CN105120726A

CN105120726A - Cleaning pad

Info

Publication number: CN105120726A
Application number: CN201480009726.XA
Authority: CN
Inventors: M.J.杜利; N.罗马诺夫; M.威廉斯; J.M.约翰逊
Original assignee: iRobot Corp
Current assignee: iRobot Corp
Priority date: 2013-11-12
Filing date: 2014-11-11
Publication date: 2015-12-02
Anticipated expiration: 2034-11-11
Also published as: CN108378786B; AU2016259361A1; JP2019048130A; EP3453300A1; JP7214788B2; EP2945521A4; AU2014348883C1; CN105120726B; JP2021000475A; JP6440752B2; AU2018203583B2; CN107028564A; AU2014348883A1; JP6165317B2; JP2023052443A; KR20160085815A; AU2016259361B2; KR101880832B1; AU2014348883B2; CN108378786A

Abstract

A pad particularly adapted for surface cleaning. The pad includes an absorbent core having the ability to absorb and retain liquid material, and a liner layer in contact with and covering at least one side of the absorbent core. The liner layer has the ability to retain and wick liquid material through the liner layer. Cleaning apparatus containing such pads and methods of using such pads are also described.

Description

Cleaning pad

The cross reference of related application

The part of the application's to be the exercise question of application on November 12nd, 2013 be No. 14/077296th, U.S. Application Serial (attorney 225899-341316) of " main surface clean robot " continues, and the exercise question requiring on November 12nd, 2013 to submit be the U.S. Provisional Patent Application serial No. 61/902838 (attorney 225899-345297) of " cleaning pad " and the exercise question applied on October 3rd, 2014 is the priority of the U.S. Provisional Patent Application serial No. 62/059637 (attorney V46645) of " surface cleaning pad ".Each in above-mentioned application is endowed common in this entity.In addition, each full content in above-mentioned patent application is incorporated herein by reference for all objects.

Technical field

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

Background technology

Tile floor and table top often need cleaning, and wherein some are inevitable with cleaning the drying removing soil.Various burnisher can be used for cleaning crust.Most of instrument comprises the cleaning pad being attached to instrument removedly.Cleaning pad can be disposable or reusable.In some instances, cleaning pad is designed to applicable specific instrument or can be designed to quote more than one instrument.

Traditionally, wet mop is for removing dirt and other dirty marks (such as, dust, grease, food, baste, coffee, coffee grounds) from floor surface.People are usually soaked mop and are washed the floor with this mop in the bucket of water and soap or special floor-cleaning liquid.In some instances, people may need the scouring action performed back and forth to come the region of clean specific dirt.Then, this mop soaks and in same bucket, cleans mop and continue to wash the floor by people.In addition, people may need to kneel to wash the floor on floor, and this may be bother not only but also require great effort, particularly when floor covers large area.

Floor mop is used for scrubbing floor, and does not need people on bended knees always.The liner being connected to mop or autonomous robot can be cleaned and from removing solid on the surface, and does not need user to bend over clean surface, thus prevents from hurting user.

Summary of the invention

Describe a kind of surface cleaning pad, comprise absorbent core, it comprises and absorbs and keep the fibrous material of fluent material; Backing layer (herein in the whole text also referred to as " integument "), it contacts and covers at least side of described absorbent core, comprises and is kept and the fibrous material of wicking liquid material by described backing layer.In an embodiment, cleaning pad is disposable or capable of washing, reusable.

Other embodiment comprises the following element or feature that combination or sub-portfolio take, and provides the advantage absorbing and keep liquid and suspension chip with the compact mobile robot being less than 2.25 kilograms to body weight.The leading edge of lightweight robotic can not be expanded and improve in the bedding core moisture absorption gas of combination or the following element taked of sub-portfolio or feature-modeling and chip to absorbent core, this will hinder motor pattern and the cleaning efficacy of robot, because maximum downward force such as 1 ft lbf no longer will be applied to pad: above-mentioned pad, wherein said pad will adopt the pressure of about 0.9 pound on pad, absorb the fluent material of about 20 milliliters in about 10 seconds; Above-mentioned pad, wherein said absorbent core keeps the volume of absorbed fluent material up to about 90%; Above-mentioned pad, wherein said fluent material is roughly uniformly distributed in whole absorbent core; Above-mentioned pad, wherein said core material absorbs up to about 7 to about 10 times to its weight; Above-mentioned pad, wherein said backing layer keeps the fluent material absorbed up to about 10%; Above-mentioned pad, wherein said absorbent core comprises cellulose fibre; Above-mentioned pad, wherein said absorbent core comprises the mixture of cellulose and polymer fiber; Above-mentioned pad, wherein said absorbent core comprises nonwoven cellulosic paper pulp; Above-mentioned pad, wherein said cellulose pulp is the polymer of bonding; Above-mentioned pad, wherein said polymer comprises polyethylene and/or polypropylene; Above-mentioned pad, wherein said absorbent core also comprises the superficial layer containing acrylic latex, such as, to eliminate hair; Above-mentioned pad, wherein said pad is in absorption or keep such as substantially not compressing when moistening or expanding during liquid; Above-mentioned pad, wherein said pad comprises the back sheet that is connected to this pad and is particularly suitable for pad to be connected to cleaning equipment; Above-mentioned pad, wherein said back sheet comprises cardboard; Above-mentioned pad, wherein said cardboard back sheet is 0.1 to 0.05 inch (0.254 centimetre to 0.127 cm thick); Above-mentioned pad, wherein said cardboard back sheet is 0.028 inch (0.07 cm thick); Above-mentioned pad, wherein said pad is coated with polymer; Above-mentioned pad, wherein said polymer coating is about 0.010 to about 0.040 inch (0.0254 centimetre to 0.1016 cm thick); Above-mentioned pad, wherein said polymer is any polymer or wax material, and such as its salable opposing flowing fluid ratio is as water permeation (such as, such as polyvinyl alcohol or polyamine); Above-mentioned pad, wherein said cardboard adopts adhesive to be connected to this pad; Above-mentioned pad, wherein said absorbent core comprises first, second, and third airlaid layer, each airlaid layer has end face and bottom surface, the bottom surface of described first airlaid layer is arranged on the end face of described second airlaid layer, and the bottom surface of described second airlaid layer is arranged on the end face of described 3rd airlaid layer; Above-mentioned pad, wherein said backing layer wraps up around at least both sides of absorbent core and covers them; Above-mentioned pad, wherein said backing layer comprises hydroentangled layer; Above-mentioned pad, wherein said backing layer comprises water thorn spunbond (hydroentangledspundbond) or hydroentangled layer, its floor to have on the surface reduce thickness groove in wherein, and there is the basis weight of 35-40gsm (gram every square metre).When pad 100 is moist, there is not the interface between the bottom surface of enough hydrodynamic lubrication pads and floor surface.The pad soaked completely can rely in a layer fluid, pads simultaneously and moves on floor surface, but along with humidity pad slowly absorption fluids, integument that is fully not moistening, non-sufficient lubrication will drag on floor surface.In embodiments, spunbond or water thorn integument adopts hydrophilic fibre manufacture, and this fiber reduces the surface area of the pad of the air be exposed between pad and floor surface to greatest extent.If groove or pin hole are not parts for integument, then wet pad can adhere to hydrophily floor surface.Superficial makings is applied to the spunbond of integument or water thorn (such as herringbone grooves pattern or square net groove pattern) destroys otherwise wet pad will be impelled to adhere to the surface tension of wet floor surface.

