JP6633474B2 - Autonomous floor cleaning using removable pads - Google Patents

Description

  This application is a continuation-in-part of U.S. Application No. 14 / 828,285 filed on August 17, 2015, which is a continuation-in-part of U.S. Application No. 14 / 658,820, filed on March 16, 2015. No. 14 / 936,236, filed Nov. 9, 2015. These applications are hereby incorporated by reference in their entirety.

  The present disclosure relates to floor cleaning using a cleaning pad by an autonomous robot.

  Tile floors and kitchen tops need to be cleaned regularly and may involve scrubbing to remove dry soil. Various tools can be used to clean hard surfaces. Some tools include a cleaning pad that is removably attachable to the tool. The cleaning pad may be disposable or reusable. In some examples, the cleaning pad is designed to fit one particular tool or to multiple tools.

  Conventionally, wet mops have been used to remove dust and other dirt (eg, dust, oil, food, sauces, coffee, coffee powder) from the floor. A human dips the mop in a bucket of water and soap or a special floor cleaning solution and scrubs the floor with the mop. In some instances, the floor must be rubbed back and forth to clean certain dirty areas. Thereafter, the cleaner continues to immerse the mop in the bucket of water and rub the floor. In addition, the cleaner may need to kneel on the floor to clean the floor, which can be tedious and tiring, especially when the floor occupies a large area.

  Floor mop is used to rub the floor without kneeling on the floor. A pad attached to a floor mop or an autonomous robot can remove the individual by rubbing it from the surface, and can prevent the user from bending down and cleaning the surface.

  In some examples, the autonomous floor cleaning robot includes a robot body, a control unit, a driving unit, a pad holder, and a pad sensor. The robot body defines a forward drive direction and carries a control unit. The drive unit supports the robot body, and is configured to move the robot on the surface in response to an instruction from the control unit. The pad holder is disposed on the bottom surface of the robot body and is configured to hold a cleaning pad that is detachable during operation of the robot. The pad sensor is arranged to detect a characteristic of the cleaning pad held on the pad holder and generates a corresponding signal. The controller is responsive to a signal generated by the pad sensor and controls the robot according to a cleaning mode selected from a set of a plurality of robot cleaning modes as a function of the signal generated by the pad sensor. It is configured as follows.

  In some examples, the pad sensor includes at least one of a radiation emitter and a radiation detector. The radiation detector may have a peak spectral response in the visible light region. The cleaning pad feature may be a color ink disposed on the surface of the cleaning pad, wherein the pad sensor detects a spectral response of the cleaning pad feature, and a signal generated by the pad sensor is based on the detected spectral response. Corresponding.

  In some cases, the signal generated by the pad sensor includes the detected spectral response, and the control stores the detected spectral response in a color ink index stored in a storage element operable by the control. Compare the spectral response to The pad sensor may be a radiation detector having first and second channels, each detecting a portion of a spectral response of a cleaning pad feature. The first channel may have a peak spectral response in the visible light region. The pad sensor may include a third channel that detects another portion of the spectral response of the cleaning pad feature. The first channel may have a peak spectral response in the infrared region. The pad sensor may include a radiation emitter configured to emit the first radiation and the second radiation, and the pad sensor may detect the spectral response of the cleaning pad feature to detect a first response from the cleaning pad feature. The reflection of the radiation and the second radiation may be detected. The radiation emitter may be configured to emit third radiation, and the pad sensor may detect a reflection of the third radiation from the cleaning pad feature to detect a spectral response of the cleaning pad feature. Good.

  In some embodiments, the features of the cleaning pad include a plurality of identification elements each having a first region and a second region. The pad sensor may be arranged to separately detect the first reflectance of the first area and the second reflectance of the second area. The pad sensor includes a first radiation emitter arranged to illuminate the first area, a second radiation emitter arranged to illuminate the second area, and reflected radiation from both the first and second areas. It may include a photodetector arranged to receive. The first reflectance may be substantially stronger than the second reflectance.

  In some examples, the plurality of robot cleaning modes each define a spray schedule and a navigation behavior.

  In some examples, a cleaning pad for an autonomous floor cleaning robot includes a pad body and a mounting plate. The pad body has a wide opposed surface including a cleaning surface and a mounting surface. The mounting plate is mounted over the mounting surface of the pad body and has opposing edges defining mounting positioning cuts. The cleaning pad is one of a set of multiple available cleaning pad types having different cleaning characteristics. The mounting plate has features that are specific to the type of cleaning pad and are arranged to be detected by a feature sensor provided on a robot to which the cleaning pad is mounted.

  In some examples, the feature is a first feature and the mounting plate has a second feature that is rotationally symmetric with the first feature. Features may have spectral response attributes that are specific to the type of cleaning pad. The features may have a reflectivity that is specific to the type of cleaning pad. The features may have high frequency characteristics specific to the type of cleaning pad. The features may include a readable barcode specific to the type of cleaning pad. Features may include images oriented in a manner specific to the type of cleaning pad. The features may include a color that is specific to the type of cleaning pad. The feature is an identification element having a first portion and a second portion, wherein the first portion has a first reflectance, the second portion has a second reflectance, and the first reflectance is greater than the second reflectance. It may include a large identification element. Features may include radio frequency identification tags specific to the type of cleaning pad. The feature may include a cutout defined by the mounting plate, wherein the distance between the cutouts is a distance specific to the type of cleaning pad.

  In some examples, in a set of different types of cleaning pads for an autonomous floor cleaning robot, each cleaning pad includes a pad body and a mounting plate, respectively. The pad body has a wide opposed surface including a cleaning surface and a mounting surface. The mounting plate is mounted over the mounting surface of the pad body and has opposing edges defining a mounting positioning mechanism. The mounting plate of each cleaning pad has pad type identification features specific to the type of cleaning pad arranged to be detected by the robot to which the cleaning pad is mounted.

  In some cases, the feature is a first feature and the mounting plate has a second feature that is rotationally symmetric with the first feature. Features may have spectral response attributes that are specific to the type of cleaning pad. The features may have a reflectivity that is specific to the type of cleaning pad. The features may have high frequency characteristics specific to the type of cleaning pad. The features may include a readable barcode specific to the type of cleaning pad. Features may include images oriented in a manner specific to the type of cleaning pad. The features may include a color that is specific to the type of cleaning pad. The feature is a plurality of identification elements having a first portion and a second portion, wherein the first portion has a first reflectivity, the second portion has a second reflectivity, and The first cleaning pad may include an identification element having a first reflectance greater than the second reflectance, and a second cleaning pad of the cleaning pad having a second reflectance greater than the first reflectance. Features may include radio frequency identification tags specific to the type of cleaning pad. The feature may include a plurality of cutouts defined by the mounting plate, wherein the distance between the cutouts is a distance specific to the type of cleaning pad.

  In some examples, the floor cleaning method includes attaching a cleaning pad to a bottom surface of the autonomous floor cleaning robot, placing the robot on the floor to be cleaned, and initiating a floor cleaning operation. In the floor cleaning operation, the robot detects the installed cleaning pad, identifies a pad type of the installed cleaning pad from a set of a plurality of pad types, and then, according to the identified pad type. The floor is autonomously cleaned in the selected cleaning mode.

  In some cases, the cleaning pad includes an identification mark. The identification mark may include color ink. The robot may detect the attached cleaning pad by detecting the identification mark of the cleaning pad. Detection of the identification mark on the cleaning pad may include detection of a spectral response of the identification mark.

  In another embodiment, the floor cleaning method further includes removing the cleaning pad from a bottom surface of the autonomous floor cleaning robot.

  In some examples, the autonomous floor cleaning robot includes a robot body, a control unit carried by the robot body, and a drive unit that supports the robot body and moves the robot on the floor according to an instruction from the control unit. ,including. The robot also includes a pad holder mounted on the bottom surface of the robot body and holding a removable cleaning pad during operation of the autonomous floor sweeping robot. The removable cleaning pad includes a mounting plate and a mounting surface. The mounting plate is mounted on the mounting surface. The robot also includes a pad sensor that detects features on the removable cleaning pad and generates a signal based on the features. The features are defined at least in part by cutouts on the card backing. The mounting plate allows for detection of features by the pad sensor, and the controller performs operations in response to signals generated by the pad sensor. The operations include selecting a cleaning mode from a plurality of cleaning modes based on the signal and controlling the robot according to the selected cleaning mode.

  In some examples, the mounting surface may include a wrap layer wrapped around a liquid absorbing layer on the floor surface. The features can be further defined by markings on the wrap layer. The marking may occupy a larger area than the cutout area. The cutout may allow for the detection of the marking by the pad sensor.

  In some examples, a feature may include a plurality of identification elements defined at least in part by markings and cutouts. Each identification element may have a first area and a second area. The pad sensor may be arranged to independently detect the first reflectance of the first area and the second reflectance of the second area.

  In some examples, at least one of the first reflectance and the second reflectance may be defined by a reflectance of the card backing. At least one of the first reflectance and the second reflectance can be defined by the reflectance of the marking.

  In some examples, the plurality of identification elements may define a boundary, and the marking may occupy an area extending beyond the boundary.

  In some examples, the pad sensor receives a first radiation emitter illuminating a first region, a second radiation emitter illuminating a second region, and reflected radiation from both the first and second regions. And a photodetector that generates a signal based on the reflected radiated light.

  In some examples, the controller may be configured to select the cleaning mode by performing an operation. The operation determines the state of each of the plurality of identification elements based on the first reflectance and the second reflectance, determines the state of the feature based on the state of each of the plurality of identification elements, and stores the state of the feature in the memory. And selecting a cleaning mode from a plurality of cleaning modes based on the comparison.

  In some examples, the status of each of the plurality of identification elements may be based on the detectability of the marking on the wrap layer.

  In some examples, the first reflectivity may be substantially higher than the second reflectivity.

  In some examples, the marking may include color ink. The pad sensor may detect the spectral response of the marking. The signal may correspond to a detected spectral response.

  In some examples, the pad sensor may include a radiation detector having first and second channels responsive to radiation. The first channel and the second channel may each detect a portion of the spectral response of the marking.

  In some examples, the first channel may have a peak spectral response in the visible light region.

  In some examples, the pad sensor may include a radiation emitter configured to emit the first radiation and the second radiation. The pad sensor may include detecting a reflection of the first radiation and the second radiation from the marking to detect a spectral response of the marking.

  In some examples, the plurality of cleaning modes can each define a spray schedule and navigation behavior.

  In some examples, in a set of cleaning pads for a plurality of different types of autonomous robots, each of the set of cleaning pads includes a pad body having a wide opposing surface including a cleaning surface and a mounting surface. Each of the set of cleaning pads further includes a pad type identification feature indicating the type of cleaning pad and a mounting plate mounted over a mounting surface of the pad body. The mounting plate includes a cutout that at least partially defines the pad type identification feature. The mounting plate can enable detection of the pad type identification feature by the pad sensor of the robot.

  In some examples, the mounting surface may include a wrap layer wrapped around a liquid absorbing layer on the floor surface. The pad type identification feature may be further defined by a marking on the wrap layer. The marking may occupy a larger area than the cutout area. The cutout may allow for the detection of the marking by the pad sensor.

  In some examples, a feature may include a plurality of identification elements defined at least in part by markings and cutouts. Each identification element may have a first area and a second area. The pad sensor may be arranged to independently detect the first reflectance of the first area and the second reflectance of the second area.

  In some examples, at least one of the first reflectance and the second reflectance may be defined by the reflectance of the card backing. At least one of the first reflectance and the second reflectance may be defined by the reflectance of the marking.

  In some examples, the identification element may define a boundary, and the marking may occupy an area that extends beyond the boundary.

  In some examples, the marking may include color ink. The pad sensor may be for detecting the spectral response of the marking.

  The embodiments described in this disclosure include the following features. The cleaning pad includes an identification mark having a characteristic, which is capable of being distinguished from another cleaning pad having an identification mark having a different characteristic. The robot includes detection hardware that detects the identification mark and determines the type of the cleaning pad, and the control unit of the robot may execute a detection algorithm that determines the type of the cleaning pad based on the detection content of the detection hardware. it can. The robot selects a cleaning mode that includes, for example, navigation behavior and spray schedule information used when the robot cleans the room. As a result, the robot can select the cleaning mode simply by attaching the cleaning pad to the robot. In some cases, the robot may fail to detect the identification mark, in which case it is determined that an error has occurred.

  Embodiments of the present disclosure can further obtain the following effects from the features described above in the present disclosure and other features described later. For example, the number of user interventions can be reduced by using a robot. Since the robot can autonomously select the cleaning mode without input by the user, the robot can operate more efficiently by operating autonomously. In addition, since the user does not need to manually select the cleaning mode, the possibility that a user error occurs is reduced. The robot can also identify errors that the user does not notice, such as unwanted movement of the cleaning pad relative to the robot. The user need not visually identify the type of cleaning pad, for example, by carefully observing the material and fibers of the cleaning pad. The robot can simply detect the unique identification mark. The robot can quickly start the cleaning operation by detecting the type of the cleaning pad to be used.

  The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will be apparent from the description and drawings, and from the claims.

FIG. 1A is a perspective view of an autonomous mobile robot used for cleaning using an exemplary cleaning pad. FIG. 1B is a side view of the autonomous mobile robot shown in FIG. 1A. FIG. 2A is a perspective view of the exemplary cleaning pad shown in FIG. 1A. FIG. 2B is a perspective exploded view of the exemplary cleaning pad shown in FIG. 2A. FIG. 2C is a plan view of the exemplary cleaning pad shown in FIG. 2A. FIG. 3A is a bottom view of an exemplary pad mounting mechanism for a cleaning pad. FIG. 3B is a side view with the exemplary attachment mechanism in the attachment position. FIG. 3C is a plan view of an exemplary pad mounting mechanism for a cleaning pad. FIG. 3D is a cross-sectional view of an exemplary pad mounting mechanism for a cleaning pad in a removed position. FIG. 4A is a plan view of the autonomous mobile robot spraying the liquid on the floor. FIG. 4B is a plan view of the autonomous mobile robot spraying the liquid on the floor. FIG. 4C is a plan view of the autonomous mobile robot spraying the liquid on the floor. FIG. 4D is a plan view of the autonomous mobile robot that scrubs the floor. FIG. 4E is a diagram illustrating an example of an autonomous mobile robot that executes a vine behavior when moving in a room. FIG. 5 is a schematic diagram of a control unit of the autonomous mobile robot shown in FIG. 1A. FIG. 6A is a plan view of a cleaning pad having a first pad identification feature. FIG. 6B is a plan view of a pad mounting mechanism having a first pad identification reading unit. FIG. 6C is an exploded view of the pad mounting mechanism shown in FIG. 6B. FIG. 6D is a flowchart of a pad identification algorithm used when determining the type of the cleaning pad attached to the pad attaching mechanism shown in FIG. 6B. FIG. 7A is a plan view of a cleaning pad having a second pad identification feature. FIG. 7B is a plan view of a pad mounting mechanism having a second pad identification reading unit. FIG. 7C is an exploded view of the pad mounting mechanism shown in FIG. 7B. FIG. 7D is a flowchart of a pad identification algorithm used in determining the type of the cleaning pad attached to the pad attaching mechanism shown in FIG. 7B. FIG. 8A illustrates a cleaning pad having other pad identification features. FIG. 8B illustrates a cleaning pad having other pad identification features. FIG. 8C illustrates a cleaning pad having other pad identification features. FIG. 8D illustrates a cleaning pad having other pad identification features. FIG. 8E illustrates a cleaning pad having other pad identification features. FIG. 8F illustrates a cleaning pad having other pad identification features. FIG. 9 is a flowchart illustrating a method of using the pad identification system. FIG. 10 is an exploded perspective view of the cleaning pad including the identification array. FIG. 11 is a plan view of the cleaning pad including the identification array. FIG. 12 is a developed perspective view of the cleaning pad including the identification mark. FIG. 13 is a plan view of the cleaning pad including the identification mark. Like reference numerals in the drawings indicate like elements.

