR of cleaning pad 100 and PL, which is each individually passed through, applies fluid 172, so as to along the entire bottom surface 100b of the cleaning pad 100 contacted with floor surface 10 Soak entire cleaning pad 100.

In the example of Fig. 9 G, robot 400 is along centrode 1000 in direction of advance F and 10 and then backward directions A It is mobile, the center of pad 100 is passed through by applying fluid 172.Then, robot 400 along right track 1005 in forward direction F and It is driven on backward directions A, the left area PL of cleaning pad 100 is passed through by applying fluid 172.Then, robot 100 is along a left side Track 1010 drives on forward direction F and backward directions A, and the right area of cleaning pad 100 is passed through by applying fluid 172 PR.When starting clean run, robot applies stream with relatively high initial volume flow velocity Vi and/or the high original frequency of application Body 172 more frequently applies a greater amount of fluids 172 and to surface 10 and/or more frequently applies the fluid 172 of fixed amount and arrives table Face 10, with promptly moisturizing cleansing pad 100.Moisturizing cleansing pad reduces friction, and it is more broken that pad 100 is also enabled to dissolve Bits 22, without more frequently applying fluid 172.In embodiment, according to the humidity of the material on floor 10 and pad 100, pad The friction coefficient of 100 wrapping layer 105 is changed to 0.5 from 0.3.In one embodiment, the dry pad 100 moved on glass has Some friction coefficient are about 0.4 to 0.5, and the friction coefficient that the wet pad on ceramic tile has is about 0.25 to 0.4.

Once the wrapping layer 105 of cleaning pad 100 is wetted, then robot 400 continues to its clean run and then with Two volume flow rate Vf apply fluid 172.Second volume flow rate Vf is relatively lower than primary rate Vi when starting clean run, because It is wetted for cleaning pad 100 and as cleaning fluid is effectively moved in its scouring on the surface 10.In an embodiment In, initial volume flow rate Vi is set by initially spraying every 1.5 feet of about 1mL fluids in such as 1-3 minutes for a period of time, Second volume flow rate Vf is set by every 3 feet sprinklings, wherein the volume of each spray fluid is less than 1 milliliter.Robot 400 Adjust volume flow rate V so that the cleaning pad 100 of specified size is wetted on bottom surface 100b (Fig. 9 E), without airlaid It is soaked completely to greatest extent in layer 101,102,103.The bottom surface 100b of cleaning pad 100 is initially wetted, and the absorption of pad 100 Property inside will not ponding cleaning pad 100 is caused to keep fully absorbing the remainder of clean run.Robot 400 moves back and forth Spot 22 on broken floor surface 10.Then, broken spot 22 is absorbed by cleaning pad 100.

In some instances, cleaning pad 100 picks up enough injection fluids 172, to avoid uneven striped.Show at some In example, cleaning pad 100 leaves solution remnants, to provide visible gloss to the floor surface 10 being swabbed.In some instances, Fluid 172 contains antiseptic solution；Therefore, thin layer remnants are intended to not absorbed by cleaning pad 100, fluid 172 to be allowed to kill higher The germ of ratio.

In one embodiment, it can make pad that there is fragrance.Flavouring agent can be integrated into or be applied to one or more In the combination of airlaid sandwich layer, liner or airlaid layer and liner.Flavouring agent in the pre-activate stage can be it is inert simultaneously And fragrance is discharged by liquid activation so that pad only generates fragrance during use, does not otherwise generate any smell in storage. In another embodiment, pad the detergent included or surfactant can be integrated into or be applied to it is one or more airlaid In the combination of sandwich layer, liner or airlaid layer and liner.In one embodiment, detergent is applied only to the most air-flow under The back side (not exposing, non-meltblown side) of the liner of networking core component contact so that detergent with fluid when contacting by porous Liner is released in clean surface.Detergent can be with the foaming for representing the apparent gloss for applying detergent to clean surface Agent and/or detergent.In another embodiment, pad includes being applied to or being manufactured in one or moreization in cardboard back member Learn preservative.Preservative is selected to prevent the timber spore growth being likely to be present in the back member based on timber.Pad Some embodiments can include all these features-conventional aroma agent, detergent, antiseptic and preservative-or except it is all this The less combination of a little components, such as the fragrance including encapsulation