In the embodiment of pad, described backing layer comprises the melt-blown abrasive fiber that the side that adheres to backing layer does not contact with described absorbent core; Above-mentioned pad, the diameter that wherein said meltblown fibers has is between about 0.1 micron and about 20 microns; Above-mentioned pad, wherein said melt-blown abrasive fiber covers about 44% of the surface of described backing layer to about 75%; In the embodiment of pad, described melt-blown abrasive fiber covers about 50% of the surface of described backing layer to about 60%.Meltblown layer is destroy otherwise wet integument may be caused to adhere to the surface tension of wetland plate to the advantage that this pad provides.By texture and pattern being added to the floor towards pad surface, meltblown layer prevents pad from adhering to or runs into large drag force.Meltblown layer also provides superficial makings to pad, treats for coarse the dirt and chip that adhere to or be dried to floor surface, and loosens dirt and chip absorbs by the air lay inner core of pad.In the embodiment of pad, collective's thickness that described melt-blown abrasive fiber and described backing layer have is between about 0.5 millimeter and about 0.7 millimeter.In other words, the Maximum overlap thickness from the melt-blown outer layer thickness of applying to the surface of integument is 0.7 millimeter.In the embodiment of pad, the thickness that integument has is between about 0.5 millimeter and about 0.7 millimeter.In embodiments, integument has Global Strategic Partner (WSP) 10.1 (05) the non-woven material water absorption test normal value of about 600%; Above-mentioned pad, wherein said pad thickness after fluent material absorbs increases less than 30%.In embodiments, pay somebody's debt and expect repayment later described in that to comprise in flavouring agent, cleaning agent, surfactant, blowing agent, glazing agent, chemical preservative, chip retention agent (such as DRAKESOL) and/or antibacterial agent one or more.In embodiments, the thickness that has of described spacer is between about 6.5 millimeters and about 8.5 millimeters.In embodiments, the width that described spacer has is between about 68 millimeters and about 80 millimeters, and length is between about 165 millimeters and about 212 millimeters.In embodiments, the width that backing layer has is between about 163 millimeters and about 169 millimeters, and length is between about 205 millimeters and about 301 millimeters.In embodiments, absorbent core comprises the first airlaid layer of being bonded to the second airlaid layer and the second airlaid layer is bonded to the 3rd airlaid layer.

Fluid wicking between these three layers, and keep uniform vertical when downward power is applied to pad to run through airlaid layer stacking, and can not return on the floor surface that drains under cleaning pad.In embodiments, the fluid of pad maintenance 90% is applied to floor surface and less than the power of 1 pound, the liquid of absorption does not return and drains on floor surface by pad.The end face of each airlaid layer and the surface tension of bottom surface contribute to inhaled fluid to remain in each layer, make top layer complete saturated time, fluid is not had to become stratum reticulare by becoming the basal surface 11b of stratum reticulare leakage to be down to middle air flow through top stream, and middle air flow become stratum reticulare complete saturated time, do not have fluid to be leaked the bottom surface through middle (or second) layer and be down to bottom.

In embodiments, pad absorbs the fluid of 8-10 doubly its weight in relative stiffness matrix when moistening (complete any size all indeformable) of airlaid layer, and absorption of fluids is realized by capillary wicking, instead of by compression release suction, because pad the robot be connected to apply very light low period of change weight, it it not the thick and heavy cycle pushed and regain.Each airlaid layer slows down inhaled fluid permeability to next adjacent airlaid layer, and the early stage cycle that fluid is applied can not cause sucking all fluids being applied to floor surface fast.The vertical stacking of airlaid layer provides the bottom puddle hindered at the air lay core comprising three airlaid layer.Each airlaid layer has its oneself opposing puddle bottom surface, for preventing absorbed fluid puddle under the bottom of the bottom surface of bottom (or 3rd) layer all the time.

In embodiments, airlaid layer hardness in vertical direction or density are uneven, make outer end face and bottom surface harder than the inside of each layer.In an embodiment, as the feature of manufacture process, the superficial density of airlaid layer is uneven, make outer end face and bottom surface more smooth than the inside of each layer and not there is absorbability.By changing the superficial density of the outer surface of each airlaid layer, airlaid layer keeps absorbefacient wicking fluid to enter into each airlaid layer, and is not drained back to by bottom surface.By being merged in the absorbent cores of pad by three such airlaid layer, therefore pad has excellent fluid management energy relative to the spacer of single core with the thickness being equivalent to three level stack core.Three airlaid layer provide the capillary amount of at least three times.

In the embodiment of pad, these three airlaid layer are adhered to each other by jointing material.In some embodiments, described jointing material is applied at least two evenly spaced bars along the length of at least side of airlaid layer, and covers the surface area being no more than the described at least side of 10%.In the embodiment of pad, described jointing material is sprayed onto in the length of at least side of airlaid layer, and covers the surface area being no more than the described at least side of 10%.In the embodiment of pad, at least one airlaid layer comprises based on cellulosic textile material.In some embodiments, at least one airlaid layer and preferably whole three airlaid layer, comprise wood pulp.In some embodiments, one or more airlaid layer comprises biological components polymer, cellulose and latex, and the amount of the polymer existed is up to about 15% (weight).