An autonomous mobile cleaning robot capable of cleaning the floor of a room by moving in the room while scrubbing the floor will be described in more detail below. The robot can spray the cleaning liquid on the floor and rub the floor using a cleaning pad attached to the bottom of the robot. The cleaning liquid can, for example, melt and float debris on the floor. The robot can automatically select a cleaning mode based on the attached cleaning pad. The cleaning mode may include, for example, the amount of cleaning liquid supplied by the robot and / or the cleaning pattern. In some cases, the cleaning pad can clean the floor without the use of cleaning liquid, in which case the robot must spray the cleaning liquid on the floor as part of the selected cleaning mode. Absent. In other cases, the amount of cleaning fluid used to clean the floor may vary depending on the type of cleaning pad identified by the robot. Some cleaning pads require more cleaning liquid to improve their ability to scrub, while others require relatively smaller amounts of cleaning liquid. The cleaning mode may include various navigation behaviors that cause the robot to perform some operation patterns. For example, when the robot sprays the cleaning liquid on the floor as part of the cleaning mode, the robot operates according to an operation pattern that promotes a back-and-forth reciprocating rubbing operation to sufficiently spread and absorb the cleaning liquid that may include floating debris. be able to. The navigation and sprinkling characteristics of the cleaning mode can vary greatly from one cleaning pad type to another. The robot can select these characteristics when detecting the type of cleaning pad installed. As described in more detail below, the robot automatically detects the identifying features of the cleaning pad to identify the type of cleaning pad installed and selects a cleaning mode according to the type of cleaning pad identified. .

Overall structure of the robot

  Referring to FIG. 1A, in some embodiments, an autonomous mobile robot 100 having a mass of less than 5 pounds (eg, less than 2.26 kg) and having a center of gravity CG cleans floor 10 while moving. The autonomous mobile robot 100 includes, for example, a main body 102 supported by a driving unit (not shown) capable of moving the robot 100 on the floor 10 based on a driving instruction having x, y, and θ components. As shown, the body 102 has a square shape. In other embodiments, the body 102 may be circular, oval, teardrop, rectangular, square or a combination of a rectangular front and a circular rear, or a combination of these shapes asymmetrically in the longitudinal direction. It may have another shape. The main body 102 has a front portion 104 and a rear (rear side) portion 106. Body 102 also includes a bottom (not shown) and a top 108.

  Along the bottom of the body 102, one or more rear cliff sensors (not shown) located at one or both rear corners of the robot 100 and one or both front corners of the robot 100. One or more disposed front cliff sensors (not shown) detect ledges or other steep elevation differences in the floor 10 and allow the robot 100 to fall from such floor edges. To prevent The cliff sensor is an optical proximity sensor directed at the floor 10 below, such as a mechanical drop sensor, a pair of IR (infrared), dual emitter, single receiver or dual receiver, single emitter IR proximity sensor. Is also good. In some examples, the cliff sensor extends between the side walls of the robot 100 and cuts the front and rear corners, covering as close as possible the corners, to detect elevation differences above the floor threshold. At an angle to the front and rear corners. By arranging the cliff sensor close to the corner of the robot 100, the cliff sensor can immediately and reliably react when the robot 100 protrudes above the head of the floor, and the wheel of the robot reaches the end of the head. Can be prevented.

  The front part 104 of the main body 102 carries a movable bumper 110 for detecting a collision in a vertical direction (A, F) or a horizontal direction (L, R). The bumper 110 has a shape complementary to the main body 102, extends forward of the main body 102, and makes the overall width of the front portion 104 in the width direction larger than that of the rear portion 106 of the main body 102. The bottom of the body 102 carries an attached cleaning pad 120. Referring to FIG. 1B, the rear portion 106 of the main body 102 includes wheels 121 that rotatably support the rear portion 106 of the main body 102 when the robot 100 moves on the floor surface 10. The cleaning pad 120 supports the front part 104 of the main body 102 when the robot 100 moves on the floor 10. In one embodiment, the cleaning pad 120 allows the outer edge of the cleaning pad 120 to reach an inaccessible surface or gap, such as a wall-to-floor boundary, and to position the outer edge of the cleaning pad 120 along them. It extends beyond the width of the bumper 110. In another embodiment, the cleaning pad 120 extends to the end of a pad holder (not shown) of the robot, but does not extend beyond the pad holder. In such an example, the end of the cleaning pad 120 can be cut off, and the absorbent can be exposed at the cut end. The robot 100 can press the end of the cleaning pad 120 against a wall surface. This arrangement of the cleaning pad 120 further allows the surface or gap of the wall to be cleaned by the extended end of the cleaning pad 120 while the robot 100 is moving in the wall following operation. In this way, the extension of the cleaning pad 120 allows the robot 100 to clean inside crevices and gaps that are not reachable by the body 102.

  The storage unit 122 in the main body 102 holds a cleaning liquid 124 (for example, a cleaning solution, water, and / or a cleaning agent), and can hold, for example, 170 to 200 ml of the cleaning liquid 124. In one example, the volume of the reservoir is 200 ml. The robot 100 has a liquid applicator 126 connected to the reservoir 122 by a tube in the main body 102. The liquid applicator 126 may be a spray or a spray mechanism having an upper nozzle 128a and a lower nozzle 128b. The upper nozzle 128a and the lower nozzle 128b are vertically overlapped within the concave portion 129 of the liquid applicator 126, and are angled with respect to a horizontal plane parallel to the floor 10. The nozzles 128a-128b spray the liquid over a relatively long range forward and downward so that the upper nozzle 128a covers one area of the floor 10 in front of the robot 100, and the other nozzle 128b , Relatively short forward and downward so as to supply the application liquid backward to one area of the floor surface 10 closer to the robot 100 than the area of the application liquid sprayed by the upper nozzle 128a in front of the robot 100. They are spaced apart from each other to distribute the liquid over the area. In some cases, the nozzles 128a-128b may draw a small amount of liquid at the nozzle openings to prevent the cleaning liquid 124 from leaking or dripping from the nozzles 128a-128b after each spraying stroke before each spraying stroke. To end.

  In another example of a liquid applicator 126, multiple nozzles are configured to spray liquid in different directions. The liquid applicator may apply the liquid by directly dropping or spraying the cleaning liquid in front of the robot 100 downward from the lower part of the bumper 110 instead of outwardly. In some examples, the liquid applicator is a microfiber cloth or piece, a liquid application brush, or a spray. In another case, the robot 100 includes only one nozzle.

  The size and shape of the cleaning pad 120 and the robot 100 are adjusted so that the robot 100 maintains the front-to-back balance of the robot 100 during the dynamic motion by the process of moving the cleaning liquid from the storage unit 122 to the absorbent cleaning pad 120. Is set. The cleaning fluid can impart a downward force that impedes movement to the robot 100, causing the rear portion 106 of the robot 100 to lift and the front portion of the robot 100 due to the gradually saturating cleaning pad 120 and gradually emptying liquid reservoir 122. Supplied so that the robot 100 can continuously move the cleaning pad 120 on the floor surface 10 without causing a drop of the 104. Therefore, the robot 100 can move the cleaning pad 120 on the floor 10 even when the cleaning pad 120 is completely saturated with the liquid and the storage unit is emptied. The robot 100 can monitor the distance traveled on the floor 10 and / or the amount of liquid remaining in the storage 122 and can provide audible and / or audible and / or prompt replacement of the cleaning pad 120 and / or refilling of the storage 122. Provide a visual alarm to the user. In some embodiments, the robot 100 stops moving and remains in place when the cleaning pad 120 is completely saturated or needs replacement when there is floor left to be cleaned.

  The upper portion 108 of the robot 100 includes a handle 135 for carrying the robot 100 by a user. The handle 135 shown in FIG. 1A is shown in an unfolded state for carrying. The handle 135 fits into a recess in the upper part 108 of the robot 100 in the folded state. The upper portion 108 also includes a toggle button 136 located below the handle 135 for activating the pad release mechanism. The details of the toggle button 136 will be described later. Arrow 38 indicates the direction of toggle movement. As will be described in more detail below, toggling the toggle button 136 activates the pad release mechanism, causing the cleaning pad 120 to disengage from the pad holder of the robot 100. By pressing the cleaning button 140, the user can start the robot 100 and instruct the robot 100 to start the cleaning operation. The cleaning button 140 can be used for other robot operations such as turning off the power of the robot 100.

Another detail of the overall configuration of the robot 100 is described in U.S. Patent Application No. 14 / 077,296, filed November 12, 2013, entitled "Autonomous Surface Cleaning Robot", entitled "Cleaning Pad" 2013. Provisional Patent Application No. 61 / 902,838, filed November 12, 2014, and Provisional Patent Application No. 62/059, filed August 3, 2014, entitled "Surface Cleaning Pad." 637, all of which are incorporated into the present disclosure by reference.

Cleaning pad structure

  Referring to FIG. 2A, the cleaning pad 120 includes an absorbent layer 201, a wrap layer 204, and a card backing 206. The absorbent layer 201 and the wrap layer 204 combine to form a pad body of the cleaning pad 120 that absorbs liquid from the floor and supports the card backing 206. The cleaning pad 120 has both ends cut off so that the absorbent layer 201 is exposed at both ends of the cleaning pad 120. Since the end 207 of the cleaning pad 120 is not sealed by the wrap layer 204 and the end 207 of the absorbent layer 201 is not compressed, the cleaning pad 120 can be subjected to liquid absorption and cleaning over the entire length. There is no portion where the absorbent layer 201 of the cleaning pad 120 is compressed by the wrap layer 204, and thus there is no portion that cannot absorb the cleaning liquid. In addition, at the end of the cleaning operation, the absorbent layer 201 of the cleaning pad 120 prevents the cleaning pad from drenching and prevents the end portion 207 from sagging at the end of the cleaning run due to the excessive weight of the absorbed cleaning liquid. . The absorbed cleaning liquid is reliably held by the absorbing layer 201 so as not to drip from the cleaning pad 120.

  Referring also to FIG. 2B, the absorbing layer 201 includes a first layer 201a, a second layer 201b, and a third layer 201c, although more or fewer layers are possible. In some embodiments, the absorbent layers 201a-201c can be glued or clamped together.

  The wrap layer 204 is a nonwoven porous material that covers the periphery of the absorption layer 201. The wrap layer 204 may include a spunlace layer and a polishing layer. The polishing layer may be disposed on an outer surface of the wrap layer. The spunlace layer comprises a plurality of fine, high pressure water currents in the fiber, also known as hydroentangling, water entanglement, jet entanglement, or hydraulic sewing. To form a sheet by entanglement of the fibers. In the hydroentanglement treatment, the fibrous material can be entangled in a composite nonwoven mesh. The material thus obtained offers advantages in the performance required of many wiping tools due to its improved performance and low cost construction.

  The wrap layer 204 covers the periphery of the absorbent layer 201 and prevents the absorbent layer 201 from directly contacting the floor surface 10. The wrap layer 204 can be a flexible material including natural and synthetic fibers (eg, spunlace or spunbond). The liquid applied to the floor 10 under the cleaning pad 120 moves to the absorption layer 201 through the wrap layer 204. The wrap layer 204 wound around the absorption layer 201 is a transfer layer for preventing exposure of the absorbent material in the absorption layer 201.

If the wrap layer 204 of the cleaning pad 120 is too absorbent, the cleaning pad 120 may create excessive resistance to movement on the floor 10 and make it difficult to move. If the resistance becomes excessive, for example, the robot may not be able to overcome the resistance when trying to move the cleaning pad 120 on the floor surface 10. Referring again to FIG. 2A, the wrap layer 204 picks up loose dust and debris by the abrasive outer layer and leaves a thin, glossy cleaning liquid 124 on the floor 10 that air-drys without leaving traces. Can be. The light shiny cleaning solution is, for example, between 1.5 and 3.5 ml / m ² and preferably dries for a reasonable time (eg 2 to 10 minutes).

  Preferably, the cleaning pad 120 does not expand significantly upon absorbing the cleaning liquid 124, but only with a minimal total pad thickness increase. The characteristics of the cleaning pad 120 prevent the robot 100 from tilting backward and pitching when the cleaning pad 120 expands. The cleaning pad 120 has sufficient rigidity to support the weight of the front part of the robot. In one example, the cleaning pad 120 can absorb up to 180 ml or 90% of the solution stored in the reservoir 122. In another example, the cleaning pad 120 holds about 55-60 ml of the cleaning solution 124 and the fully saturated wrap layer 204 holds about 6-8 ml of the cleaning solution 124.

  Some pad wrap layers 204 may be configured to absorb solution. In some cases, the wrap layer 204 is smooth to avoid scratching the delicate floor surface. The cleaning pad 120 may include one or more of the following cleaning components, inter alia, as surfactants and as components acting on scale and mineral deposits: butoxypropanol, alkyl polyglucosides, dialkyl-dimethyl chlorides. Ammonium, polyoxyethylene castor oil, and linear alkyl benzene sulfonates. Various pads may include flavors, antibacterial and antifungal agents.

  Referring to FIGS. 2A-2C, the cleaning pad 120 includes a cardboard backing layer or card backing 206 adhered to the top surface of the cleaning pad 120 (eg, the wrap layer 204). As described in detail below, when a card backing 206 (ie, a cleaning pad) is mounted on the robot 100, the mounting surface 202 of the card backing 206 faces the robot 100. The robot 100 can identify the type of the installed cleaning pad 120 by detecting a feature on the card backing 206 or the mounting surface 202. Although the card backing 206 has been described as being cardboard, in other embodiments, the card backing material may be any of a variety of types that can hold the cleaning pad in place so that the cleaning pad does not move significantly during operation of the robot 100. It can be a hard material. In some cases, the cleaning pad may be a washable and reusable rigid plastic material, such as polycarbonate.

  The card backing 206 protrudes beyond the longitudinal end of the cleaning pad 120 and the protruding longitudinal end 210 of the card backing 206 is a pad of the robot 100 (described in detail below with respect to FIGS. 3A-3D). Attached to the holder. The card backing 206 may be between 0.02 and 0.03 inches (0.5 mm to 0.8 mm) thick, between 68 mm and 72 mm wide, and between 90 and 94 mm long. In one embodiment, card backing 206 is 0.026 inches (0.66 mm) thick, 70 mm wide and 92 mm long. The card backing 206 is coated on both sides with a water-resistant coating, such as wax or a polymer or a combination of water-resistant materials such as wax / polyvinyl alcohol, polyamine, to help prevent the card backing 206 from breaking down when wet. Is coated.

  The card backing 206 defines a cutout 212 located at the center of the protruding longitudinal end 210 of the card backing 206. The card backing also includes a second set of cutouts 214 provided at the longitudinal ends of the card backing 206. The cutouts 212 and 214 are arranged symmetrically about the longitudinal center axis YP of the card backing 206 and the longitudinal center axis XP of the card backing 206, respectively.