With reference to Fig. 5, in some instances, tool 500 is mop 500.The support of main body 502 that mop 500 includes preserves clear The reservoir 504 of clean fluid 172 (such as clean solution).Handle 506 is arranged on the side of main body 502.The handle includes control Device 508 processed discharges fluid for controlling from reservoir 504.Moveable rotating basis 510 is arranged on opposite with handle 506 The other end of main body 502.Pedestal 510 includes being connected to the fluid applicator 512 of reservoir 504 by pipe (not shown).Fluid Applicator 512 can be the sprayer at least one nozzle 514 that fluid is distributed on floor surface 10.Nozzle 514 to It the front of pedestal 510 and is sprayed underneath towards floor surface 10.Control user's spray fluid 172 as needed of controller 508. Fluid applicator 512 can have multiple nozzles 514, each be configured to spray on the direction different from another nozzle 514 Fluid.

With reference to Fig. 6 and 8E-8G, retainer 600,600a, 600b can be arranged in support cleaning pad 100 tool 400, On 500.Retainer 600,600a, 600b are arranged on the bottom of tool 400,500, for keeping cleaning pad 100.In a reality Apply in mode, retainer 600 can include loop fasteners, in another embodiment, retainer 600 can include clip or It keeps stent and selectively release pad is used for the movable clip of the selectivity removed or keeps stent.Other types of retainer It can be used for cleaning pad 100 being connected to tool 400,500, such as hasp, clip, stent, adhesive etc., can be configured to Allow to discharge cleaning pad 100 when activation is located at the pad relieving mechanism on tool 400,500 so that user does not need to touch dirty use Pad is padded with being removed from burnisher 400,500.

Fig. 7 provides the exemplary arrangement of the operation for the method 700 for forming cleaning pad 100.Method 700 is included the first gas The setting 710 of stratum reticulare 101 is flowed into the second airlaid layer 102, and the second airlaid layer 102 is set 720 in third air-flow Into on stratum reticulare 103.Method 700 is further included around first, second, and third airlaid layer 101,102,103 package, 730 package Layer 104.Wrapping layer 104 includes spun lacing wrapping layer 105 and adheres to the melt-blown abrasive material 107 of the spun lacing wrapping layer 105.

In some instances, method 700 further includes adherency and is randomly disposed melt-blown abrasive material 107 in spun lacing wrapping layer 105 On.Additionally or alternatively, the diameter that melt-blown abrasive fiber can have is between about 0.1 micron to about 20 microns.Method 700 is also It can include arrangement melt-blown abrasive material and spun lacing wrapping layer 105 to have on spun lacing wrapping layer 105 between 0.5 millimeter and about 0.7 Collection body thickness between millimeter.In some instances, melt-blown abrasive material 107 creates 0.5 millimeter between wrapping layer 105 and floor 10 Thickness gap.Due to this thickness gap, pad 100 can pick up 1.5 millimeters be located on floor 10 with surface tension The bubble fluid of diameter, without power.Only 0.5 millimeter away from floor 10 of the minimum point of 105 layers of lid of coining, and wrapping layer 105 The rest part of surface area is 3 millimeters away from floor 10.

Method 700 can also include be meltblown abrasive material 107 and being arranged on spun lacing wrapping layer 105, in melt-blown abrasive material 107 and Covering surface ratio between about 60% and about 70% is provided between spun lacing wrapping layer 105.In some instances, method 700 can include the first airlaid layer 101 adhering to the second airlaid layer 102, and the second airlaid layer 102 is adhered to To third airlaid layer 103.Airlaid layer 101,102,103 can be the textile material based on cellulose (for example, packet Include the material of fluff pulp).

In some embodiments, method 700 can include wherein first, second, and third airlaid layer 101,102, 103rd, spun lacing wrapping layer 105 and melt-blown abrasive material, which are configured to the thickness after fluid absorbs, increases less than 30%.Method 700 can be with Including imprinting hydroentangled layer 105.Method 700 can also include by Sodium Polyacrylate be arranged on one or more airlaid layers 101, 102nd, in 103.