Also describing a kind of method for forming cleaning pad, comprising and the first airlaid layer is arranged in the second airlaid layer; Second airlaid layer is arranged in the 3rd airlaid layer; And around first, second, and third airlaid layer parcel integument, this integument comprises: fiber composition; And be positioned to cleaning pad below the outer surface that has a common boundary of floor surface on adhere to the melt-blown abrasive material of fiber composition, described fiber composition is water thorn or spunbonded materials.

Other embodiments for forming the method for cleaning pad comprise combination or the following element taked of sub-portfolio or feature, there is provided from floor surface scouring chip and the advantage of absorption and maintenance liquid and suspension chip to be connected at pad when body weight is less than the compact mobile robot of 2.25 kilograms, and do not hinder hundred arteries and veins back and forth (birdsfoot) of robot or overgrow scouring pattern and cleaning effect.Can not expand and improve the leading edge of lightweight robotic in the bedding core moisture absorption gas of combination or the following element taked of sub-portfolio or feature-modeling and chip to absorbent core, this applies maximum downward force to pad by preventing robot: the method to be also included on integument adhesion and to arrange melt-blown abrasive fiber randomly; Above-mentioned method, the diameter that wherein said melt-blown abrasive fiber has is between about 8 microns and about 20 microns; Above-mentioned method also comprises arranges melt-blown abrasive material and integument with the collective's thickness had between about 0.5 millimeter and about 0.7 millimeter; Above-mentioned method also comprises and is arranged on integument by melt-blown abrasive material, to provide between about 44% and covering surfaces ratio about between 57% between melt-blown abrasive material and integument; Above-mentioned pad, wherein said melt-blown abrasive fiber covers about 50% to about 60% of the surface of backing layer; Above-mentioned method also comprises the first airlaid layer is adhered to the second airlaid layer, the second airlaid layer is adhered to the 3rd airlaid layer; Above-mentioned method, wherein said airlaid layer is based on cellulosic textile material; Above-mentioned method, wherein first, second, and third airlaid layer, hydroentangled layer and melt-blown abrasive material are configured to thickness after absorption of fluids increases less than 30%; Above-mentioned method also comprises pattern length airlaid layer and integument being configured to have between combined width between about 80 millimeters to about 68 millimeters and about 200 millimeters to about 212 millimeters; Above-mentioned method also comprises combined width airlaid layer and integument are configured to have between about 6.5 millimeters to about 8.5 millimeters; Above-mentioned method also comprises and airlaid layer is configured to the combined airflow had between 69 millimeters to about 75 millimeters becomes the combined airflow between net width and about 165 millimeters to about 171 millimeters to become net length.

Also describe a kind of surface cleaning apparatus, there is connection above-mentioned cleaning pad in the above.It is mop or autonomous mobile robot that other embodiment comprises wherein said surface cleaning apparatus; Above-mentioned surface cleaning apparatus, wherein said pad is releasably connected to surface cleaning apparatus by the back sheet being connected to this pad; Above-mentioned surface cleaning apparatus, wherein said back sheet comprises cardboard; And above-mentioned surface cleaning apparatus, wherein said surface cleaning apparatus also comprises relieving mechanism to eject the pad of releasable connection.

Also describe a kind of method adopting above-mentioned pad to come clean surface, comprise and surface cleaning liquid is applied to surface to be cleaned, and make surface cleaning pad by surface.Pad adopts the pressure of about 400 gram forces on pad, absorb the fluent material of about 20 milliliters in about 10 seconds.In some embodiments, absorbent core keeps the volume of absorbed fluent material up to about 90%.In some embodiments, absorbed fluent material is roughly uniformly distributed on whole core.In some embodiments, core material absorbs up to about 7 to about 10 times of its weight.In some embodiments, backing layer keeps the absorbed fluent material up to about 10%.

Also describe a kind of mobile robot.In embodiments, described robot comprises: robot body, and its restriction drives forwards direction; Driver, it supports described robot body to handle described robot from the teeth outwards, cleaning assemblies, and it is arranged on described robot body.Described cleaning assemblies comprises pad support, and it is configured to receive the cleaning pad with center edge and lateral edges, and described pad support comprises relieving mechanism, and it is configured to eject pad when activating relieving mechanism.Described robot also comprises the fluid applicator being configured to fluid to be applied to floor surface, wherein, and the controller circuitry be communicated with cleaning assemblies with described driver, described controller circuitry control and drive system and fluid applicator perform cleaning procedure simultaneously.Cleaning procedure comprises floor surface region fluid being applied to the footprint area being substantially equal to robot, and by the motor pattern in floor surface region, robot is turned back to floor surface region with the center edge moving cleaning pad individually and lateral edges, to adopt the whole surf zone of the fluid wets cleaning pad of applying.

Other embodiment comprises above-mentioned robot, wherein said cleaning procedure also comprises and applies fluid with initial volume flow rate to floor surface and carry out wetting described cleaning pad, and described initial volume flow rate is relatively higher than volume flow rate subsequently when described cleaning pad is wetted.In one embodiment, the first volume flow rate by spraying every 1.5 feet of about 1mL fluids and set at first within a period of time such as 1-3 minute, and the second volume flow rate is sprayed by every 3 feet and sets, and wherein the volume of each spray fluid is less than 1 milliliter.Fluid applicator applies floor surface region before fluid to cleaning pad and driving forwards on direction mobile robot, and fluid is applied to the previously occupied floor surface region of cleaning pad.In embodiments, the floor surface region previously occupied is stored in can on the map of access controller circuit.In embodiments, fluid is applied to floor surface region, robot had retreated the distance that have left at least one robot footprint length before applying fluid immediately, fluid is made only to be applied to the floor that can pass, instead of the wall of salient point sensor (collision) switch triggered in robot or proximity transducer, piece of furniture, carpet or other non-floor area.In embodiments, perform cleaning procedure also to comprise and to move mobile cleaning pad with hundred arteries and veins, along centrode forward and backward, along track forward and backward to left side and along centrode away from starting point, and along track forward and backward to right side and along centrode away from starting point.Robot driver comprises the left and right sidesing driving wheel be arranged in the corresponding left and right portion of robot body, and the center of gravity of robot is positioned at before driving wheel, and the great majority of robot gross weight are positioned on pad support.Because pad does not expand, so the weight of robot remains positioned on pad support in whole cleaning procedure during absorption of fluids.The gross weight of robot with 3 to 1 pro rate between pad support and driving wheel, and the gross weight of robot when not keeping any fluid is between about 1 kilogram and about 1.5 kilograms of pounds, when keeping fluid between about 1.5 kilograms to 4.5 kilograms between.In embodiments, robot body and pad support all limit substantially rectangular footprint.In addition, in embodiments, robot also comprises the vibrating motor be arranged on the top of pad support.In some embodiments, robot also comprises switching push button, ejects pad for actuation pad carriage release mechanism.Back sheet on pad engages with pad support, and pad support comprises outstanding projection, and it is positioned to for aim at along the neighboring of back sheet and in conjunction with one or more formed slots otch of back sheet.In some embodiments, pad support comprises outstanding projection, and it is positioned to for except along the position alignment except neighboring and in conjunction with one or more formed slots otch of back sheet.