  In some cases, the cleaning pad 120 is disposable. In another case, the cleaning pad 120 is a reusable microfiber cloth with a durable plastic backing. The microfiber cloth pad may be washable. Also, it may be possible to dry in a dryer without the backing melting or decomposing. In another example, a washable microfiber cloth pad has an attachment mechanism for attaching a cleaning pad to a plastic backing, allowing the backing to be removed prior to washing. An example of a mounting mechanism may include Velcro or another hook and loop mounting mechanism provided on both the cleaning pad and the plastic backing. Another cleaning pad 120 is intended for use as a disposable dry cloth and includes a single layer of spunbond or spunlace needlepunch with exposed fibers for collecting hair. The cleaning pad 120 may include a chemical treatment that adds an adhesive property to retain dust and debris.

Robot 100 selects a corresponding navigation behavior and spray schedule for the identified cleaning pad 120 type. The cleaning pad 120 may be identified as, for example, any of the following:
-A wet mopping cleaning pad that can be scented and pre-soaped.
A dump mopping cleaning pad that can be scented and pre-soaped and can be cleaned with less cleaning liquid than a wet mopping cleaning pad.
-A dry dusting cleaning pad that can penetrate scent and mineral oil and does not require cleaning liquid.
A washable cleaning pad that is reusable and can clean the floor with water, a cleaning solution, a scented solution, or another cleaning solution.
In some examples, the wet mopping cleaning pad, dump mopping cleaning pad, and dry dusting cleaning pad are single-use disposable cleaning pads. The wet and dump mopping cleaning pads may be pre-moistened or pre-wetted cleaning pads that contain water or another cleaning liquid upon removal from the package. The dry dusting cleaning pad may be capable of individually penetrating mineral oil. Navigation behaviors and spray schedules that can be associated with cleaning pad types are described in further detail below with respect to FIGS. 4A-4B and Tables 1-3.

Cleaning pad holding and mounting mechanism

  3A-3D, the cleaning pad 120 is attached to the robot 100 by a pad holder 300. The pad holder 300 includes, on the lower surface of the pad holder 300, a projection 304 arranged at the center of the longitudinal center axis YH and along the longitudinal center axis XH. The pad holder 300 also includes a protrusion 306 disposed on the lower surface of the pad holder 300 along the longitudinal center axis YH and at the center of the longitudinal center axis XH. In FIG. 3A, the protruding portion 306 standing at the longitudinal end of the pad holder 300 is hidden by the holding clip 324a. The holding clip 324a is shown in a perspective view so that the raised protrusion 306 can be confirmed.

  The cutout 214 of the cleaning pad 120 engages with the corresponding protrusion 304 of the pad holder 300, and the cutout 212 of the cleaning pad 120 engages with the corresponding protrusion 306 of the pad holder 300. The protrusions 304 and 306 position the cleaning pad 120 with respect to the pad holder 300 and prevent the cleaning pad 120 from being slid in the longitudinal direction and / or the longitudinal direction, thereby keeping the cleaning pad 120 in a fixed position relative to the pad holder 300. keep. The configuration of cutouts 212, 214 and protrusions 304, 306 allows cleaning pad 120 to be attached to pad holder 300 from any of two similar orientations (180 ° opposite each other). When the pad release mechanism 322 operates, the pad holder 300 can remove the cleaning pad 120 more easily. The number of co-operating raised protrusions and cutouts may be different in another example.

  Since the raised protrusions 304, 306 extend into the cutouts 212, 214, the cleaning pad 120 is held in place against the rotational force by the cutout-convex holding system. In some cases, the robot 100 moves in a rubbing motion as described in this disclosure, and in some embodiments, the pad holder 300 vibrates the cleaning pad 120 for further rubbing. For example, the robot 100 may rub the floor surface 10 by vibrating the attached cleaning pad 120 with a trajectory of 12 to 15 mm. The robot 100 may also apply a downward pressure of one pound or less on the cleaning pad. By aligning the cutouts 212 and 214 of the card backing 206 with the protrusions 304 and 306, the cleaning pad 120 maintains a fixed position with respect to the pad holder 300 during use. It is directly transmitted to each layer of the pad 120 without loss.

  With reference to FIGS. 3B-3D, pad release mechanism 322 includes a movable retaining clip 324a or lip that grips protruding longitudinal end 210 of card backing 206 to securely hold cleaning pad 120 in place. The non-movable holding clip 324b also supports the cleaning pad 120. The pad release mechanism 322 includes a movable holding clip 324a and an ejection protrusion 326 that slides in a slot or opening of the pad holder 300. In some embodiments, retaining clips 324a, 324b may include hook and loop fasteners. Also, in another embodiment, the retaining clips 324a, 324b can include clips or retaining brackets, and can selectively move the clips or retaining brackets to selectively release and remove the cleaning pad. Different types of retaining members, such as snaps, clamps, brackets, and adhesives, that can be configured to release the cleaning pad 120 upon actuation of the pad release mechanism 322, for example, connect the cleaning pad 120 to the robot 100. May be used.

  The cleaning pad can be released by pushing the pad release mechanism 322 to a low position (FIG. 3D). The ejection protrusion 326 pushes down the card backing 206 of the cleaning pad 120. As described above with respect to FIG. 1A, a user can activate pad release mechanism 322 by toggling toggle button 136. When the toggle button is toggled, a spring actuator (not shown) rotates the pad release mechanism 322 to move the holding clip 324a away from the card backing 206. Next, the ejection protrusion 326 passes through the slot of the pad holder 300 and pushes the card backing 206, so that the cleaning pad 120 is pushed out of the pad holder 300.

The user basically slides the cleaning pad 120 into the pad holder 300. In an embodiment of the present disclosure, the cleaning pad 120 is pushed into the pad holder 300 to engage with the holding clip 324.

Navigation behavior and spray schedule

  Referring again to FIGS. 1A-1B, the robot 100 can perform various navigation behaviors and spray schedules depending on the type of cleaning pad 120 attached to the pad holder 300. The cleaning mode, which may include navigation behavior and spray schedule, depends on the cleaning pad 120 mounted on the pad holder 300.

  The navigation behavior may include a straight-ahead pattern, a vine pattern, a cornrow pattern, or a combination of these patterns. Other patterns are possible. In the straight traveling pattern, the robot 100 normally moves along a straight trajectory, and follows an obstacle defined by a straight line such as a wall. A behavior in which a birdfoot pattern is continuously repeated is called a vine pattern. In the vine pattern, the robot 100 repeats a bird foot pattern in which the robot 100 moves forward and backward and gradually advances along a trajectory that advances as a whole. Each time the bird foot pattern is repeated, the robot 100 is moved forward along a trajectory that moves forward as a whole, and by repeating the bird foot pattern, the robot 100 can be moved on the floor along a path that moves forward as a whole. Further details of the vine pattern and bird foot pattern are described below with respect to FIGS. 4A-4E. In the Cornlow pattern, the robot 100 moves slightly in a direction perpendicular to the longitudinal movement of the Cornrow pattern each time it traverses the room, and draws a series of essentially parallel trajectories across the floor surface. Go back and forth.

  In the example described below, each spray schedule defines a wetting period, a cleaning period, and a finishing period. The different working periods in each spraying schedule define the frequency of spraying (based on the distance traveled) and the time of spraying. The wetting period starts immediately after activating the robot 100 and starting the cleaning operation. During the wetting period, the cleaning pad 120 provides additional cleaning liquid to wet the cleaning pad 120 sufficiently so that the cleaning pad 120 has absorbed a sufficient amount of cleaning liquid to begin the cleaning period of the cleaning operation. Need. During the cleaning period, the cleaning pad 120 requires less cleaning liquid than during the wetting period. The robot 100 basically sprays the cleaning liquid so that the cleaning pad 120 is kept wet without the cleaning liquid remaining on the floor surface 10. During the finishing period, the cleaning pad 120 requires less cleaning fluid than during the cleaning period. During the finishing period, the cleaning pad 120 is essentially fully saturated and should absorb a sufficient amount of cleaning fluid to supplement evaporation and other drying that prevents removal of dust and debris from the floor 10. Good.

  Referring to Table 1 below, the type of cleaning pad 120 identified by the robot 100 determines the cleaning mode spray schedule and navigation behavior that the robot 100 performs. The spray schedule, including the wetting period, the cleaning period, and the finishing period, depends on the type of cleaning pad 120. If the robot 100 determines that the cleaning pad 120 is a wet mopping cleaning pad, a dump mopping cleaning pad, or a washable cleaning pad, the robot 100 should perform spraying at each stage of one bird foot pattern or at a plurality of bird foot patterns. Perform a timed spraying schedule. The robot 100 performs a navigation behavior using the vine and cornrow pattern when the robot 100 crosses the room, and uses the straight-ahead pattern when moving near the periphery of the room or near the edge of an object in the room. Although the spraying schedule has been described as having three distinct working periods, in some embodiments the spraying schedule may have more or less than three working periods. For example, a spray schedule may have first and second cleaning periods in addition to a wetting period and a finishing period. In other cases, if the robot 100 is configured to function with a pre-moistened cleaning pad, there may be no wetting period. Similarly, the navigation behavior may include another movement pattern, such as a zigzag pattern or a spiral pattern. Although the cleaning operation has been described as including a wetting period, a cleaning period, and a finishing period, in some embodiments, the cleaning operation may include only the cleaning period and the finishing period, with the wetting period being prior to the cleaning operation. It may be a separate task that occurs.

When the robot 100 determines that the cleaning pad 120 is a dry dusting cleaning pad, the robot 100 can execute a spraying schedule in which the robot 100 does not spray the cleaning liquid 124. The robot 100 may perform a navigation behavior using a corn row pattern when crossing a room and using a straight-ahead pattern when moving near the perimeter of the room.

  In the example described in Table 1, it has been described that the robot uses the same pattern (for example, a vine pattern or a corn row pattern) in the wetting period and the cleaning period, but in some examples, different patterns are used in the wetting period. obtain. For example, during the wetting period, the robot may form a puddle of more cleaning liquid and move back and forth to wet the cleaning pad while traversing the puddle of cleaning liquid. In such an embodiment, the robot does not start the cone row pattern until it enters the cleaning period. Referring to FIGS. 4A-4D, the cleaning pad 120 of the robot 100 rubs the floor surface 10 and absorbs liquid on the floor surface 10. As described above with respect to FIG. 1A, the robot 100 includes a liquid applicator 126 that sprays the cleaning liquid 124 on the floor surface 10. The robot 100 scrubs and removes dirt 22 (e.g., dust, oil, food, sauce, coffee, coffee powder) absorbed by the cleaning pad 120 along with an applied cleaning liquid 124 that dissolves and / or floats the dirt 22. . Some of the soil 22 may have viscoelastic properties that exhibit both viscous and elastic properties (eg, honey). The cleaning pad 120 is absorbent and may also be abrasive to polish and release dirt 22 from the floor 10.

  As described above, the liquid applicator 126 includes the upper nozzle 128a and the lower nozzle 128b for supplying the cleaning liquid 124 onto the floor surface 10. The upper nozzle 128a and the lower nozzle 128b may be configured to spray the cleaning liquid 124 at different angles and distances from each other. Referring to FIGS. 1 and 4B, the upper nozzle 128a is provided with a recess 129 so as to spray the liquid 124a over a relatively long range forward and downward so as to cover one area of the floor 10 in front of the robot 100. Are spaced apart at an angle. The lower nozzle 128b is angled within the recess 129 to spray the liquid 124b in a relatively short range forward and downward to cover one area of the floor 10 in front of the robot 100 but closer to the robot 100. They are placed apart. Referring to FIG. 4C, the upper nozzle 128a sprays the cleaning liquid 124a and then spreads the cleaning liquid 124a to a region in front of the application liquid 402a. After spraying the cleaning liquid 124b, the lower nozzle 128b spreads the cleaning liquid 124b to a region behind the application liquid 402a.

Referring to FIGS. 4A-4D, the robot 100 may move in a forward direction F toward an obstacle or wall 20 and then move backward or in an opposite direction A to perform a cleaning operation. Robot 100 may move to the first position L ₁ proceeds first distance F _D forward drive direction. When the robot 100 is retracted at least distance D just previously moved while tracing the floor 10 upward in the forward direction F, it moves the robot 100 retracts second distance _{A D} to the second position _{L 2,} the nozzle 128a, the 128b Each sprays a long-range cleaning solution 124a and a short-range cleaning solution 124b forward, forward and downward on the floor 10 at the same time. The cleaning liquid 124 can be sprayed on an area substantially equal to or smaller than the footprint area AF of the robot 100. Since the distance D extends at least over the length _LR of the robot 100, the robot 100 cleans the area of the floor 10 traced by the robot 100 unless the robot 100 confirms in advance that there is nothing on the floor 10. It can be determined that there are no furniture, walls 20, cliffs, carpets or other surfaces or obstacles to which the liquid 124 would have been applied. The robot 100 identifies boundaries, such as changes in flooring and walls, by moving in the forward direction F and then in the opposite direction A before applying the cleaning liquid 124, and furniture, walls 20, cliffs, carpets with liquid. Or prevent damage to other surfaces or obstacles.

In some embodiments, the nozzle 128a, 128b supplies the cleaning fluid 124 in region pattern extending over the dimensions of the first robot width _{W R} and at least a robot length _{L R.} The upper nozzle 128a and the lower nozzle 128b are adapted to allow the cleaning pad 120 to pass through the outer ends of the strips of application liquid 402a, 402b in angled forward and reverse rubbing operations (described below with respect to FIGS. 4D-4E). less than 100 of the total width _{W R,} clear away the two strip-shaped coating liquid 402a, the 402b applied. In another embodiment, the strip of the coating liquid 402a, 402b, the robot width _W 75-95% of the width _W of _{R S,} and 75-95% of the length _{L S} of the robot length _{L R} in combination with these Cover the region having In some examples, the robot 100 only scatters over the previously traced area of the floor 10. In another embodiment, the robot 100 applies the cleaning liquid 124 only to the area of the floor 10 that the robot 100 has already followed. In some examples, the strip-like coating solutions 402a, 402b may be substantially rectangular or elliptical.

  The robot 100 can move back and forth to moisten the cleaning pad 120 and / or rub the floor 10 coated with the cleaning liquid 124. Referring to FIG. 4D, in one example, the robot 100 passes through a footprint area AF on the floor 10 on which the cleaning liquid 124 is applied in a bird foot pattern. The illustrated birdfoot pattern moves the robot 100 in (i) a forward direction F and a backward or opposite direction A along a central trajectory 450, and (ii) in a forward direction F and an opposite direction A along a left trajectory 460. Moving, (iii) moving in the forward direction F and the opposite direction A along the right trajectory 455. Left trajectory 460 and right trajectory 455 are arcuate trajectories that extend outwardly from the starting point on central trajectory 450 in an arc. Although the left trajectory 460 and the right trajectory 455 have been described and illustrated as arcuate trajectories, in other embodiments, the left trajectory and the right trajectory may be straight trajectories extending outward from the central trajectory.

In the example shown in FIG. 4D, the robot 100 moves forward from position A along the central trajectory 450 until it encounters the wall 20 at position B and the collision sensor is activated. The robot 100 then moves in the rearward direction A along the central trajectory a distance greater than or equal to the distance to be covered by the liquid application. For example, the robot 100 is set back by at least one robot length L _R along the central trajectory 450 moves to the position C. The position C may be the same as the position A. The robot 100 applies the cleaning liquid 124 to an area substantially equal to or less than the footprint area AF of the robot 100, and returns to the wall 20. When the robot 100 returns to the wall 20, the cleaning pad 120 passes over the cleaning liquid 124 and cleans the floor surface 10. From the position F or D, the robot 100 moves to the position G or E along the left trajectory 460 or the right trajectory 455 before moving to the position D or F, respectively. In some cases, positions C, E, and G may correspond to position A. The robot 100 can then continue moving and complete movement along the remaining trajectory. Each time the cleaning pad 120 moves back and forth along the central orbit 450, the left orbit 460, and the right orbit 455, the cleaning pad 120 passes over the applied cleaning fluid 124 and removes dust, debris, and other particulate matter from the floor. Scrub from 10 and absorb dirty liquid from floor 10. By the rubbing operation of the cleaning pad 120 combined with the solvent property of the cleaning liquid 124, dried stains and dirt are decomposed and loosened. The cleaning liquid 124 applied by the robot 100 lifts the loosened debris so that the cleaning pad 120 absorbs the loosened debris and removes it from the floor 10.