In some instances, method 700 is further included is configured to have by airlaid layer 101,102,103 and wrapping layer 104 There is the pattern length between the combined width between about 80 millimeters to about 68 millimeters and about 200 millimeters to about 212 millimeters.Method 700 can also include for airlaid layer 101,102,103 and wrapping layer 104 being configured to have about 6.5 millimeters to about 8.5 millimeters Between combined width.Method 700 can include being configured to have 69 millimeters to about 75 millis by airlaid layer 101,102,103 Rice between combined airflow networking width and about 165 millimeters to about 171 millimeters between combined airflow networking length.

Fig. 8 E-G are shown for the exemplary release mechanism of pad 100 as described herein.Fig. 8 A-8C show pad 100 Embodiment, the core of three airlaid layers 101,102,103 having, which is bonded and is encapsulated in, adheres to top stream networking In the wrapping layer 105 of the top surface of layer 101.In addition, the embodiment of Fig. 8 A-8C includes adhering to the cardboard of the top surface of pad 100 Back sheet 85.Cardboard back sheet 85 protrudes past the longitudinal edge of pad 100 and is attached to the cardboard of the pad support 82 of robot 100 The protrusion longitudinal edge 86 of back sheet 85.In one embodiment, the thickness of cardboard back sheet 85 between 0.02 " and 0.03 " it Between, width is between 68 and 72 millimeters, and length is between 90-94 millimeters.In one embodiment, cardboard back sheet 85 is 0.026 " thick, 70 mm wides and 92 millimeters long.In one embodiment, cardboard back sheet 85 is coated in both sides using waterproof coating On, such as the combination of wax or polymer or waterproof material, such as wax/polyvinyl alcohol, polyamine, and cardboard back sheet 85 is wetted When do not disintegrate.

In embodiment, the bottom surface 100b of pad 100 can include one or more hairs capture 100c, for cleaning Capture and collect in the process loose hair.In the embodiment of Fig. 9 E, two hairs capture a 100c it is shown in dotted line come table Show the option property of the function.In the embodiment of a 100c is captured with one or more hairs, described 100c can position In downward single item on the outer longitudinal edge of pad 100 or among any longitudinal edge or pad of pad.In embodiment, Each hair captures the 30% of total surface areas of the 100c less than the bottom surface 100b of pad 100, the preferably bottom surface less than pad 100 The 20% of the surface area of 100b.Hair, which captures a 100c, can be incorporated into the strip material of wrapping layer 105, be caught including having The loose fiber of function is caught, such asHook, Roughen Edges fiber or the fiber with fusion tip.

Such as Fig. 8 E and 8G, pad 100 as described herein can be fixed by may be connected to the pad support 82 of robot 400 To autonomous robot.Exemplary pad relieving mechanism 83 is also shown in upwards or pads fixed position.Relieving mechanism 83 is padded to include keeping Pad 100 is firmly held in place by device 600a or lip by the protrusion longitudinal edge 86 for catching cardboard back sheet 85. In shown version, pad the tip of relieving mechanism 83 or end 84 include moveable retaining clip 600a and pop-up protrusion 84, Its pad be inserted into stent 82 and be pushed into as shown in fig. 8g down position come discharge fixed pad 100 (as this Pushed down on shown in text onto the back sheet 85 connected such as cardboard backing) when upward sliding pass through pad support 82 in slit Or opening.Relationship between pad and pad support 82 is also shown as in the top view of Fig. 8 F.In one embodiment, machine for releasing is padded Structure 83 is activated by the switching push button 477 for being located at 419 lower section of handle of robot 400, as shown in Figure 4.Motion switch is double by dotted line Arrow 478 represents.Switch the spring actua that switching push button 477 moves rotating pad relieving mechanism 83, mobile retaining clip 600a is remote From cardboard back sheet 85 and the mobile protrusion 84 that pops up is across the slit in pad support 882 so that pop-up protrusion releases pad 100 Stent.