Also describe a kind of mobile floor clean robot, comprising: robot body, its restriction drives forwards direction; Driver, it supports described robot body to handle described robot from the teeth outwards, and described driver comprises left and right sidesing driving wheel, and they are arranged in the corresponding left and right portion of described robot body.Described robot comprises cleaning assemblies, it is arranged on described robot body, described cleaning assemblies comprises pad support, it is arranged on described driving wheel front portion and has top and bottom, and the basal surface that described bottom has is arranged in interior between about 0.5 centimetre of this surface and about 1.5 centimetres and is configured to receive cleaning pad.The basal surface of described pad support comprises at least 40% of the surface area of robot footprint, and described basal surface has the one or more outstanding projection extended from it, for engaging with the slit that coordinates on pad assembly.In embodiments, described robot comprises orbit shaker, its have be arranged on described pad support top on less than the track-bound of 1 centimetre.The track-bound that described pad support is configured to the described orbit shaker of permission more than 80% is transferred to the basal surface of received cleaning pad from the top of received cleaning pad.Described one or more projection contributes to pad alignment pads support, and is held in place securely by pad in the duration of oscillation of orbital oscillation, and robot moves with the clean pattern cleaned back and forth simultaneously.In embodiments, described pad support comprises relieving mechanism, and it is configured to eject pad when activating relieving mechanism from the basal surface of described pad support, makes user need not touch used dirty pad to dispose it.Activate relieving mechanism keep simultaneously robot on refuse container by pad from the refuse container pad support is ejected into it.

In some embodiments, the track-bound of orbit shaker at least part of clean run duration less than 0.5 centimetre.In addition, robot to vibrate cleaning pad forward and to rear drive simultaneously.In embodiments, robot moves cleaning pad with hundred arteries and veins motion drivings, along centrode forward and backward, along track forward and backward to left side and along centrode away from starting point, and along track forward and backward to right side and along centrode away from starting point.Cleaning pad has the top surface of the basal surface being connected to pad support, and the top of pad is substantially motionless relative to the pad support of vibration.In embodiments, robot cleaner assembly also comprises: reservoir, and it keeps the fluid of certain volume; And fluid applicator, it is communicated with described reservoir fluid.Described fluid applicator is configured to apply fluid along the direction that drives forwards before described pad support.Cleaning pad is configured to absorb about 90% of the fluid volume remained in described reservoir, and can not leak on pad floor surface below, receives the downward force of 1 pound simultaneously.Described paying somebody's debt and expecting repayment later comprises back sheet for engaging with pad support on cleaning pad, and the one or more outstanding projection on bottom pad support is positioned to for aiming at and engaging the formed slots otch of back sheet.Described one or more projection contributes to pad alignment pads support, and is held in place securely by pad in the duration of oscillation of orbital oscillation, and robot moves with the clean pattern cleaned back and forth simultaneously.In embodiments, described pad support comprises relieving mechanism, and it is configured to eject pad when activating relieving mechanism from the basal surface of described pad support, makes user need not touch used dirty pad to dispose it.Activate relieving mechanism keep simultaneously robot on refuse container by pad from the refuse container pad support is ejected into it.

Also describe a kind of method operating mobile floor clean robot, be included in by robot limit drive forwards on direction drive first distance to primary importance, move along the floor surface supporting robot the cleaning pad carried by robot, cleaning pad has center edge and lateral edges simultaneously; The reverse drive direction contrary with driving forwards direction driving second distance to arrive the second place, moving cleaning pad along floor surface simultaneously; From the second place, to drive forwards on direction but after primary importance, fluid to be applied to the region being substantially equal to the footprint area of robot on floor surface before cleaning pad; And by the motor pattern in this region, robot is turned back to this region with the center edge moving cleaning pad individually and lateral edges, to adopt the fluid wets cleaning pad of applying.

Other embodiment comprises: above-mentioned method is also included on left driving direction or right driving direction and drives, and is being driven after fluid spray is on floor surface along the forward replaced and inverse direction by the fluid applied simultaneously; Above-mentioned method, the fluid wherein on floor surface is included in the multiple positions spray fluid relative to driving forwards direction; Above-mentioned method, wherein said second distance at least equals the length of a footprint area of robot; Above-mentioned method, wherein moves floor clean robot and comprises: robot body, and it limits and drives forwards direction and have bottom; Drive system, it supports described robot body and is configured on floor surface, handle described robot.

An aspect of the present disclosure provides a kind of mobile robot, and it has robot body, drive system and cleaning assemblies.Cleaning assemblies comprises pad support, fluid applicator and controller.Drive system supports robot body to handle robot on floor surface.Cleaning assemblies is arranged on robot body, and the controller comprising pad support, fluid applicator and be communicated with cleaning systems with drive system.Pad support is configured to receive the cleaning pad with center edge and lateral edges.Described pad support comprises the relieving mechanism being configured to eject pad when activating relieving mechanism.Fluid applicator is configured to fluid to be applied to floor surface.Controller control-driven system and the real applicator of fluid, perform cleaning procedure simultaneously.Cleaning procedure comprises region fluid being applied to the footprint area being substantially equal to robot, and by the motor pattern in this region, robot is turned back to this region with the center edge moving cleaning pad individually and lateral edges, to adopt the fluid wets cleaning pad of applying.