  As the robot 100 moves back and forth, the area that the robot 100 is following is cleaned, thereby scrubbing the floor 10 carefully. The back-and-forth movement of the robot 100 can dissolve stains on the floor 10 (for example, the stain 22 in FIGS. 4A to 4C). The cleaning pad 120 can then absorb the degraded stains. The cleaning pad 120 can pick up a sufficient amount of sprayed liquid to prevent uneven streaks that would occur if the cleaning pad 120 picked up excess liquid, such as the cleaning liquid 124. The cleaning pad 120 can leave a liquid on the floor 10, such as water or other cleaning agents, including solutions containing cleaning agents, to provide a visible gloss on the rubbed floor 10. In some examples, the cleaning liquid 124 includes an antimicrobial solution, for example, a solution including alcohol. Therefore, a higher percentage of bacteria can be sterilized by not allowing the cleaning pad 120 to absorb a thin layer of residual liquid.

  In some embodiments, if the robot 100 uses a cleaning pad 120 that requires a cleaning liquid 124 (eg, a wet mopping cleaning pad, a dump mopping cleaning pad, and a washable cleaning pad), the robot 100 may have a vine. And switching between the cone row pattern and the straight traveling pattern. The robot 100 uses the vine and cone-row pattern during room cleaning, and uses the straight-ahead pattern during peripheral cleaning.

Referring to FIG. 4E, in another embodiment, the robot 100 moves in the room 465 along the trajectory 467 while performing the combination of the vine pattern and the straight-ahead pattern described above. In this example, the robot 100 applies the cleaning liquid 124 at a stretch in front of the robot 100 along the trajectory 467. In the example shown in FIG. 4E, the robot 100 is operating in a cleaning mode that requires the cleaning liquid 124. The robot 100 travels along the trajectory 467 while executing a vine pattern including a repetition of a bird foot pattern. Each bird foot pattern basically ends at a position advanced from the position where the robot 100 was originally located, as described in more detail above. The robot 100 operates according to the spraying schedules shown in Tables 2 and 3 below, which correspond to the vine and cornrow pattern spraying schedule and the straight-line pattern spraying schedule, respectively. In Tables 2 and 3, the travel distance may be calculated as the total distance traveled in the vine pattern, accounting for the arcuate trajectory of the robot 100 in the vine pattern. In this example, the spraying schedule includes a wetting period, a first cleaning period, a second cleaning period, and a finishing period. In some cases, the robot 100 may calculate the distance traveled simply as the distance traveled.

  In the first fifteen times that the robot 100 applies the liquid to the floor, corresponding to the wetting period in the spray schedule, the robot 100 moves at least 344 mm (approximately 13.54 inches, or slightly more than one foot) Is sprayed with the cleaning liquid 124. The duration of each application is about 1 second. The wetting period basically corresponds to the trajectory 467 included in the area 470 of the room 465, in which the robot 100 executes the navigation behavior combining the vine pattern and the cornrow pattern.

  At the time when the cleaning pad 120 is completely wet, which is basically the time when the robot 100 executes the first cleaning period in the spraying schedule, the robot 100 moves 600 to 1100 mm (about 23.63 to 43). Spray every 30 seconds (or 2-4 feet) for 1 second. This relatively infrequent spraying ensures that the cleaning pad remains wet without becoming overly wet or with liquid. The first cleaning period is indicated by a track 467 included in the area 475 of the room 465. The robot 100 follows the spraying frequency and the spraying time in the cleaning period up to a predetermined spraying number (for example, 20 times).

  When the robot 100 enters the area 480 of the room 465, it begins a second cleaning period, 0.5 seconds for every 900-1600 mm (about 35.43 to about 63 inches, or about 3 to about 5 feet) of travel. Spray. This relatively infrequent and short-time spraying keeps the cleaning pad wet without over-wetting, thereby in some instances further absorbing cleaning fluid that may include raised debris. Can be prevented.

  As shown, at point 491 in region 480, robot 100 encounters an obstacle having a straight edge, such as island kitchen 492. When the robot 100 reaches the linear end of the island kitchen 492, the navigation behavior switches from the vine and cornrow pattern to the straight-ahead pattern. The robot 100 sprays according to the time and frequency in the spraying schedule corresponding to the straight traveling pattern.

  The robot 100 executes a work period in the straight-line pattern spraying schedule corresponding to the total number of sprayings sprayed by the robot 100 during the cleaning work. Since the robot 100 can record the number of times of spraying, it is possible to select a work period corresponding to the number of times the robot 100 has sprayed before reaching the point 491 in the straight-line pattern spraying schedule. For example, if the robot 100 has sprayed 36 times at the time when the robot 100 has reached the point 491, the next spraying is the 37th spraying, and it is classified into the straight-line pattern spraying schedule corresponding to the 37th spraying.

  The robot 100 executes the straight traveling pattern and moves near the isolated portion 492 along the trajectory 467 included in the area 490. The robot 100 can also execute a work period corresponding to the 37th spraying, that is, a second cleaning period in the straight-line pattern spraying schedule shown in Table 3. Accordingly, the robot 100 applies the liquid for 0.6 seconds each time it moves 400-750 mm (15.75-29.53 inches) while traveling straight along the edge of the island kitchen 492. In some embodiments, the amount of cleaning fluid that the robot 100 applies in the straight pattern is less than the amount of cleaning fluid that is applied in the vine pattern, because the straight pattern covers less distance than the vine pattern.

  Assuming that the robot 100 sprays 10 times while moving along the periphery of the island kitchen 492, the point of return to the cleaning of the floor using the vine and corn row pattern at the point 493 is the 47th spraying in the cleaning operation. At point 493, the robot 100 returns to the second cleaning period to perform the 47th spray according to the vine and cornrow pattern spray schedule. Accordingly, the robot 100 scatters every 900-1600 mm (about 35.43 to about 63 inches, or between about 3 to about 5 feet) along the trajectory 467 contained in the area 495 of the room 465.

  The robot 100 continues to execute the second cleaning period until the 65th spraying, and starts executing the finishing period in the vine and cornrow pattern spraying schedule from the time of the 65th spraying. The robot 100 applies the liquid for 0.5 seconds each time it moves about 1200 to 2250 mm. This less frequent and lesser application will absorb a sufficient amount of cleaning liquid to supplement the evaporation and other dryness that will completely saturate the cleaning pad 120 and prevent dust and debris from being removed from the floor 10. This can correspond to the final stage of the cleaning operation, which is the stage where it is sufficient to do so.

  In the above example, the cleaning liquid application and / or cleaning pattern is changed based on the type of the cleaning pad identified by the robot, but other elements may be additionally changed. For example, the robot can apply vibration to assist in cleaning with a particular pad type. Vibration can help cleaning, as vibration is said to release surface tension to assist movement and breaks down dirt better than without vibration (eg, wiping only). For example, when cleaning with a wet pad, the pad holder may vibrate the pad. When cleaning with a dry cloth, the pad holder does not need to vibrate because dust and hair may be removed from the pad by vibration. Accordingly, the robot may identify the pad and determine whether to vibrate the pad based on the pad type. Also, the robot may have a frequency of vibration, a range of vibration (eg, the amount of movement of the pad relative to an axis parallel to the floor), and / or an axis of vibration (eg, an axis perpendicular to the direction of movement of the robot, movement of the robot). Axis (or an axis at another angle that is neither parallel nor perpendicular to the direction of movement of the robot).

  In some embodiments, the disposable wet pad and the disposable dump pad have been pre-moistened and / or filled with a cleaning solvent, an antimicrobial solvent, and / or a fragrance. The disposable wet pad and the disposable dump pad may be pre-moistened and / or filled.

  In another embodiment, the disposable pad is not pre-moistened and the laminated layer comprises wood pulp. The airlaid layer of the disposable pad may include wood pulp and a binder such as polypropylene or polyethylene, and this co-formed formulation is less dense than pure wood pulp and therefore has better liquid retention. In one embodiment of the disposable pad, the wrap is a spunbond material including polypropylene and wood pulp, and the wrap layer is covered with a polypropylene meltblown layer. The meltblown layer may be formed from a polypropylene that has been treated with a hydrophilic wetting agent that pulls up dust and moisture into the pad, and in some embodiments, the spunbond wrap further does not saturate the wrap. In addition, it is hydrophobic so that liquid is drawn up by the meltblown layer through the wrap and into the upper airlaid layer. In other embodiments, such as a dump pad, the meltblown layer is not treated with a hydrophilic wetting agent. For example, using a disposable pad in the robot's dump pad mode may be desirable for users with hardwood flooring because only a small amount of liquid is sprayed on the floor, in which case the disposable pad will only have a small amount of liquid. Not absorbed. The rapid pull up to the airlaid layer is less important in this use.

  In some embodiments, the disposable pad is a dry pad having an airlaid layer of wood pulp or a co-formed mixture of wood pulp and a binder such as polypropylene or polyethylene. Dry pads, unlike disposable wet / dump pads, are thinner and have less airlaid layers than disposable wet / dump pads so that robots can move at optimal height over pads that do not compress due to liquid absorption Can be In some embodiments of the disposable dry pad, the wrap is a spunbond needlepunch, which arrests dirt, dust, and other debris on the pad so that the robot does not fall off while completing the cleaning May be treated with a mineral oil such as drakasol, which helps to reduce The wrap may be electrostatically treated for the same reason.

  In some embodiments, the washable cleaning pad is a microfiber pad fitted with a reusable plastic backing for engaging a pad holder.

In some embodiments, the pad is a melamine foam pad.

Control system

  Referring to FIG. 5, a robot control system 500 includes a control circuit 505 (also referred to herein as a “control unit”) that operates a drive system 510, a cleaning system 520, and a sensor including a pad identification system 534. A system 530, a behavior system 540, a navigation system 550, and a memory 560 are included.

  The drive system 510 may include wheels that move the robot 100 on the floor 10 based on drive instructions having x, y, and θ components. The wheels of the drive system 510 support the robot body on the floor. The control unit 505 may further operate the navigation system 550 configured to move the robot 100 on the floor. Navigation instructions by the navigation system 550 are based on a behavior system 540 that selects a navigation behavior and a scatter schedule that may be stored in the memory 560. The navigation system 550 communicates with the sensor system 530 and utilizes collision sensors, accelerometers, and other sensors of the robot to determine and send driving instructions to the driving system 510.

  Sensor system 530 may additionally include a three-axis accelerometer, a three-axis gyroscope, and a rotary encoder for wheels (eg, wheels 121 shown in FIG. 1B). The control unit 505 can also use the linear acceleration detected from the three-axis accelerometer to estimate the slip in the x and y directions, and can use the three-axis gyroscope to estimate the slip in the traveling direction or the θ direction. Therefore, the control unit 505 can estimate the basic posture (for example, position and direction) of the robot 100 by combining data collected from the rotary encoder, the accelerometer, and the gyroscope. In some embodiments, the robot 100 can use encoders, accelerometers, and gyroscopes to keep the robot 100 on essentially parallel rows when performing the Cornrow pattern. . In addition, the gyroscope and the rotary encoder can be used in combination in a dead reckoning algorithm for determining the position of the robot 100 in the environment where the robot 100 is located.

  The control unit 505 operates the cleaning system 520 and activates a spraying instruction to execute spraying at a certain frequency. The spray instructions may be issued according to a spray schedule stored in memory 560.

  The memory 560 may further store a spray schedule and navigation behavior corresponding to a particular type of cleaning pad that may be attached to the robot during a cleaning operation. The pad identification system 534 of the sensor system 530 includes a sensor that detects a feature of the cleaning pad to determine the type of cleaning pad attached to the robot. The control unit 505 can determine the type of the cleaning pad based on the detected characteristics. The pad identification system 534 is described in detail below.

In some examples, based on the coverage location stored on the robot's non-transitory memory 560 or on a map stored on the robot during a cleaning run on an external storage medium accessible by wired or wireless means, You can know if you went. The sensors may include a camera and / or one or more ranging lasers to build a map of space. In some examples, the control unit 505 may control the wall, furniture, flooring change and flooring to position the robot well away from obstacles and / or flooring change prior to application of the cleaning fluid. Use maps of other obstacles. This configuration is advantageous when applying liquid to areas of the floor that are free of known obstacles.

Pad identification system

The pad identification system 534 may depend on the type of pad identification scheme used to identify the type of cleaning pad mounted on the bottom of the robot to the robot. In the following, various different types of pad identification schemes will be described.

Discrete identification array

  Referring to FIG. 6A, the cleaning pad 600 includes a mounting surface 602 and a cleaning surface 604. The cleaning surface 604 corresponds to the bottom surface of the cleaning pad 600, and is basically a surface that contacts the floor surface of the cleaning pad and cleans the floor surface. The card backing 606 of the cleaning pad 600 functions as a mounting plate that a user can insert into the pad holder of the robot. The mounting surface 602 corresponds to the outer layer of the main body of the cleaning pad 600 to which the card backing 606 is mounted. The robot utilizes the card backing 606 to identify the type of cleaning pad attached to the robot. Card backing 606 includes an identification arrangement 603 attached to card backing 606. Identification array 603 is symmetrical about the longitudinal and horizontal axes of cleaning pad 600 so that a user can insert cleaning pad 600 into a robot (eg, robot 100 shown in FIGS. 1A and 1B) from either of two orientations. Have been duplicated.

  The identification array 603 is a detected part of the card backing 606 that can be detected by the robot to identify the type of cleaning pad attached to the robot by the user. The identification array 603 may have a finite number of discrete states, and the robot detects the identification array 603 and determines which discrete state the identification array 603 indicates.

  In the example shown in FIG. 6A, the identification array 603 includes three identification elements 608a to 608c, and a combination thereof defines a discrete state of the identification array 603. Each identification element 608a-608c includes a left block 610a-610c and a right block 612a-612c, where the blocks 610a-610c, 612a-612c are colored inks (e.g., darker colors) that contrast with the color of the card backing 606. Ink or light-colored ink). Based on the presence or absence of ink, blocks 610a-610c, 612a-612c may be in either a dark state or a light state. Thus, the identification elements 608a-608c can be in one of four states: a light-bright state, a light-dark state, a dark-bright state, and a dark-dark state. Therefore, the identification array 603 has 64 discrete states.

  Each of the left blocks 610a-610c and the right blocks 612a-612c can be set to a dark state or a light state (eg, during manufacturing). In one embodiment, each block is set to a dark or light state depending on the presence or absence of dark ink in the area of the block. The block is in a dark state when an area defined by the block on the card backing 606 is colored with ink of a darker color than the surrounding material of the card backing 606. The block is basically in a bright state if the card backing 606 is not colored and remains the color of the card backing 606. As a result, light blocks will typically have higher reflectivity than dark blocks. Blocks 610a-610c and 612a-612c have been described as being set to a light or dark state depending on the presence or absence of dark ink, but in some cases, during manufacturing, the card backing may be lightened. The card backing can be set to a bright state by bleaching the card backing or coloring the card backing with a bright ink. Thus, a bright block will have higher brightness than the surrounding card backing. In FIG. 6A, the right block 612a, the right block 612b, and the left block 610c are in a dark state. The left block 610a, the left block 610b, and the right block 612c are in a bright state. In some cases, the dark and light states may have substantially different reflectivities. For example, the dark state has a lower reflectivity than the light state by 20%, 30%, 40%, 50%, and the like.