Back to Fig. 8 A and 8B, in embodiment, cardboard back sheet 85 can include notch 88, along cardboard back sheet 85 protrusion longitudinal edge 86 feels relieved and corresponds to appropriate location with the protrusion protrusion 94 on the bottom of pad support 82, such as Fig. 8 D It is shown.In another embodiment, cardboard back sheet 85 includes the be centered on the protrusion longitudinal edge 86 of cardboard back sheet 85 One group of notch 88 and second group of notch 90 in the lateral edge of cardboard back sheet 85.Notch 88,90 is symmetrically along pad 100 Central transverse axis PCA_lonWith the longitudinal center axis PCA of pad 100_latCentering, and the downside with being centered at pad support 82 Longitudinal center axis HCA_lonWith the central transverse axis PCA of the downside of pad support 82_latOn complementary protuberance 92,94 engage. The pad support 82 of the embodiment of Fig. 8 D includes three prominent protrusions 92,94.This allow user along two same directions (each other With respect to 180 degree) in any one installation pad 100, while pad support 82 is allowed more easily to be released when relieving mechanism 83 is triggered Put pad 100.Four notch 88,90 that the other embodiment of pad support includes corresponding on the cardboard back sheet shown in Fig. 8 C are appropriate Four protrusions 92,94 of position.In other embodiments, pad support 82 and pad 100 respectively include any other quantity or configuration Protrusion protrusion and respective cut, be held in place and can selectively discharge for that will pad.

In Fig. 8 D, the protrusion protrusion 94 on the longitudinal edge of pad support 82 is covered by holding stent 600a, with dotted line View is shown so that protrusion protrusion 94 thereunder is visible in example view.Protrusion 92,94 all makes disposable pad 100 Folder is connected to the bottom of pad support 82 so that the alignment of pad 100 and stent 82 is accurate and by preventing laterally and/or sliding laterally To keep pad 100 static relative to pad support 82.

Because notch 88,90 is extended in the surface region of cardboard back sheet 85, they respectively with prominent protrusion 92, 94 more horizontal and vertical surface regions are had a common boundary, and pad system is also kept by notch protrusion and be held in place to Anti-rotational force.As described above, robot 100, to clean action movement, and in embodiment, pad support 82 carries out pad oscillation Extraly clean.In embodiment, robot 400 vibrates connected pad 100 in the track of 12-15mm, to clean floor 10, and apply 1 pound or less of down thrust to pad.By by the notch 88,90 in cardboard back sheet 85 and protrusion 92,94 Alignment, pad 100 relative to stent remains stationary, apply scouring action and pass through the layer of pad (including oscillation action) in use It is directly transmitted from pad support 82, the movement without losing transmission.

In embodiment, the pad of Figure 1A -1D and Fig. 8 A-8C are disposable pads.In other embodiments, pad 100 is can to weigh The superfine fibre cloth pad used again has with this paper with regard to those identical absorption characteristics described in embodiment.With it is capable of washing, In the embodiment of reusable superfine fibre cloth, the top surface of cloth includes fixed rigid backing layer, and shape is determined to be And the cardboard back sheet of the embodiment of positioning imaging Fig. 8 A-8C.Rigid backing layer is by can be by mechanical drying without melting or dropping The material heat-resisting, capable of washing of solution backing is made.Rigid backing layer tool has the dimensions, and with as described herein with The notch that the embodiment of the described pad support 82 of embodiment of Fig. 8 A-8G is used interchangeably.

In other examples, pad 100 is intended as disposable dry cloth, and the list of retention hair is carried out including exposed fibers Layer needle thorn spunbond or spun lacing material.100 embodiments of dry pad further include chemical treatment, and viscous characteristics are increased to pad 100 is used for It carries out keeping dirt and clast.In one embodiment, chemical treatment is a kind of commercially available material of such as trade name DRAKESOL Material.

Some embodiments are illustrated.It is to be appreciated, however, that in the spirit and model that do not depart from the disclosure In the case of enclosing, various modifications can be carried out.Therefore, other embodiment is also within the scope of the following claims.For example, It can carry out the action described in perform claim requirement with different order, and still obtain desired result.