Embodiment of the present disclosure can comprise following one or more feature.In some embodiments, cleaning procedure also comprises and applies fluid with initial volume flow rate to surface and carry out wetting described cleaning pad, and described initial volume flow rate is relatively higher than volume flow rate subsequently when described cleaning pad is wetted.In one embodiment, the first volume flow rate by spraying every 1.5 feet of about 1mL fluids and set at first within a period of time such as 1-3 minute, and the second volume flow rate is sprayed by every 3 feet and sets, and wherein the volume of each spray fluid is less than 1 milliliter.

In some instances, fluid applicator applies region before fluid to cleaning pad and on the direct of travel of mobile robot.In some instances, fluid is applied to the region that cleaning pad had previously occupied.In some instances, the region that cleaning pad has occupied is recorded in can on the map stored of access controller.

In some instances, fluid is applied to the region that robot had retreated the distance that have left at least one robot footprint length before applying fluid immediately by fluid applicator.Perform cleaning procedure also comprise with hundred arteries and veins motion move cleaning pad, along centrode forward and backward, along track forward and backward to left side and along centrode away from starting point, and along track forward and backward to right side and along centrode away from starting point.

In some embodiments, drive system comprises the left and right sidesing driving wheel be arranged in the corresponding left and right portion of robot body.The center of gravity of robot is positioned at before driving wheel, and the great majority of robot gross weight are positioned on pad support.The gross weight of robot 20 can with 3 to 1 pro rate between pad support and driving wheel.In some instances, the gross weight of robot is between about 2 pounds and about 5 pounds.

In some instances, robot body and pad support all limit substantially rectangular footprint.Additionally or alternatively, the width that the basal surface of pad support can have is between about 60 millimeters and about 80 millimeters, and length is between about 180 millimeters and 215 millimeters.

In some embodiments, robot comprises switching push button, ejects pad for actuation pad carriage release mechanism.In some embodiments, pad the back sheet that comprises for engaging with pad support, and pad support comprises outstanding projection, it is positioned to for aiming at and engaging the formed slots otch of back sheet.

An aspect of the present disclosure provides a kind of mobile floor clean robot, and it has robot body, driver, cleaning assemblies, pad support and controller circuitry.Robot body limits and drives forwards direction.Driver supports robot body to handle robot on floor surface.Cleaning assemblies is arranged on robot body, and comprises pad support, reservoir and sprayer.The bottom surface configuration that pad support has becomes receive cleaning pad and be arranged to engage floor surface, and described basal surface has the one or more outstanding projection extended from it.

Described one or more projection contributes to pad alignment pads support, and is held in place securely by pad in the duration of oscillation of orbital oscillation, and robot moves with the clean pattern cleaned back and forth simultaneously.In embodiments, described pad support comprises relieving mechanism, and it is configured to eject pad when activating relieving mechanism from the basal surface of described pad support, makes user need not touch used dirty pad to dispose it.Activate relieving mechanism keep simultaneously robot on refuse container by pad from the refuse container pad support is ejected into it.

Reservoir arrangements becomes to keep the fluid of certain volume, and the sprayer be communicated with reservoir fluid is configured to along driving forwards direction spray fluid before pad support.Controller circuitry communicates with cleaning systems with drive system, and performs cleaning procedure.The cleaning procedure that controller circuitry performs allows robot to drive the first distance to primary importance in the forward driving direction, then on the reverse drive direction contrary with driving forwards direction, drives second distance to arrive the second place.Cleaning procedure allow robot from the second place before pad support to drive forwards direction but after primary importance, by fluid spray on floor surface.Like this, fluid is only applied to the floor that can pass by robot, instead of the wall of salient point sensor (collision) switch triggered in robot or proximity transducer, piece of furniture, carpet or other non-floor area.By after fluid spray is on floor surface, cleaning procedure allows robot to drive on the forward replaced and reverse drive direction, smears cleaning pad along floor surface simultaneously.

Embodiment of the present disclosure can comprise following one or more feature.In some embodiments, driver comprises the left and right sidesing driving wheel be arranged in the corresponding left and right portion of robot body.The center of gravity of robot is positioned at before driving wheel, and the great majority of robot gross weight are positioned on pad support.The gross weight of robot can with 3 to 1 pro rate between pad support and driving wheel.In some instances, the gross weight of robot (about 1 to 2.25 kilogram) between about 2 pounds and about 5 pounds.Driver can comprise the left and right motor driving main body (it has front and rear) and be arranged in driving main body.Left and right sidesing driving wheel can be connected to corresponding left and right motor.Drive system can also comprise the arm from driving the front portion of main body to extend.This arm is pivotably connected to the robot body before driving wheel, to allow driving wheel relative to floor surface vertically movement.Drive the rear portion of main body to limit slit, the size of this slit is determined to be the direction protrusion receiving slidably and extend from robot body.

Reservoir can keep the liquid measure of about 200 milliliters.Additionally or alternatively, robot can comprise and is arranged on vibrating motor on the top of pad support or orbit shaker.

Another aspect of the present disclosure provides a kind of mobile floor clean robot, comprises robot body, driver and cleaning assemblies.Robot body limits and drives forwards direction.Drive system supports robot body to handle robot on floor surface.Cleaning assemblies is arranged on robot body, and comprises pad support and orbit shaker.Pad support is arranged on before driving wheel, and has top and bottom.The basal surface that described bottom has is arranged in interior between about 0.5 centimetre of floor surface and about 1.5 centimetres and receives cleaning pad.The basal surface of described pad support comprises at least 40% of the surface area of robot footprint, and has the one or more outstanding projection extended from it.Orbit shaker is arranged on the top of pad support, and the track-bound had is less than 1 centimetre.The track-bound that described pad support is configured to the described orbit shaker of permission more than 80% is transferred to the basal surface of kept cleaning pad from the top of kept cleaning pad.

In some embodiments, the track-bound of orbit shaker at least part of clean run duration less than 0.5 centimetre.Additionally or alternatively, robot can drive forward or backward cleaning pad simultaneously cleaning pad in vibration.

In some instances, robot is mobile with hundred arteries and veins motions, along centrode forward and backward, along track forward and backward to left side and along centrode away from starting point, and along track forward and backward to right side and along centrode away from starting point.

In some instances, cleaning pad has the top surface being connected to pad support basal surface, and the top of pad is substantially motionless relative to the pad support of vibration.

In some instances, described pad support has relieving mechanism, and it is configured to eject pad when activating relieving mechanism from the basal surface of described pad support.In some instances, robot comprises switching push button, ejects pad for actuation pad carriage release mechanism.In some instances, pad the back sheet that comprises for engaging with pad support, and pad support comprises outstanding projection, it is positioned to for aiming at and engaging the formed slots otch of back sheet.