Therefore, the state of each identification element 608a-608c can be determined by the state of the blocks 610a-610c and 612a-612c that constitute them. Each element may be determined to have one of the following four states.
1. A light-bright state in which the left blocks 610a-610c are in a light state and the right blocks 612a-612c are in a light state.
2. A light-dark state in which the left blocks 610a-610c are in a bright state and the right blocks 612a-612c are in a dark state.
3. A dark-light state in which the left blocks 610a-610c are in a dark state and the right blocks 612a-612c are in a light state.
4. A dark-dark state in which the left blocks 610a-610c are in a dark state and the right blocks 612a-612c are in a dark state.
In FIG. 6A, identification element 608a is in a light-dark state, identification element 608b is in a light-dark state, and identification element 608c is in a dark-light state.

In the embodiment described with reference to FIGS. 6A-6C, the controller 505 determines whether the cleaning pad 600 is correctly attached to the robot 100 and whether the cleaning pad 600 has moved with respect to the robot 100 in the light-bright state. Can be reserved as an error condition used to For example, in some cases, the cleaning pad 600 may move horizontally when the robot 100 rotates during use. If the robot 100 detects the color of the card backing 606 instead of the identification array 603, the robot 100 may detect such a detection as the cleaning pad 600 moves along the pad holder and the cleaning pad 600 no longer fits correctly in the pad holder. Can be interpreted to mean not being done. The dark-dark state also allows the robot to execute an identification algorithm that simply compares the reflectance of the left blocks 610a-610c with the reflectance of the right blocks 612a-612c to determine the state of the identification elements 608a-608c. It is not used in the embodiments described below. To identify a cleaning pad using a comparison-based identification algorithm, the identification elements 608a-608c function as bits that can be in one of two states, a light-dark state and a dark-light state. Error condition and dark - including dark state, identifier sequence 603 may have one of 4 ³ or 64 states. Error condition and the dark - Excluding dark state identification elements 608a-608c has two states, thus identifying sequence 603 may have one of 2 ³ or eight states.

  Referring to FIG. 6B, the robot may include a pad holder 620 having a pad holder body 622 and a pad sensor assembly 624 used to detect the identification array 603 and determine the status of the identification array 603. Pad holder 620 holds cleaning pad 600 shown in FIG. 6A (as described with respect to pad holder 300 and cleaning pad 120 shown in FIGS. 2A-2C and 3A-3D). Referring to FIG. 6C, the pad holder 620 includes a pad sensor assembly housing 625 that houses a circuit board 626. The fastening members 628a-628b connect the pad sensor assembly 624 and the pad holder main body 622.

  The circuit board 626 is part of the pad identification system 534 (described with respect to FIG. 5) and electrically connects the emitter / detector array 629 and the control 505. Emitter / detector array 629 includes left emitters 630a-630c, detectors 632a-632c, and right emitters 634a-634c. For each identification element 608a-608c, the left emitter 630a-630c is arranged to illuminate the left block 610a-610c of the identification element 608a-608c, and the right emitter 634a-634c is positioned to illuminate the right block 612a-612c of the identification element 608a-608c. And the detectors 632a-632c are arranged to detect the reflected light of the light incident on the left blocks 610a-610c and the right blocks 612a-612c. When a controller (eg, controller 505 shown in FIG. 5) activates left emitters 630a-630c and right emitters 634a-634c, emitters 630a-630c, 634a-634c emit radiation of substantially equal wavelengths (eg, 500 nm). . Detectors 632a-632c detect radiation (e.g., visible or infrared radiation) and generate a signal corresponding to the illuminance of the detected radiation. Radiation from emitters 630a-630c, 634a-634c is reflected at blocks 610a-610c, 612a-612c, and detectors 632a-632c detect the reflected radiation.

  Alignment block 633 aligns emitter / detector array 629 on identification array 603. Specifically, alignment block 633 aligns left emitters 630a-630c on left blocks 610a-610c, respectively, aligns right emitters 634a-634c on right blocks 612a-612c, respectively, and detects detectors 632a-632c. Align so that they are equidistant from the left emitters 630a-630c and the right emitters 634a-634c. The window 635 of the alignment block 633 directs the radiation emitted by the emitters 630a-630c, 634a-634c toward the mounting surface 602. Window 635 also allows detectors 632a-632c to receive radiation reflected at mounting surface 602. In some cases, the window 635 is filled (eg, with a plastic resin) to protect the emitter / detector array 629 from moisture, debris (eg, cleaning pad fibers), and debris. The left emitters 630a-630c, the detectors 632a-632c, and the right emitters 634a-634c, when the cleaning pad is attached to the pad holder 620, the left emitters 630a-630c, the detectors 632a-632c, and the right emitter 634a-. 634c are positioned along the plane defined by the alignment block so that they are equidistant from the mounting surface 602. The relative positions of the left emitters 630a-630c, detectors 632a-632c, and right emitters 634a-634c are such that the effects of distance when measuring the illuminance of the radiation reflected by the block are minimized. The position at which the difference in distance from the container to the left and right blocks 610a-610c, 612a-612c is minimized is selected. As a result, the darkness of the ink applied to darken the blocks 610a-610c, 612a-612c and the natural color of the card backing 606 affect the reflectivity of each block 610a-610c, 612a-612c. The main factor to give.

  Although detectors 632a-632c have been described as being equidistant from left emitters 630a-630c and right emitters 634a-634c, the detectors are also, or alternatively, equidistant from the left and right blocks. It will be appreciated that such an arrangement may be used. For example, the detector may be arranged such that the distance from the detector to the right edge of the left block is equal to the distance to the left edge of the right block.

  Referring to FIG. 6A, pad sensor assembly housing 625 defines a detection window 640 that aligns pad sensor assembly 624 directly above identification array 603 with cleaning pad 600 inserted into pad holder 620. The detection window 640 allows the radiation emitted by the emitters 630a-630c, 634a-634c to illuminate the identification elements 608a-608c of the identification array 603. Detection window 640 also enables detectors 632a-632c to detect radiation reflected from identification elements 608a-608c. The detection window 640 is dimensioned to receive the alignment block 633 such that the emitter / detector array 629 is positioned proximate the card backing 606 of the cleaning pad 600 when the cleaning pad 600 is mounted on the pad holder 620. And shapes. Each emitter 630a-630c, 634a-634c can be located directly above one of the left blocks 610a-610c or the right blocks 612a-612c.

  In use, detectors 632a-632c can determine the illuminance of the reflection of radiation emitted by emitters 630a-630c, 634a-634c. Radiation incident on left blocks 610a-610c and right blocks 612a-612c is reflected toward detectors 632a-632c, which are processed by a controller to determine the illuminance of the reflected radiation. Generate a signal (eg, a change in current or voltage) that can be used. The control unit can independently activate the emitters 630a-630c and 634a-634c.

  After the user inserts the cleaning pad 600 into the pad holder 620, the controller of the robot determines the type of the pad inserted into the pad holder 620. As described above, the cleaning pad 600 is identified with the identification array 603 so that the cleaning pad 600 can be inserted from any horizontal direction as long as the mounting surface 602 faces the emitter / detector array 629. It has an array 603 and a symmetric array. When the cleaning pad 600 is inserted into the pad holder 620, the card backing 606 can wipe off moisture, foreign matter, and debris from the alignment block 633. Identification array 603 provides information regarding the type of pad inserted based on the status of identification elements 608a-608c. The memory 560 typically stores in advance data that associates each possible state of the identification array 603 with a particular cleaning pad type. For example, the memory 560 can associate a three-element identification array with a status of (dark-bright, dark-bright, light-dark) with a dump mopping cleaning pad. The robot 100 responds by selecting a navigation behavior and a spray schedule based on the stored cleaning mode associated with the dump mopping cleaning pad, with reference to Table 1.

  Referring also to FIG. 6D, the control unit starts the identification sequence algorithm, detects and processes information provided from the identification sequence 603. At step 655, the control activates the left emitter 630a, which emits radiation toward the left block 610a. The radiation reflects at left block 610a. At step 660, the control unit receives the first signal generated by the detector 632a. The control activates the left emitter 630a for a time (eg, 10 ms, 20 ms, or more) that allows the detector 632a to detect the illuminance of the reflected radiation. Detector 632a detects the reflected radiation and generates a first signal having an intensity corresponding to the illuminance of the reflected radiation emitted by left emitter 630a. Accordingly, the first signal indicates the reflectivity of the left block 610a and the illuminance of the radiation reflected by the left block 610a. In some instances, detecting higher illumination will produce a stronger signal. The signal is transmitted to the control unit, and the control unit determines an absolute value of the illuminance proportional to the intensity of the first signal. After receiving the first signal, the control unit stops the left emitter 630a.

  In step 665, the control activates right emitter 634a, which emits radiation toward right block 612a. The radiation reflects at right block 612a. At step 670, the control unit receives the second signal generated by the detector 632a. The controller activates the right emitter 634a for a time that allows the detector 632a to detect the illuminance of the reflected radiation. Detector 632a detects the reflected radiation and generates a second signal having an intensity corresponding to the illuminance of the reflected radiation emitted by right emitter 634a. Accordingly, the second signal indicates the reflectivity of the right block 612a and the illuminance of the radiation reflected by the right block 612a. In some instances, detecting higher illumination will produce a stronger signal. The signal is transmitted to the control unit, and the control unit determines an absolute value of the illuminance proportional to the intensity of the first signal. After receiving the second signal, the control unit stops the right emitter 634a.

  In step 675, the control unit compares the measured reflectance of the left block 610a with the measured reflectance of the right block 612a. If the first signal indicates higher illuminance of the reflected radiation, the control unit determines that the left block 610a is in a bright state and the right block 612a is in a dark state. In step 680, the control unit determines the state of the identification element. In the case of the above-described example, the control unit determines that the identification element 608a is in the light-dark state. When the first signal indicates the illuminance of the low reflected radiation, the control unit determines that the left block 610a is in a dark state and the right block 612a is in a bright state. Therefore, the identification element 608a is in a dark-bright state. Since the control unit simply compares the absolute values of the measured reflectances of the blocks 610a and 612a, the determination of the state of the identification elements 608a to 608c is performed, for example, by determining the darkness of the ink applied to the block set to the dark state. And the subtle differences in the degree of alignment of the emitter / detector array 629 and the identification array 603.

  In order to determine that the left block 610a and the right block 612a have different reflectivities, the first and second signals are sufficient for the controller to determine that one is in a dark state and the other is in a bright state. To some extent, the reflectance of the left block 610a differs from that of the right block 612a by a threshold value indicating that the reflectance is different. The threshold may be determined based on the expected reflectance of the dark state block and the expected reflectance of the light state block. The threshold may also take into account the surrounding light environment. The dark ink defining the dark state of blocks 610a-610c, 612a-612c may be selected to provide a sufficient difference between the dark and light states and may be defined based on the color of the card backing 606. In some cases, the controller determines that the difference between the first signal and the second signal is not sufficient to conclude that the identification elements 608a-608c are in a light-dark or dark-light state. obtain. The control may be programmed to recognize such errors by interpreting a non-deterministic comparison result (as described above) as an error condition. For example, there may be a situation where the cleaning pad 600 is not properly installed, or a situation where the cleaning pad 600 has slipped off the pad holder 620 and the identification array 603 is not properly aligned with the emitter / detector array 629. Upon detecting that the cleaning pad 600 has slipped off the pad holder 620, the control unit may stop the cleaning operation or indicate to the user that the cleaning pad 600 has slipped off the pad holder 620. In one example, the robot 100 can issue a warning (eg, an audible warning or a visible warning) indicating that the cleaning pad 600 has slipped. In some cases, the controller may periodically (eg, every 10 ms, every 100 ms, every 1 s, etc.) verify that the cleaning pad 600 remains properly attached to the pad holder 620. it can. As a result, the reflected radiation received by detectors 632a-632c, due to both left emitters 630a-630c and right emitters 634a-634c simply illuminating the uninked portion of card backing 606, Equivalent illumination measurements may be generated.

  After executing steps 655, 660, 665, 670, and 675, the control unit can repeat these steps for the identification elements 608b and 608c to determine the state of each identification element. After completing these steps for all the elements of the identification array 603, the control unit can determine the state of the identification array 603. From the determined state, (i) a cleaning pad of a certain type is inserted into the pad holder 620. (Ii) It is determined that a cleaning pad error has occurred. While the robot 100 is performing the cleaning operation, the controller may also continuously repeat the identification array algorithm 650 to ensure that the cleaning pad 600 has not deviated from a desired position on the pad holder 620. it can.

  It will be appreciated that the order in which the controller determines the reflectivity of each block 610a-610c, 612a-612c may be different. In some cases, instead of repeating steps 655, 660, 665, 670, and 675 for each identification element 608a-608c, the controller activates all left emitters simultaneously and generates the Receiving the first signal, activating all the right emitters simultaneously, receiving the second signal generated by the detector, and then comparing the first signal with the second signal. In another embodiment, the controller sequentially illuminates each of the left blocks, and then illuminates each of the right blocks. The control unit can compare the left block and the right block after receiving the signals corresponding to the left block and the right block.

  The emitters and detectors may be further configured to illuminate and detect other wavelengths of radiation within and outside the visible light range (eg, 400 nm to 700 nm). For example, the emitter may emit radiation in the ultraviolet region (eg, 300 nm to 400 nm) or the far infrared region (eg, 15 micrometers to 1 mm), and the detector may be able to detect radiation in an equivalent region. Good.

  Although the card backing 606 of FIG. 6A has been described as including markings forming the identification array 603, in some embodiments, the markings formed on the wrap layer of the cleaning pad are visible through the card backing of the cleaning pad. . The cleaning pad mounting plate provides an identification arrangement and allows access by a pad sensor to detect markings on the wrap layer. Cutouts or transparent portions on the card backing allow for the detection of markings by the pad sensor and define the location of the blocks in the identification array. The mounting plate, together with the markings on the wrap layer, defines an identification arrangement. During the manufacturing phase, cutouts are formed in the card backing where the blocks that define a unique identification arrangement for the type of cleaning pad may be located.

  As shown in FIG. 10, which shows a developed view of the cleaning pad 1000, the cleaning pad 1000 includes absorbent layers 1001a, 1001b, 1001c, a wrap layer 1004, and a card backing 1006. The wrap layer 1004 and the absorbent layers 1001a, 1001b, 1001c combine to form the pad body of the cleaning pad 1000. The material properties of the absorbent layers 1001a, 1001b, 1001c, wrap layer 1004, and card backing 1006 are similar to the material properties of the absorbent layers 201a, 201b, 201c, wrap layer 204, and card backing 206, respectively, described with respect to FIG. 2B. .