Claims (23)

1. a kind of cleaning pad for autonomous mobile robot, which is adapted for attachment to the autonomous mobile robot, institute Cleaning pad is stated to include：

Absorbent core, it includes the fibrous material for absorbing and keeping fluent material,

Backing layer, the backing layer contact and cover at least side of the absorbent core, which includes fibrous material, the fibre Tie up material towards the absorbent core wicking liquid material and

Rigid back sheet, when the cleaning pad is attached to the autonomous mobile robot, the rigid back sheet quilt The top surface towards the autonomous mobile robot of the backing layer is adhered to, the back sheet includes extending beyond the lining The projecting edge of the longitudinal edge of layer.

2. pad according to claim 1, wherein, the fibrous material of the absorbent core absorbs up to 7 to 10 times, and its is heavy Amount.

3. pad according to claim 1, wherein, the backing layer is maintained for up to 10% and is absorbed by the cleaning pad Fluent material.

4. pad according to claim 1, wherein, the absorbent core includes nonwoven cellulosic wood pulp.

5. pad according to claim 1, wherein, the absorbent core further includes the superficial layer containing acrylic latex.

6. pad according to claim 1, wherein, the back sheet is coated with the hydrophobic polymerizable that thickness is less than 0.1 centimetre Object.

7. pad according to claim 1, wherein, the absorbent core includes first, second, and third airlaid layer, often A airlaid layer has top and bottom, and the bottom surface of first airlaid layer is arranged on second airlaid layer On top surface, the bottom surface of second airlaid layer is arranged on the top surface of the third airlaid layer.

8. pad according to claim 7, wherein, first, second, and third airlaid layer passes through jointing material quilt It adheres to each other.

9. pad according to claim 8, wherein, the jointing material along at least side of airlaid layer length quilt It is applied at least two evenly spaced items, and covers the surface area of at least side no more than the airlaid layer 10%.

10. pad according to claim 8, wherein, the jointing material is sprayed onto at least side of airlaid layer In length, and 10% of covering no more than the surface area of at least side of the airlaid layer.

11. pad according to claim 1, wherein, the backing layer is by around at least four sides of the absorbent core Package.

12. pad according to claim 1, wherein, the backing layer includes hydroentangled layer.

13. pad according to claim 1, wherein, the backing layer includes spun lacing spunbond layer, and the spun lacing spunbond layer is on floor The groove with reduce thickness is in wherein on towards surface, and the basis weight with 35-40gsm.

14. pad according to claim 1, wherein, the backing layer include adhering to the side of backing layer not with the suction The melt-blown abrasive fiber of the property received core contact.

15. pad according to claim 14, wherein, the melt-blown abrasive fiber have it is a diameter of between 0.1 micron and Between 20 microns.

16. pad according to claim 14, wherein, the melt-blown abrasive fiber covers the 44% of the surface of the backing layer To 75%.

17. pad according to claim 14, wherein, the collection body thickness that the melt-blown abrasive fiber and the backing layer have Between 0.5 millimeter and 0.7 millimeter.

18. pad according to claim 1, wherein, the thickness that the backing layer has between 0.5 millimeter and 0.7 millimeter it Between.

19. pad according to claim 1, wherein, pad thickness after fluent material absorption increases less than 30%.

20. pad according to claim 1, wherein, the pad is also comprising flavouring agent, cleaning agent, surfactant, foaming One or more of agent, glazing agent, chemical preservative, adhesive formulations or antibacterial agent.

21. pad according to claim 1, wherein, the thickness having that pads is wide between 6.5 millimeters and 8.5 millimeters Degree is between 68 millimeters and 80 millimeters, and length is between 165 millimeters and 212 millimeters, and the absorbent core is maintained for up to 180 milliliters of fluent material.

22. pad according to claim 1, wherein, the back sheet includes notch, which determines along the projecting edge Center is to engage the individual features of the pad support on the autonomous mobile robot so that the back sheet is attached to the pad Thus the cleaning pad is attached to the pad support by stent.

23. pad according to claim 1, wherein, the projecting edge extend beyond the longitudinal edge of the backing layer with So that the projecting edge on the bottom surface of the autonomous mobile robot is pieceable with holding member.