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

Described cleaning assemblies can also comprise at least one post, and it is arranged on the top of pad support, and the respective aperture that its size is determined to be for being limited by robot body receives.The cross-sectional diameter that at least one post described can have changes along its length dimension.Additionally or alternatively, at least one post described can comprise damping material.

In some embodiments, cleaning assemblies also comprises the reservoir keeping certain volume fluid and the sprayer be communicated with reservoir fluid.Sprayer is configured to along driving forwards direction spray fluid before pad support.Reservoir can keep the liquid measure of about 200 milliliters.

Driver can comprise the left and right motor driving main body (it has front and rear) and be arranged in driving main body.Left and right sidesing driving wheel is connected to corresponding left and right motor.Driver can also comprise the arm from driving the front portion of main body to extend.This arm is pivotably connected to the robot body before driving wheel, to allow driving wheel relative to floor surface vertically movement.Drive the rear portion of main body to limit slit, the size of this slit is determined to be the direction protrusion receiving slidably and extend from robot body.In one embodiment, the cleaning pad be arranged on the basal surface of pad support main body absorbs about 90% of the fluid volume remained in described reservoir.The thickness that cleaning pad has is between about 6.5 millimeters and about 8.5 millimeters, and width is between about 68 millimeters and about 80 millimeters, and length is between about 165 millimeters and about 212 millimeters.

In some instances, a kind of method is included in driving first distance on direction that drives forwards limited by robot and, to primary importance, moves the cleaning pad carried by robot along the floor surface supporting robot simultaneously.Cleaning pad has the side region of central area and transverse central area.Described method is also included on the reverse drive direction contrary with driving forwards direction and drives second distance to arrive the second place, moves cleaning pad along floor surface simultaneously.Like this, fluid is only applied to the floor that can pass by robot, instead of the wall of salient point sensor (collision) switch triggered in robot or proximity transducer, piece of furniture, carpet or other non-floor area.Described method is also included in the region being substantially equal to the footprint area of robot be applied to by fluid on floor surface still in primary importance before cleaning pad below.Described method also comprises moving individually the central part of cleaning pad and robot is turned back to the region applying fluid, to adopt the fluid wets cleaning pad of applying by the motor pattern in this region by sidepiece.

In some instances, described method is included on left driving direction or right driving direction and drives, and is driving after fluid spray is on floor surface along the forward replaced and inverse direction simultaneously.Fluid is applied to multiple positions spray fluid that floor surface can be included in relative to driving forwards direction.In some instances, described second distance at least equals the length of the footprint area of robot.

In another aspect of the present disclosure, the method operating mobile floor clean robot is included in driving first distance on direction that drives forwards limited by robot and, to a primary importance, smears the cleaning pad carried by robot along the floor surface supporting robot simultaneously.Described method is included on the reverse drive direction contrary with driving forwards direction and drives second distance to arrive the second place, smears cleaning pad along floor surface simultaneously.Described method be also included in before cleaning pad drive forwards direction but primary importance below by fluid spray on floor surface.Described method is also included on forward alternately and reverse drive direction and drives, and is smearing cleaning pad after fluid spray is on floor surface along floor surface simultaneously.

In some embodiments, described method comprises by fluid spray on floor surface, drives simultaneously or drive second distance in inverse direction on contrary driving direction.In embodiments, described method is included on left driving direction or right driving direction and drives, and is driving after fluid spray is on floor surface along the forward replaced and inverse direction simultaneously.Fluid spray can be included on floor surface the multiple positions spray fluid relative to driving forwards direction.In some embodiments, described second distance is more than or equal to described first distance.

Described mobile floor clean robot can comprise robot body, driver, pad support, reservoir and sprayer.Robot body limits and drives forwards direction and have bottom.Drive system supports robot body and handle robot on floor surface.The bottom that pad support is arranged on robot body keeps cleaning pad.Pad support have be configured to activate time eject pad relieving mechanism, described in pay somebody's debt and expect repayment later the back sheet comprised for engaging with pad support.The basal surface that pad support has has the outstanding projection extended from it, and size, shape and position that projection is protruded are determined to be and aim at and engage the slots cut of back sheet.

Reservoir is held by robot body and keeps fluid (such as, 200ml).The same sprayer held by robot body is communicated with reservoir fluid, and drives forwards spray fluid on direction before cleaning pad.The cleaning pad be arranged on the bottom of pad support main body can absorb about 90% of the fluid be included in reservoir.In some instances, the width that cleaning pad has is between about 68 millimeters and about 80 millimeters, and length is between about 200 millimeters and about 212 millimeters.The thickness that cleaning pad can have is between about 6.5 millimeters and about 8.5 millimeters.Be elaborated in the details of one or more embodiment of the present disclosure drawing and description below.

In some embodiments, fluid applicator is a kind of sprayer, and it comprises at least two nozzles, in each two bars applying fluid, fluid well-distributing is distributed in whole floor on the surface.Two nozzles are each to be configured to the angle and distance spray fluid different from another nozzle.In some embodiments, two nozzles are vertically stacked in the recess in fluid applicator, and to be spaced apart from each other with horizontal tilt, make a nozzle forward and spray downwards the fluid of relatively length, the applying fluid supplied forward with employing covers the region before robot, and another nozzle forward and spray downwards the fluid of relatively short length, to make the applying fluid that supplies backward in the region than the applying fluid distributed by pipe top nozzle closer on the region before robot.

In embodiments, fluid is distributed in regard to size expanding machinery people width with in the zone map of at least one robot length by nozzle.In some embodiments, pipe top nozzle and end nozzle apply in the bar that fluid opens in two different interval applying fluid, described bar does not extend to the whole width of robot, makes to pad with the outward flange of the scouring action tilted forward and backward as described herein through the bar of applying fluid.In an embodiment, the bar applying fluid covers the width of 75-95% and the pattern length of robot length of robot width.In embodiments, the bar applying fluid can be roughly rectangle or ellipse.In embodiments, nozzle makes do not have fluid to complete each sprinkling cycle from the nozzle leakage of following each spraying example by the fluid sucking small size at nozzle opening.