  As described in this disclosure, the wrap layer 1004 is a non-woven, porous sheet structure that includes an inner surface 1008 and an outer surface 1009 opposite the inner surface 1008. During the cleaning operation in which the robot holds the cleaning pad 1000 and crosses the floor, the outer surface 1009 of the wrap layer 1004 is in contact with the floor. The inner surface 1008 of the wrap layer 1004 visible in FIG. 10 faces the absorbent layers 1001a, 1001b, and 1001c when the cleaning pad 1000 is assembled. During the cleaning operation, the inner surface 1008 does not directly contact the floor surface. The outer surface 1009 of the wrap layer 1004, which is not visible in FIG. 10, faces in a direction opposite to the absorption layers 1001a, 1001b, and 1001c when the cleaning pad 1000 is assembled. The outer surface 1009 of the wrap layer 1004 serves as the outer surface of the pad body, covering internal components of the pad body such as the absorbent layers 1001a, 1001b, 1001c. In some embodiments, when the outer surface 1009 contacts the floor cleaning fluid, the cleaning fluid is absorbed from the outer surface 1009 to the inner surface 1008 through the wrap layer 1004, and then the absorbent layers 1001a, 1001b facing the inner surface 1008, Absorbed in 1001c.

  Wrap layer 1004 includes marking 1010. As shown in FIG. 10, the marking 1010 is located on the outer surface 1009 of the wrap layer 1004. When the cleaning pad 1000 is assembled, the marking 1010 faces the direction of the card backing 1006. To form the markings 1010, a portion of the wrap layer 1004 is marked, for example, by applying ink or applying colored paper or fibers. The marking 1010 is formed of, for example, ink that does not diffuse through the wrap layer 1004 and the absorption layers 1001a, 1001b, 1001c due to absorption through the wrap layer 1004 and the absorption layers 1001a, 1001b, 1001c.

  The cutout 1012 on the card backing 1006 allows the marking 1010 to be visible through the card backing 1006 because the marking 1010 is facing the direction of the card backing 1006. Markings 1010 on outer surface 1009 cooperate with cutouts 1012 on card backing 1006 to define an identification arrangement. This identification array uniquely identifies the type of cleaning pad 1000, similar to the identification array 603 of FIG. 6A. During the manufacturing stage of the cleaning pad 1000, the markings 1010 are formed (e.g., applied or printed) directly on the wrap layer 1004. The marking 1010 is limited to an area on the wrap layer 1004 below a location where the cutout 1012 of the card backing 1006 may be placed in the future (eg, a location where a block of the identification array may be placed). ing. The presence of the cutout 1012 allows viewing of a portion of the marking 1010 through the card backing 1006, and the absence of the cutout 1012 prevents viewing of other portions of the marking 1010 through the card backing 1006.

  The cutout 1012 is formed by, for example, a cut or punched portion of the card backing 1006 in the manufacturing stage. During the manufacturing of the cleaning pad 1000, the location and number of cutouts 1012 on the card backing 1006 are selected so that the cutouts 1012 define a unique identification sequence for the type of cleaning pad 1000. In contrast to cleaning pad 600, where card backing 606 includes ink and other markings to form identification array 603, card backing 1006 of cleaning pad 1000 does not include printed markings to form identification array. Rather, card backing 1006 includes cutouts 1012 that allow portions of markings 1010 on outer surface 1009 of wrap layer 1004 to be visible through card backing 1006 at cutouts 1012. The card backing 1006 and cutout 1012 allow for the detection of patterns of different density or color markings by a pad sensor (eg, pad sensor assembly 624) of the robot. The pattern is defined by the location and number of cutouts 1012. The cutout 1012 provides a window defining the identification sequence and allows the pad sensor to detect the marking 1010 in a particular area below the pad sensor's detection window (eg, detection window 640).

  The marking 1010 itself does not define an identification sequence. Rather, the cutout 1012 and the marking 1010 combine to define an identification sequence. Any combination of cutouts 1012 formed in the card backing 1006 partially exposes the markings 1010, forming a unique identification array for the type of cleaning pad 1000. The cutout 1012 reflects the radiation emitted by the pad sensor to the underlying marking 1010, and the uncut portion reflects the radiation emitted by the pad sensor to the card backing 1006 itself.

  In some examples, if the marking 1010 is visible through the card backing 1006 due to the presence of the cutout, the cutout defines the blocks of the identification array in a dark state. If the markings 1010 are not visible through the card backing 1006 due to the presence of cutouts (eg, the presence of non-cutouts), the card backing 1006 defines the blocks of the identification array in a bright state. The combination of cutout 1012 and non-cutout forms a pattern of differently colored or shaded markings. This combination also defines the identification sequence.

  During the manufacturing stage of the cleaning pad 1000, in some cases, the markings 1010 are placed on the wrap layer 1004 after the wrap layer 1004 is wound on the absorbent layers 1001a, 1001b, 1001c. When the ink forms the marking 1010 on the wrap layer 1004, the marking 1010 may be visible from both the inner surface of the wrap layer 1004 and the outer surface of the wrap layer 1004, or may be visible only on the outer surface 1009 of the wrap layer 1004. When the wrap layer 1004 is wrapped around the absorbent layers 1001a, 1001b, 1001c, the marking 1010 is visible on the outer surface of the pad body. Marking 1010 can be detected by an optical sensor (eg, emitter / detector array 629) if cutout 1012 is aligned with marking 1010 and marking 1010 is visible through cutout 1012 in card backing 1006. is there.

  The process of manufacturing the cleaning pad 1000 includes defining a marking 1010 on the wrap layer 1004 and forming a cutout 1012 in the card backing 1006. In some embodiments, the marking 1010 is formed by a printing process that is not specific to the type of cleaning pad, and the card backing 1006 is manufactured using a process that is specific to the cleaning pad. In one example of this manufacturing process, a cleaning pad 1000 is held on a pad holder (eg, pad holder 620) of a robot with ink or other suitable markings on the wrap layer 1004 to define the markings 1010. In this state, it is usually attached visually to a position below the pad sensor. Since the marking 1010 does not define the pattern of the identification sequence, the alignment of printing on the pad may be minimal. The ink may be applied over a wider area to form the marking 1010, and the operation of applying the ink need not be accurate. For this manufacturing process, the inks and other markings need not be placed directly on the card backing 1006, which in some cases may be water resistant.

  To manufacture card backing 1006, cutout 1012 and card backing 1006 are formed, for example, in a single step of removing card backing 1006 and corresponding cutout 1012 from card paper. This step defines the shape of the card backing 1006 and the location of the cutout 1012 along the card backing 1006. This single step reduces possible alignment differences between the card backing 1006 (eg, the end of the card backing 1006) and the identification array. Differences in alignment may appear during a manufacturing process where the card backing 1006 is manufactured separately to define the identification sequence.

  If the identification sequence is printed directly on the card backing, a special alignment step may be used to align the print with the edges of the card backing. In the case of the card backing 1006 and the cutout 1012, this special alignment step is unnecessary because the card backing 1006 and the cutout 1012 are formed in a single stamping step. When forming a pattern using a different process by forming the shape and cutout of the card backing in a single process, for example, when first punching the card backing from card paper and then printing the pattern on the card backing The cutout aligns with the edge of the card backing without the need for any special alignment steps required.

  As described in this disclosure, in contrast to the identification array 603 formed by the markings applied directly to the card backing 606, the identification array 1103 is a cutout of the marking 1115 and the card backing 1106, as shown in FIG. Stipulated. As shown in FIG. 11, for example, a cleaning pad 1100 manufactured using components similar to those described for the cleaning pad 1000 of FIG. 10 includes a mounting surface 1102, a cleaning surface 1104, and a card backing 1106. The outer surface of the pad body of cleaning pad 1100 defines a mounting surface 1102 and a cleaning surface 1104. When the cleaning pad 1100 is held by the robot, the mounting surface 1102 faces the direction of the robot and the cleaning surface 1104 faces the direction opposite to the robot. During a cleaning operation in which the robot moves on the floor, the cleaning surface 1104 faces the direction of the floor. The markings 1115 applied to the wrap layer of the cleaning pad 1100 and disposed on the mounting surface 1102 are used to form an identification array 1103 for the robot to detect and identify the type of cleaning pad that the user has attached to the robot. It is selectively visible or detectable through a cutout in the lining 1106. The marking 1115 is provided directly on the mounting surface 1102 of the pad body, and the cutout of the card backing 1106 forms the marking 1115 so that the robot pad sensor can detect the marking 1115 when the cleaning pad 1000 is held by the pad holder. Expose.

  Similar to and as described with respect to identification array 603, identification array 1103 includes identification elements 1108a-1108c, each of identification elements 1108a-1108c including right blocks 1112a-1112c and left blocks 1110a-1110c. . As described in this disclosure, blocks 1110a-1110c, 1112a-1112c assume one of a dark state and a bright state. In some embodiments, the dark state of the block corresponds to detection of ink, and the light state corresponds to detection of card backing 1106.

  The left blocks 1110a-1110c and the right blocks 1112a-1112c are each set to a dark state or a light state (e.g., during manufacturing). Whether the state of each block is the dark state or the bright state is based on the detectability of the marking 1115 in the block area. The dark state of blocks 1110a-1110c, 1112a-1112c is defined by the presence of cutouts on card backing 1106, and the light state of blocks 1110a-1110c, 1112a-1112c is defined by the absence of cutouts on card backing 1106. In other words, the marking 1115 and the cutout of the card backing 1106 define the dark state of the blocks 1110a-1110c, 1112a-1112c, and the card backing 1106 itself defines the light state. The marking 1115 is, for example, a dark color ink or a light color ink for coloring the wrap layer and the mounting surface 1102 such that a difference in brightness between the natural color of the card backing 1106 and the marking 1115 is generated.

  In FIG. 11, the right block 1112a, the right block 1112b, and the left block 1110c are in a dark state. The cutouts in the card backing 1106 are located at positions corresponding to these blocks so that the markings 1115 are visible through the card backing 1106. On the other hand, the left block 1110a, the left block 1110b, and the right block 1112c are in a bright state. The card backing 1106 does not include cutouts at the locations of these blocks so that the marking 1115 is not visible through the card backing 1106. Rather, a card backing 1106 is arranged at a position corresponding to these blocks in the bright state.

  The marking 1115 occupies the area under the blocks 1110a-1110c, 1112a-1112c such that the marking 1115 fills each of the blocks 1110a-1110c, 1112a-1112c. The marking 1115 is visible only within the blocks 1110a-1110c, 1112a-1112c, which also correspond to the cutout position of the card backing 1106. The marking 1115 occupies an area beyond the perimeter of the blocks 1110a-1110c, 1112a-1112c so that the marking 1115 is under any location where a cutout may be placed in the future.

  Referring again to FIG. 6C, the pad sensor assembly 624 of the robot used to detect the identification array 1103 can be similarly used to detect the identification array 1103 in FIG. When the cleaning pad 1100 is inserted into the pad holder 620, radiation emitted by the emitters 630a-630c, 634a-634c passes through the window 635 and illuminates and reflects the surface of the underlying cleaning pad 1100 wrap layer. The cutout, and thereby the identification array 1103, is located below the pad sensor assembly 624. After the user inserts the cleaning pad 1100 into the pad holder 620, the controller of the robot determines the type of pad inserted into the pad holder 620 using the identification arrangement process described in this disclosure.

  In some cases, the markings 1115 are identified such that the markings 1115 occupy more area than the identification sequence or individual blocks of the identification sequence (eg, 5% to 25% wider than the area of the identification sequence). Extends beyond elements 1108a-1108c. The area of the identification array corresponds to the area along the cleaning pad 1000 (eg, along the card backing 1006) where the pad sensor detects the block of the identification array. The region of the identification array includes a location where a cutout 1012 corresponding to a block of the identification array (eg, in either the dark state or the light state) may be placed in the future. The area of the identification sequence is, in some instances, the same as the area of the detection window. In some cases, the area of the discriminating sequence is, for example, 1 to 1.5 times, 1.5 to 2 times, or 2 to 3 times larger than the area of the detection window.

  In some embodiments, the marking 1115 is, for example, 100% to 150%, 110% to 125%, 125% to 150%, 150% to 200% of the region of the identification sequence 1103 or the region of the block of the identification sequence. , Or 200% to 250% of the dimension. In some embodiments, the marking 1010 occupies an area between, for example, between 2 square centimeters and 4 square centimeters or between 2 square centimeters and 6 square centimeters. Each marking 1010 occupies an area proportional to the area of the card backing 1006, in some cases, for example, 10% to 25% or 25% to 50% of the area of the card backing 1006. In some examples, the area of the marking 1115 corresponds to the area of the detection window of the pad sensor. The dimensions of the cutout are large enough to cause detectors 632a-632c to detect radiation reflected at marking 1115 through the detection window. The marking 1115 occupies, for example, 100% to 150%, 110% to 125%, 125% to 150%, 150% to 200%, or 200% to 250% of the area of the detection window. The cutout is, in some instances, square or rectangular and has a width of about 3-5 mm.

  The dark and bright states have different reflectivities so that the pad sensor detects the difference between the dark and bright states. For example, the dark state may be 20%, 30%, 40%, 50% less reflective than the bright state. The reflectance in the dark state depends on the reflectance of the marking 1115, and the reflectance in the bright state depends on the reflectance of the card backing 1106. In order for the blocks of the discriminating arrangement to have a lower reflectivity in the dark state than in the light state, the marking 1115 is darker, which reduces the reflectivity of the dark state blocks as compared to the reflectivity of the light state blocks. Contains ink or marks.

  In some cases, the marking 1115 is lighter than the card backing. In these cases, detection of the marking 1115 indicates that the block is in a bright state, and detection of the card backing 1106 indicates that the block is in a dark state.

  In some embodiments, the wrap layer has a different reflectivity than the card backing 1106. Because the wrap layer itself contrasts with the card backing 1106, no additional ink is required on the wrap layer to form the marking 1115 on the mounting surface 1102. The card backing 1106 is, for example, 20% to 50%, 50% to 100%, or 100% to 150% more reflective than the wrap layer (or vice versa). The wrap layer itself serves as a marking with lower reflectivity than the card backing 1106. Detection of the wrap layer indicates that the block is in a dark state, and detection of the card backing 1106 indicates that the block is in a light state.

  Although FIG. 11 shows each block of the identification array 1103 as a rectangular portion formed by cutouts on the card backing 1106, in other embodiments, each block is a robot optical sensor (eg, FIG. It may be circular, oval, rectangular, square, or any other suitable shape that provides sufficient area to detect the identification array 1103 with the emitter / detector array 629) in 6C. Although the cutout 1012 has been described as defining each block of the identification array, in some embodiments a single cutout forms a shape that includes each block of the identification array.

While FIGS. 10 and 11 show two markings for the two identification arrays on the cleaning pad, in some cases a single marking may define both identification arrays. The marking is located on a wider portion of the wrap layer. A single marking occupies an area between 30 square centimeters and 60 square centimeters or more. The single marking is, in some instances, placed in an area having a size of 75% to 125% of the area of the card backing.

Color identification mark

  Referring to FIG. 7A, the cleaning pad 700 includes a mounting surface 702, a cleaning surface 704, and a card backing 706. The cleaning pad 700 is basically the same as the pad described above, but has a different identification mark. The card backing 706 includes a single color identification mark 703. The card backing 706 is arranged on the mounting surface 702 of the cleaning pad 700. The identification mark 703 is duplicated symmetrically about a longitudinal axis and a longitudinal axis so that a user can insert the cleaning pad 700 into a robot (eg, the robot 100 shown in FIGS. 1A-1B) from either of two orientations. .

  The identification mark 703 is a detected part in the card backing 706 that can be used by the robot to identify the type of cleaning pad attached to the robot by the user. The identification mark 703 is formed on the card backing 706 by marking the card backing 706 with color ink (for example, in a manufacturing stage of the cleaning pad 700). The color ink can be one of a variety of colors used to uniquely identify different types of cleaning pads. As a result, the control unit of the robot can identify the type of the cleaning pad 700 using the identification mark 703. FIG. 7A shows a circular dot-shaped identification mark 703 formed of ink applied to the card backing 706. Although the identification mark 703 has been described as being of a single color, other embodiments may include a dot pattern composed of dots of different chromaticities. The identification mark 703 may include different types of patterns that can differentiate the chromaticity, reflectance, or other optical characteristics of the identification mark 703.