In some embodiments, described pad comprises the cardboard back sheet of the top surface adhering to pad.Cardboard back sheet protrudes past the longitudinal edge of pad, and the outstanding longitudinal edge of cardboard back sheet is attached to the pad support of robot.In one embodiment, the thickness (thickness is 0.05 centimetre to 0.762 centimetre) between 0.02 inch and 0.03 inch of cardboard back sheet, width is between 68 and 72 millimeters, and length is between 90-94 millimeter.In one embodiment, cardboard back sheet is 0.026 inch, 70 mm wides and 92 millimeters long.In one embodiment, cardboard back sheet adopts waterproof coating to be coated on both sides, the combination of such as wax or polymer or waterproof material, such as wax/polyvinyl alcohol, polyamine, and cardboard back sheet is not disintegrated when getting wet.

In embodiments, pad is disposable pad.In other example, pad is reusable superfine fibre cloth pad, has with herein with regard to those the identical absorption characteristics described in embodiment.In the example with capable of washing, reusable superfine fibre cloth, the end face of cloth comprises fixing rigid backing layer, its shape be determined to be and positioning and imaging with regard to the cardboard back sheet described in embodiment.Rigid backing layer's can not melt by standing mechanical drying or degrade material heat-resisting, capable of washing of backing is made.Rigid backing layer's tool has the dimensions, and the embodiment with the pad support as described herein and just herein described by embodiment exchanges the otch used.

In other example, pad is disposable dry cloth, and comprises exposed fibers and carry out retaining the spunbond or water thorn material of the individual layer acupuncture of hair.Dry pad comprises chemical treatment, and viscous characteristics is increased to pad and is used for carrying out maintenance dirt and chip by it.In one embodiment, chemical treatment is the commercially available material that a kind of such as commodity are called DRAKESOL.

In some instances, the pad support padded by being connected to robot is fixed to autonomous robot.Pad relieving mechanism is adjusted to upwards or pads fixed position.Pad relieving mechanism comprises retainer or lip, and pad is firmly held in appropriate location by catching the outstanding longitudinal edge of the board and box lining liner layer being fixed to pad top by it.In this example, the tip of pad relieving mechanism or end comprise moveable retaining clip and eject projection, its upward sliding through the slit in pad support or opening, and is pushed in upper/lower positions by this slit with by promoting downwards to discharge the pad be fixed on connected cardboard back sheet.

By description and accompanying drawing and by claims, other aspects, features and advantages will be apparent.

Accompanying drawing explanation

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

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

Fig. 1 C is the profile of exemplary cleaning pad.

Fig. 1 D is the profile of exemplary cleaning pad, and wherein airlaid layer comprises super-absorbent polymer.

Fig. 2 A is the schematic diagram of the exemplary arrangement of stinging the operation of process for water.

Fig. 2 B is the perspective view of the water thorn process for the preparation of the hydroentangled layer used in exemplary cleaning pad.

Fig. 3 is the perspective view of the device for the preparation of the abrasive material meltblown layer used in exemplary cleaning pad.

Fig. 4 is the perspective view by using exemplary cleaning pad to carry out the autonomous mobile robot cleaned.

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

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

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

Fig. 8 A is the perspective view of exemplary cleaning pad.

Fig. 8 B is the decomposition diagram of the exemplary cleaning pad of Fig. 8 A.

Fig. 8 C is the top view of exemplary cleaning pad.

Fig. 8 D is the bottom view for the Exemplary connection mechanisms padded as described herein.

Fig. 8 E is the side view of Exemplary connection mechanisms for padding as described herein be in a fixed position.

Fig. 8 F is the top view for the exemplary connection bracket padded as described herein.

Fig. 8 G is the cutaway side sectional view of Exemplary connection mechanisms for padding as described herein being in off-position.

Fig. 9 A-9C is that exemplary autonomous mobile robot adopts the top view of Fluid injection floor surface with it.

Fig. 9 D is the top view of exemplary autonomous mobile robot with its scrubbing floor surface.

Fig. 9 E is the bottom view of exemplary cleaning pad.

Fig. 9 F is the top view of exemplary autonomous mobile robot with its scrubbing floor surface.

Fig. 9 G is the top view of exemplary autonomous mobile robot with its scrubbing floor surface.

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

Same reference numerals in each accompanying drawing refers to identical element.

Detailed description of the invention

With reference to Figure 1A, 1B and 1C, in some embodiments, disposable cleaning pad 100 comprises stacked multiple absorbability airlaid layer 101,102,103, and they are optionally bonded to each other, and by the melt-blown element of abrasive material 106 outer nonwoven layers 105 placed on it can be made to wrap up.In some instances, cleaning pad 100 comprises one or more air lay/dustless (airlaid) layer 101,102,103.As shown in the figure, cleaning pad 100 comprises first, second, and third air lay/without knoisphere 101,102,103, but extra airlaid layer is also possible.The quantity of airlaid layer 101,102,103 can depend on the amount of the cleaning solution 172 that cleaning pad 100 needs absorb.Each airlaid layer 101,102,103 has end face 101a, 102a, 103a and bottom surface 101b, 102b, 103b.The bottom surface 101b of first (or top) airlaid layer 101 is arranged on the end face 102a of the second airlaid layer 102, and the bottom surface 102b of the second airlaid layer 102 is arranged on the end face 103a of the 3rd (or bottom) airlaid layer 103.Fluid wicking between these three layers, and keep uniform vertical when downward power is applied to pad 100 to run through airlaid layer stacking, and can not return on the floor surface that drains under cleaning pad 100.In embodiments, pad 100 keeps the fluid of 90% to be applied to floor surface 10 and less than the power of 1 pound, the liquid of absorption does not return and drains on floor surface 10 by pad 100.The end face of each airlaid layer and the surface tension of bottom surface contribute to inhaled fluid to remain in each layer, make top layer 101 complete saturated time, fluid is not had to become stratum reticulare 102 by becoming the basal surface 101b of stratum reticulare 101 leakage to be down to middle air flow through top stream, and middle air flow become stratum reticulare 102 complete saturated time, do not have fluid to be leaked by the bottom surface 102b through middle (or second) layer 102 and be down to bottom.