  Referring to FIGS. 7B and 7C, the robot may include a pad holder 720 having a pad holder body 722 and a pad sensor assembly 724 used in detecting the identification mark 703. Pad holder 720 holds cleaning pad 700 (as described with respect to pad holder 300 shown in FIGS. 2A-2C and FIGS. 3A-3D). The pad sensor assembly housing 725 houses the circuit board 726 including the photodetector 728. The identification mark 703 has dimensions sufficient to allow the photodetector 728 to detect radiation reflected by the identification mark 703 (eg, the identification mark has a diameter of about 5 mm to about 50 mm). Pad sensor assembly housing 725 further houses emitter 730. The circuit board 726 is part of the pad identification system 534 (described with respect to FIG. 5) and electrically connects the detector 728 and the emitter to the control. Detector 728 is capable of detecting the radiation and measures the red, green, and blue components of the detected radiation. In the embodiments described below, the emitter 730 can emit three different types of light. Although the emitter 730 can emit light in the visible region, it will be appreciated that in other embodiments, the emitter 730 can emit light in the infrared or ultraviolet regions. For example, emitter 730 may include red light at a wavelength of about 623 nm (eg, between 590 nm and 720 nm), green light at a wavelength of about 518 nm (eg, between 480 nm and 600 nm), and about 466 nm (eg, between 400 nm and 540 nm). Blue light having a wavelength of (between). Detector 728 may have three separate channels capable of detecting spectral regions corresponding to red, green, and blue, respectively. For example, the first channel (red channel) has a spectral response region capable of detecting red light having a wavelength between 590 nm and 720 nm, and the second channel (green channel) has green light having a wavelength between 480 nm and 600 nm. The third channel (blue channel) may have a detectable spectral response region, and may have a spectral response region capable of detecting blue light having a wavelength between 400 nm and 540 nm. Each channel of the detector 728 produces an output corresponding to the amount of red, green, or blue component contained in the reflected light.

  Pad sensor assembly housing 725 defines an emitter window 733 and a detector window 734. Emitter 730 is aligned with emitter window 733 such that activation of emitter 730 causes emitter 730 to emit radiation through emitter window 733. Detector 728 is aligned with detector window 734 so that detector 728 can receive radiation that has passed through detector window 734. In some cases, windows 733, 734 are filled (eg, with a plastic resin) to protect emitter 730 and detector 728 from moisture, foreign matter (eg, fibers of cleaning pad 700), and debris. ing. When the cleaning pad 700 is inserted into the pad holder 720, the radiation emitted by the emitter 730 passes through the emitter window 733, irradiates the identification mark 703, is reflected by the identification mark 703, and is reflected by the detector window. It is located below pad sensor assembly 724 to reach detector 728 through 734.

  In another embodiment, the pad sensor assembly housing 725 may include additional emitter and detector windows for additional emitters and detectors to provide extra. The cleaning pad 700 may have two or more identification marks, each having a corresponding emitter and detector.

  For each light emitted by emitter 730, each channel of detector 728 detects the light reflected at identification mark 703 and, in response to the detection of the light, corresponds to the amount of red, green, and blue components of the light. Generate output. The radiation incident on the identification mark 703 is reflected toward each channel of the detector 728, and each channel is then processed by the controller to determine the amount of red, green, and blue components contained in the reflected light. Generate a signal (eg, a change in current or voltage) that can be used. Detector 728 may then transmit a signal that conveys the output of the detector. For example, detector 728 may be in the form of a vector (R, G, B) consisting of an element R corresponding to the output of the red channel, an element G corresponding to the output of the green channel, and an element B corresponding to the output of the blue channel. Signals can be sent.

  The identification order of the identification mark 703 is determined by the number of light emitted from the emitter 730 and the number of channels of the detector 728. For example, quaternary discrimination is possible by two light emission and two detection channels. In another embodiment, six orders can be identified by two emission and three detection channels. In the above-described embodiment, ninth order can be identified by three light emission and three detection channels. Higher order discrimination is more accurate but requires more computation. Although the emitter 730 has been described as emitting three different wavelengths of light, in other embodiments, the number of lights that can be emitted can be different. In embodiments where high reliability is required for the classification of the color of the identification mark 703, additional different wavelengths of light may be emitted and detected to improve the reliability of the color determination. In embodiments where fast calculations and measurements are required, a smaller number of lights may be generated and detected to reduce the amount of calculations and the time required to measure the spectral response of the identification mark 703. One light source and one detector can be used to identify the identification mark 703, but there is the potential for more false positives.

  After the user inserts the cleaning pad 700 into the pad holder 720, the controller of the robot determines the type of the pad inserted into the pad holder 720. As described above, the cleaning pad 700 can be inserted from any horizontal direction as long as the card backing 706 is facing the pad sensor assembly 724. When the cleaning pad 700 is inserted into the pad holder 720, the card backing 706 can wipe moisture, foreign matter, and debris from the windows 733,734. The identification mark 703 provides information on the type of pad inserted based on the color of the identification mark 703.

  In the memory of the control unit, typically, an index of a color corresponding to a color of ink to be used as an identification mark of the card backing 706 of the cleaning pad 700 is stored in advance. Specific color inks included in the color index may have spectral response information in the form of (R, G, B) vectors corresponding to each of the colors of light emitted by the emitter 730. For example, a red ink included in a color index may have three identifying response vectors. The first vector (the red vector) corresponds to the response of the channel of the detector 728 to red light emitted by the emitter 730 and reflected by the red ink. The second vector (blue vector) corresponds to the response of the channel of the detector 728 to the blue light emitted by the emitter 730 and reflected by the red ink. The third vector (green vector) corresponds to the response of the channel of detector 728 to green light emitted by emitter 730 and reflected by red ink. Each of the ink colors to be used for identification marks on the card backing 706 of the cleaning pad 700 has different unique associated properties corresponding to the three response vectors described above. The response vector can be collected by repeatedly performing a test on ink of a specific color applied to a material equivalent to that of the card backing 706. Color inks that are pre-stored in the index may be selected to be farther apart on the light spectrum (eg, purple, green, red, and black) to reduce the probability of misidentifying colors. The predefined color inks correspond to a particular cleaning pad type.

  Referring also to FIG. 7D, the controller initiates the identification mark algorithm 750 to detect and process the information provided by the identification mark 703. In step 755, the control unit activates the emitter 730 to generate red light to be emitted toward the identification mark 703. The red light is reflected by the identification mark 703.

  At step 760, the control receives the first signal generated by the detector 728, including the (R, G, B) vectors measured by the three color channels of the detector 728. The three channels of the detector 728 are responsive to the light reflected at the identification mark 703 and measure the red, green, and blue spectral responses. Detector 728 then generates a first signal that includes these spectral response numbers and sends the first signal to the controller.

  In step 765, the control unit activates the emitter 730 to generate green light to be emitted toward the identification mark 703. Green light is reflected by the identification mark 703.

  At step 770, the controller receives a second signal generated by the detector 728, including the (R, G, B) vectors measured by the three color channels of the detector 728. The three channels of the detector 728 are responsive to the light reflected at the identification mark 703 and measure the red, green, and blue spectral responses. Detector 728 then generates a second signal containing these spectral response values and sends the second signal to the controller.

  In step 775, the control unit activates the emitter 730 to generate blue light to be emitted toward the identification mark 703. The blue light is reflected by the identification mark 703. At step 780, the controller receives a third signal generated by the detector 728, including the (R, G, B) vectors measured by the three color channels of the detector 728. The three channels of the detector 728 are responsive to the light reflected at the identification mark 703 and measure the red, green, and blue spectral responses. Detector 728 then generates a third signal containing these spectral response values and sends the third signal to the controller.

  In step 785, the control unit generates a probabilistic match between the identification mark 703 and the color ink included in the color index stored in the memory based on the three signals received in steps 760, 770, and 780. I do. The color ink that defines the identification mark 703 is identified by the (R, G, B) vector, and the control unit can calculate the probability that the set of three vectors corresponds to the color ink included in the color index. The controller may calculate probabilities for all color inks included in the color index and then rank the color inks in order of decreasing probability. In some examples, the control unit normalizes the received signal by performing vector processing. In some cases, the control calculates a normalized cross or dot product before matching the vector to the color inks included in the index. The controller can take into account noise sources, for example, ambient light that can distort the optical characteristics of the identification mark 703 to be detected.

  In some cases, the control unit only determines if the highest probability color ink probability exceeds a threshold probability (eg, 50%, 55%, 60%, 65%, 70%, 75%). , Can be programmed to make a decision and choose one color. By using the threshold probability, it is possible to detect that the identification mark 703 is not correctly aligned with respect to the pad sensor assembly 724, and to prevent an error in mounting the cleaning pad 700 on the pad holder 720. For example, as described above, the cleaning pad 700 may “fall” or slide off the pad holder 720 during use, partially move from the mounting position along the pad holder 720, and cause the pad sensor assembly 724 to identify the identification mark 703. May interfere with detection. The control unit calculates the probabilities of the color inks included in the color ink index, and if none of the probabilities exceeds the threshold probability, the control unit can indicate that a pad identification error has occurred. The threshold probability can be selected based on the sensitivity and accuracy required of the identification mark algorithm 750. In some embodiments, upon determining that none of the probabilities exceed the threshold probability, the robot generates an alert. In some cases, the alert is a visible alert where the robot stops in place and / or turns on a light on the robot. In another case, it is an audible alert that can also issue a language alert that tells the robot that an error has occurred. An audible alert may be, for example, an array of sounds, such as an alarm.

  Additionally or alternatively, the control unit can calculate an error of each of the calculated probabilities. If the color ink error with the highest probability is greater than the threshold error value, the control unit can indicate that a pad identification error has occurred. As with the threshold probabilities described above, the threshold error value prevents the cleaning pad 700 from being misaligned and mounting errors of the cleaning pad 700.

  The identification mark 703 is large enough to be detected by the detector 728, but a pad identification error has been generated by the identification mark algorithm 750 when the cleaning pad 700 has slipped off the pad holder 720. Is small enough to show For example, the identification mark algorithm 750 may indicate an error if 5%, 10%, 15%, 20%, 25% of the cleaning pad 700 slips off the pad holder 720. In this case, the size of the identification mark 703 may correspond to a predetermined percentage of the length of the cleaning pad 700 (for example, the identification mark 703 may have a length of 1% to 10% of the length of the cleaning pad 700). Diameter). Although the identification mark 703 is described and presented only to a limited extent, in some cases, the identification mark 703 may be a simple card backing color. The card backing may be entirely monochromatic, or the spectral response of a different color card backing may be stored in a color index. In some cases, the identification marks 703 may be square, rectangular, triangular, or other optically detectable shapes rather than circular.

  Although the ink used to form the identification mark 703 has been described as merely a color ink, in some instances, the color ink allows the control to uniquely identify the ink, thereby providing a unique cleaning pad uniqueness. Includes additional components that also enable identification. For example, the ink may include a fluorescent marker that fluoresces under a particular type of radiation, and the fluorescent marker may further be used to identify the type of pad. The ink may include markers that cause a distinct phase shift in the reflected radiation that is detectable by the detector. In this example, the controller uses the identification mark algorithm 750 for both identification and authentication, identifies the type of cleaning pad using the identification mark 703, and then cleans using a fluorescent marker or a phase shift marker. The type of pad can be authenticated.

  In another embodiment, the same type of color ink is used for different types of cleaning pads. The amount of ink differs depending on the type of the cleaning pad, and the type of the cleaning pad can be identified by the photodetector detecting the intensity of the reflected light.

  Although the card backing 706 of FIG. 7A has been described as including a single color identification mark 703, in some embodiments the identification mark may be located directly on the wrap layer of the cleaning pad. As shown in FIG. 12, which is a developed view of the cleaning pad 1200, the cleaning pad 1200 includes an absorbent layer 1201a, 1201b, 1201c, a wrap layer 1204, and a card backing 1206.

  As described in this disclosure, the wrap layer 1204 is a non-woven, porous sheet structure that includes an inner surface 1208 and an outer surface 1209 opposite the inner surface 1208. The material properties of the absorbent layers 1201a, 1201b, 1201c, the wrap layer 1204, and the card backing 1206 are similar to the material properties of the absorbent layers 201a, 201b, 201c, the wrap layer 204, and the card backing 206 described with reference to FIG. 2B, respectively. May be. During a cleaning operation in which the robot holds the cleaning pad 1200, the outer surface 1209 contacts the floor surface. The inner surface 1208 of the wrap layer 1204 visible in FIG. 12 faces the absorption layers 1201a, 1201b, and 1201c when the cleaning pad 1200 is assembled. During the cleaning operation, the inner surface 1208 does not directly contact the floor surface. The outer surface 1209 of the wrap layer 1204, which is not visible in FIG. 12, faces in a direction opposite to the absorption layers 1201a, 1201b, and 1201c when the cleaning pad 1200 is assembled. The outer surface 1209 of the wrap layer 1204 serves as the outer surface of the pad body, covering internal components of the pad body such as the absorption layers 1201a, 1201b, 1201c. In some embodiments, after the outer surface 1209 contacts the floor cleaning solution, the cleaning solution is absorbed from the outer surface 1209 to the inner surface 1208 through the wrap layer 1204, and then the absorbing layers 1201a, 1201b facing the inner surface 1208. , 1201c.

  Wrap layer 1204 includes markings on outer surface 1209 that form a single color identification mark 1210 on wrap layer 1204. The identification mark 1210 is formed directly on the wrap layer 1204. The identification mark 1210 is, for example, ink that is absorbed by the wrap layer 1204 and limited to a certain portion of the wrap layer 1204 so that the identification mark 1210 forms a geometric shape such as a rectangle or a circle. The card backing 1206 is such that the identification mark 1210 on the above portion of the wrap layer 1204 allows substantially all of the area of the wrap layer 1204 visible through the cutout 1212 (eg, 85% of the area of the wrap layer 1204 visible through the cutout 1212). , 90%, 95%, over 99%).

  The identification mark 1210 disposed on the wrap layer 1204 below the card backing 1206 may in some cases be formed of color ink (eg, during the manufacture of the cleaning pad 1300 and the wrap layer of the cleaning pad 1300). Is done. The color ink is, for example, one of a variety of different colors used by a robot controller to uniquely identify different types of cleaning pads. In some embodiments, the identification mark 1210 can be applied to the wrap layer 1204 and the absorbent layer 1201a during use of the cleaning pad 1200, for example, when the cleaning pad 1200 absorbs moisture through the wrap layer 1204 and the absorbent layers 1201a, 1201b, 1201c. , 1201b, 1201c.

  Card backing 1206 is manufactured to include cutout 1212. The cutout 1212 is defined, for example, by the portion of the card backing 1206 that has been cut or punched out during the manufacturing process. As a result, the card backing 1206 does not include ink or other color markings to form the identification mark, as opposed to the cleaning pad 700 where the card backing 706 includes the ink to form the identification mark 703. Rather, the card backing 1206 includes a cutout 1212 to allow a portion of the identification mark 1010 to be visible through the card backing 1206, thereby providing a card backing 1206 with a robotic pad sensor (eg, pad sensor assembly 724). Allows the detection of a part of the identification mark 1210 through the.

  As shown in FIG. 13, for example, a cleaning pad 1300 manufactured using components similar to those described with respect to the cleaning pad 1200 of FIG. 12 includes a mounting surface 1302, a cleaning surface 1304, and a card backing 1306. The outer surface of the pad body of cleaning pad 1300 defines a mounting surface 1302 and a cleaning surface 1304. When the cleaning pad 1300 is held by the robot, the mounting surface 1302 faces the direction of the robot, and the cleaning surface 1304 faces the direction opposite to the robot. During a cleaning operation in which the robot moves on the floor, the cleaning surface 1304 faces the floor. A part of the single color identification mark 1303 arranged on the wrap layer of the cleaning pad 1300 is visible or optically detectable through the cutout 1305 of the card backing 1306. The identification array 1303 is duplicated symmetrically about the longitudinal and horizontal axes of the cleaning pad 1300 on the mounting surface 1302 so that the user can insert the cleaning pad 1300 into the robot from any horizontal direction.

  In some examples, identification mark 1303 occupies a larger area than cutout 1305 to ensure that identification mark 1303 fills cutout 1305. The identification mark 1303 has, for example, an area that is 0% to 50%, 10% to 25%, or 25% to 50% larger than the area of the cutout 1305. In some embodiments, the marking 1010 occupies an area, for example, between 0.5 square centimeters and 2 square centimeters, between 2 square centimeters and 6 square centimeters, or between 2 square centimeters and 4 square centimeters.

  The identification mark 1303 may in some cases occupy an area proportional to the area of the card backing 1006, for example, 10% to 25% or 25% to 50% of the area of the card backing 1006. In some examples, the area of the identification mark 1303 corresponds to the area of the emitter window of the pad sensor. The size of the cutout is large enough to cause the pad sensor to detect the radiation reflected by the identification mark 1303 through the emitter window. The identification mark 1303 occupies, for example, 100% to 150%, 110% to 125%, 125% to 150%, 150% to 200%, or 200% to 250% of the area of the emitter window. The cutout is circular in some examples and has a diameter of about 3 mm to 5 mm, 5 mm to 10 mm, or 10 mm to 20 mm. In some embodiments, the cutout is oval, rectangular, square, or other suitable shape that provides sufficient area for the robot's optical sensor to detect the identification mark 1303.

Referring again to FIGS. 7B and 7C, the pad sensor assembly 724 of the robot used to detect the identification mark 703 can be used to detect the identification mark 1303 in FIG. The dimensions of the cutout 1305 are large enough to cause the photodetector 728 to detect radiation reflected from the portion of the identification mark 1303 that is visible through the card backing 1306 (e.g., the cutout 1305 is approximately 5 mm to 50 mm). With a diameter). When the sweep pad 1300 is inserted into the pad holder 720, the cutout 1305 and the identification mark 1303 are positioned such that the radiation emitted by the emitter 730 passes through the window 733 and illuminates the portion of the identification mark 1303 that is visible through the cutout 1305. It is located below the pad sensor assembly 724. The radiation reflects through detection window 734 at identification mark 1303 in the direction of detector 728. After the user inserts the cleaning pad 1300 into the pad holder 720, the controller of the robot may, for example, identify the identification mark process 750 to detect and process information provided from the identification mark 1303 (eg, the spectral response of the identification mark 1303). Is used to determine the type of pad inserted into the pad holder 720. As described in the present disclosure, the control unit can determine the type of the cleaning pad based on the color of the identification mark 1303 and appropriately adjust the cleaning operation and the navigation operation.

Other identification initiatives

  8A to 8F show cleaning pads with different detectable features that allow the robotic control to identify the type of cleaning pad attached to the pad holder. Referring to FIG. 8A, the card backing 802A of the cleaning pad 800A includes a radio frequency identification (RFID) chip 803A. The high frequency identification chip uniquely distinguishes the type of cleaning pad 800A in use. The robot pad holder includes an RFID reader with a short reception range (eg, less than 10 cm). The RFID reader may be located on the pad holder such that the cleaning pad 800A is located on the RFID chip 803A when properly attached to the pad holder.

  Referring to FIG. 8B, the card backing 802B of the cleaning pad 800B includes a barcode 803B to distinguish the type of cleaning pad 800B in use. The pad holder of the robot includes a bar code scanner for reading bar code 803B and determining the type of cleaning pad 800B attached to the pad holder.

  Referring to FIG. 8C, the card backing 802C of the cleaning pad 800C includes a microprint identifier 803C that distinguishes the type of cleaning pad 800C in use. The robot's pad holder includes an optical mouse sensor that reads the microprint identifier 803C as an image and determines the characteristics of the microprint identifier 803C that uniquely distinguishes the cleaning pad 800C. For example, the controller can use the read image to measure the angle 804C at which certain features of the microprint identifier 803C (eg, a company logo or other repeating image) are facing. The control unit selects a pad type based on the detected orientation of the image.

  Referring to FIG. 8D, the card lining 802D of the cleaning pad 800D includes mechanical fins 803D to distinguish the type of cleaning pad 800D in use. The mechanical fins 803D may be formed of a foldable material so that it can be flattened against the card backing 802D. The mechanical fins 803D protrude from the card backing 802D in the unfolded condition, as shown in section AA of FIG. 8D. The robot pad holder may include a plurality of break beam sensors. The combination of the fin-responsive break beam sensor indicates to the robot's control that a particular type of cleaning pad 800D has been attached to the robot. One of the plurality of break beam sensors may contact the mechanical fin 803D shown in FIG. 8D. The control unit can determine the type of the pad based on the combination of the reacted break beam sensors. The controller may alternatively determine the distance between the fins 803D specific to the pad type from the pattern of the reacted break beam sensor. Methods that use the distance between fins and other features are less susceptible to slight alignment errors, in contrast to methods that use the exact location of these features.

  Referring to FIG. 8E, the card backing 802E of the cleaning pad 800E includes a cutout 803E. The robot's cleaning pad may include a mechanical switch that does not operate in the area of cutout 803E. As a result, it is possible to uniquely identify the type of the cleaning pad 803E attached to the pad holder by the arrangement and size of the cutout 803E. For example, the controller may calculate the distance between cutouts 803E based on a combination of activated switches, and may use the calculated distance to determine the type of pad.

Referring to FIG. 8F, the card backing 802F of the cleaning pad 800F includes a conductive area 803F. The pad holder of the robot may include a corresponding conductivity sensor that contacts the card backing 802F of the cleaning pad 800F. Since the conductive area 803F has higher conductivity than the card backing 802F, the conductivity sensor detects a change in conductivity when the conductive area 803F contacts the conductive area 803F. The control unit can determine the type of the cleaning pad 800F using the change in the conductivity.

how to use

  The robot 100 (shown in FIG. 1A) can execute a control system 500 (shown in FIG. 5A) and a pad identification system 534, and can include pad identifiers (eg, an identification array 603 shown in FIG. 6A, an identification mark shown in FIG. 7A). 703, an RFID chip 803A shown in FIG. 8A, a bar code 803B shown in FIG. 8B, a microprint identifier 803C shown in FIG. 8C, a mechanical fin 803D shown in FIG. 8D, a cutout 803E shown in FIG. 8E, and a conductivity shown in FIG. 8F. Region 803F) was used to attach to pad holder 300 (shown in FIGS. 3A-3D, with alternatives described as pad holders 620, 720) (shown in FIG. 2A, and alternative cleaning pad 600). , 700, 800A-800F) (based on the type of cleaning pad 120). It is possible to perform the behavior. The methods and processes described below are examples of how to use the robot 100 having the pad identification system.

  Referring to FIG. 9, a flowchart 900 is a flowchart illustrating a use case of the robot 100 and its control system 500 and pad identification system 534. The flowchart 900 includes a user step 910 corresponding to a step activated or executed by a user, and a robot step 920 corresponding to a step activated or executed by a robot.

  At step 910a, the user inserts a battery into the robot. The battery supplies power to a control system of the robot 100, for example.

  At step 910b, the user attaches a cleaning pad to the pad holder. The user can attach the cleaning pad by sliding the cleaning pad into the pad holder such that the cleaning pad engages with the projection of the pad holder. The user can insert any type of cleaning pad, for example, a wet mopping cleaning pad, a dry dusting cleaning pad, or a washable cleaning pad as described above.

  In step 910c, if necessary, the user fills the robot with cleaning liquid. If the user inserts a dry dusting cleaning pad, there is no need to fill the robot with cleaning liquid. In some examples, the robot may identify the cleaning pad immediately after step 910b. In that case, the robot can indicate to the user whether the reservoir needs to be filled with cleaning liquid.

  In step 910d, the user turns on the power of the robot 100 at the start position. The user can power on the robot by, for example, pressing once or twice the cleaning button 140 (shown in FIG. 1A). The user can also carry the robot to the starting position. In some cases, the user turns on the robot by pressing the cleaning button once, and starts the cleaning operation by pressing the cleaning button again.

  At step 920a, the robot identifies the type of cleaning pad. The controller of the robot may perform, for example, one of the pad identification methods described with respect to FIGS. 6A-6D, FIGS. 7A-7D, and FIGS. 8A-8F.

  In step 920b, after identifying the type of the cleaning pad, the robot performs a cleaning operation based on the type of the cleaning pad. The robot can perform the navigation behavior and the scatter schedule as described above. For example, in the example described with respect to FIG. 4E, the robot executes the scatter schedules corresponding to Tables 2 and 3, and performs the navigation behavior as described with respect to these tables.

  In steps 920c and 920d, the robot periodically checks whether an error has occurred in the cleaning pad. The robot checks for errors in the cleaning pad while the robot continues the cleaning operation as part of step 920b. If the robot has not determined that an error has occurred, the robot continues the cleaning operation. If the robot determines that an error has occurred, the robot may, for example, stop cleaning, change the color of the visual indicator on the top of the robot, generate an audible alert, or combine a combination of expressions indicating that an error has occurred. Can be performed. The robot can detect an error by continuously checking the type of the cleaning pad while the robot performs the cleaning operation. In some cases, the robot can detect an error by comparing the current cleaning pad type identification with the initial cleaning pad type identified as part of step 920b described above. . If the current identification result is different from the initial identification result, the robot can determine that an error has occurred. As mentioned above, the cleaning pad may slip off the pad holder, which may lead to error detection.

  In step 920e, when the cleaning operation is completed, the robot returns to the start position in step 910d and turns off the power. The control unit of the robot can cut off the power supply from the control system of the robot in response to detecting that the robot has returned to the start position.

  In step 910e, the user removes the cleaning pad from the pad holder. The user can activate the pad release mechanism 322 as described above with respect to FIGS. 3A-3C. The user can put the cleaning pad directly into the trash can without touching the cleaning pad.

  In step 910f, if necessary, the user removes the surplus cleaning liquid from the robot.

  At step 910g, the user removes the battery from the robot. Thereafter, the user can charge the battery using the external power supply. The user can keep the robot for future use.

  The above steps described with reference to flowchart 900 do not limit the scope of how to use the robot. In one example, the robot can provide a visible or audible indication to the user based on the type of cleaning pad detected by the robot. If the robot detects a cleaning pad to use for a particular type of surface, the robot can gently inform the user of the recommended surface type for the cleaning pad type. The robot can also alert the user that the reservoir needs to be filled with cleaning liquid. In some cases, the user can be informed of the type of cleaning fluid to be placed in the reservoir (eg, water, cleaning agent, etc.).

  In another embodiment, the robot identifies the type of cleaning pad and then uses another sensor to determine whether the robot is in a working environment suitable for using the identified cleaning pad. be able to. For example, if the robot detects that the robot is resting on a carpet, the robot does not initiate a cleaning operation to prevent damage to the carpet.

While some examples have been described for purposes of illustration, the foregoing description is not intended to limit the scope of the invention. Other examples and modifications exist within the scope of the claimed invention.

Claims (14)

An autonomous floor cleaning robot,
The robot body,
A control unit carried on the robot body,
A drive unit that supports the robot body and moves the autonomous floor cleaning robot on the floor according to an instruction from the control unit.
A pad holder for holding a detachable cleaning pad, which is attached to a bottom surface of the robot main body, has a mounting plate and a mounting surface during operation of the autonomous floor cleaning robot, and the mounting plate is mounted on the mounting surface. When,
A pad sensor for detecting a pad type identification feature at least partially defined by a cutout on the mounting plate on the removable cleaning pad and generating a signal based on the pad type identification feature;
The mounting plate allows the pad sensor to detect the pad type identification feature, and wherein the controller is responsive to the signal generated by the pad sensor.
Selecting a cleaning mode from a plurality of cleaning modes based on the signal,
An autonomous floor cleaning robot that performs an operation of controlling the autonomous floor cleaning robot according to a selected cleaning mode. The mounting surface includes a wrap layer wrapped around an absorbent layer for absorbing liquid on the floor surface,
The pad type identification feature of claim 1, wherein the pad type identification feature is further defined by a marking on the wrap layer occupying an area larger than the area of the cutout, wherein the cutout allows the pad sensor to detect the marking. Autonomous floor cleaning robot.   The pad type identification feature includes a plurality of identification elements defined at least in part by the markings and the cutouts, each identification element having a first region and a second region, wherein the pad sensor comprises the first and second regions. 3. The autonomous floor cleaning robot according to claim 2, wherein the autonomous floor cleaning robot is arranged to independently detect the first reflectance of the area and the second reflectance of the second area.   At least one of the first reflectance and the second reflectance is defined by the reflectance of the mounting plate, and at least one of the first reflectance and the second reflectance is defined by the reflectance of the marking. The autonomous floor cleaning robot according to claim 3, wherein   4. The autonomous floor cleaning robot according to claim 3, wherein the plurality of identification elements define a boundary, and the marking occupies an area extending beyond the boundary. The pad sensor,
A first radiation emitter illuminating the first region;
A second radiation emitter illuminating the second region,
A photodetector that receives reflected radiation from both the first region and the second region and generates the signal based on the reflected radiation,
The autonomous floor cleaning robot according to claim 3, comprising: The control unit includes:
Determine the state of each of the plurality of identification elements based on the first reflectance and the second reflectance,
Determining the state of the pad type identification feature based on the state of each of the plurality of identification elements,
Comparing the state of the pad type identification feature with an index of the state stored in memory;
The autonomous floor cleaning robot according to claim 3, wherein the autonomous floor cleaning robot is configured to select the cleaning mode by performing an operation of selecting the cleaning mode from the plurality of cleaning modes based on the comparison.   The autonomous floor cleaning robot according to claim 7, wherein a state of each of the plurality of identification elements is based on detectability of the marking on the wrap layer. Wherein the first reflectivity is greater than the previous SL second reflectivity, the autonomous floor cleaning robot according to claim 3.   3. The autonomous floor cleaning robot of claim 2, wherein the marking includes color ink, the pad sensor detects a spectral response of the marking, and the signal corresponds to the detected spectral response.   12. The pad sensor of claim 10, wherein the pad sensor includes a radiation detector having a first channel and a second channel responsive to radiation, the first and second channels each detecting a portion of the spectral response of the marking. An autonomous floor cleaning robot as described.   The autonomous floor cleaning robot according to claim 11, wherein the first channel has a peak spectral response in a visible light region.   The pad sensor includes a radiation emitter configured to emit first radiation and second radiation, and the first radiation and the second radiation from the marking to detect the spectral response of the marking. The autonomous floor cleaning robot according to claim 10, which detects reflection.   The autonomous floor cleaning robot according to claim 1, wherein the plurality of cleaning modes respectively define a spraying schedule and a navigation behavior.