In embodiments, pad 100 absorbs 8-10 times of its weight in the relative stiffness matrix of airlaid layer 101,102,103, and absorption of fluids is realized by capillary wicking, instead of by compression release suction, because pad the robot 400 be connected to apply very light low period of change weight, it it not the thick and heavy cycle pushed and regain.Each airlaid layer 101,102,103 slows down inhaled fluid permeability to next adjacent airlaid layer 101,102,103, and the early stage cycle that fluid is applied can not cause sucking all fluids being applied to floor surface fast.The vertical stacking of airlaid layer 101,102,103 provides the bottom puddle hindered at the air lay core comprising three airlaid layer 101,102,103.Each airlaid layer 101,102,103 has its oneself opposing puddle bottom surface 101b, 102b, 103b, for preventing absorbed fluid puddle under the bottom of the bottom surface 103b of bottom (or 3rd) layer 103b all the time.

In an embodiment, airlaid layer 101,102,103 hardness in vertical direction or density are uneven, make outer end face and bottom surface harder than the inside of each layer.In an embodiment, the superficial density of airlaid layer 101,102,103 is uneven, make outer end face and bottom surface more smooth than the inside of each layer and not there is absorbability.By changing the superficial density of outer surface 101b, 102b, 103b of each airlaid layer 101,102,103, airlaid layer 101,102,103 keeps absorbefacient wicking fluid to enter into each airlaid layer, and is not drained back to by bottom surface 101b, 102b, 103b.By being merged in the absorbent cores of pad 100 by three such airlaid layer 101,102,103, therefore pad 100 has excellent fluid management energy relative to the spacer of single core with the thickness being equivalent to three level stack core.Three airlaid layer 101,102,103 provide the capillary amount of at least three times, for being remained on by inhaled fluid in the absorbent cores of each airlaid layer 101,102,103.

Integument 104 wraps up around airlaid layer 101,102,103, and prevents airlaid layer 101,102,103 to be exposed.Integument 104 comprises integument 105 (such as, water thorn (spunlace) layer) and abrasive material 106.Integument 105 wraps up around first, second, and third airlaid layer 101,102,103.Integument 105 has top surface 105a and basal surface 105b.The end face 105b of integument 105 covers airlaid layer 101,102,103.Integument 105 can be have flexible material that is natural or staple fibre (such as, water thorn or spunbond).Abrasive material 106 is arranged on the bottom side 105b of integument 105.The fluid being applied to the floor 10 below cleaning pad 100 is transmitted by integument 105 and enters into airlaid layer 101,102,103.The integument 105 wrapped up around airlaid layer 101,102,103 prevents original absorbance material to be exposed to transport layer in airlaid layer.If integument 105 has absorbability very much, then pad 100 and will to be drawn onto on floor 10 and to be difficult to mobile.Such as, robot may cannot overcome suction attempting mobile cleaning pad 100 through during floor surface 10.In addition, integument 105 picks up the dirt and chips that are unclamped by wearing and tearing outer 106, and the cleaning fluid 172 that may leave glimmer pool is on air dried surperficial 10, and can not leave streak marks on floor 10.The cleaning solution in glimmer pool between 1.5 and 3.5 milliliters/square metre, and the duration of drying be no more than three minutes, and preferably dry between about 2 minutes and 3 minutes.

Disposable cleaning pad 100 relies on capillarity (also referred to as wicking) to absorb liquid on floor surface 10.Capillarity occurs in liquid and can flow in a narrow space when not having external force such as gravity.Capillarity allows fluid to move in the space of porous material because of bonding force, cohesive force and surface tension.Fluid sticks can cause power upwards to wall of a container and cause the meniscus that tends to upwards on liquid edge.Surface tension is for keeping surface complete.Capillarity occur in bonding force to wall stronger than the cohesive force between fluid molecule time.

In some instances, airlaid layer 101,102,103 is the web form materials be made up of fluff pulp (it is a kind of wood pulp/chemical pulp of the type be made up of long fibre cork).Chemical pulp is that the combination by heat being applied to wood chip and chemical material in tun is decomposed lignin (organic substance in conjunction with the cell in wooden unit) and created.The web form materials be made up of fluff pulp can very huge, porous, softness, and has good water absorbing properties.Web form materials can not scratch floor surface, even if still keep its intensity when it is moistening, and can wash and reuse.

With reference to Fig. 1 D, in some embodiments, airlaid layer 101,102,103 comprises the absorbed layer of the mixture for moistening air lay paper and super absorbent polymer 108 (such as Sodium Polyacrylate).Polymer comprises plastics and elastomeric material, and it is mainly chemically based on the organic compound of carbon, hydrogen and other nonmetalloid.Polymer has larger molecular structure usually, and it usually has low density and can be very flexible.Super absorbent polymer 108 (also referred to as slush moulding powder) is compared to himself mass absorption and keep a large amount of fluids.The ability that super absorbent polymer 108 absorbs water depends on the ion concentration of the aqueous solution.Super absorbent polymer 108 Absorbable rod up to 500 times of deionized-distilled waters to its weight (30-60 is doubly to its volume), and can become the liquid of 99.9%.When putting into the salting liquid of 0.9%, the absorbability of super absorbent polymer 108 is significantly down to about 50 times to its weight.Valency cation in salting liquid prevents super absorbent polymer 108 and water molecules.Super absorbent polymer 108 can expand, and impels cleaning pad 100 also to expand.Various instrument 400,500 can use cleaning pad 100, and in some instances, instrument 400,500 can not support expansive cleaning pad 100.Such as, the expansion of pad 100 may upset the physical property of compact and portable robot 400, causes compact robot 400 to be inclined upwardly and applies the less power extremely foreign material of pad 100 for removing from floor 10.Therefore, poor absorbable polymer 108 can be used for meeting the requirement of cleaning pad absorbability.In one embodiment, pad 100 can comprise pocket along the length of pad at mid portion, allows super absorbent polymer to expand in these pockets, and allows pad expand along with super absorbent polymer and keep constant thickness.

In some embodiments, comprise cellulose pulp non-woven material without knoisphere 101,102,103, this material is bonded by air and bicomponent fibre.In some instances, wood pulp cellulose fiber bonds with the bi-component polyethylene and/or polypropylene thermal with low melting point.This mixture forms solid sorbent core, and it maintains its shape formed and disperses the fluid that absorbs equably, thus prevents cleaning solution from collecting minimum point in this layer and prevent extra fluid from gathering.Airlaid layer 101,102,103 can by the bleached wood pulp manufacture looking like thick-layer cardboard.Paper pulp enters the vaned beater grinder of tool on rotor, and it clashes into thick-layer paper pulp and its damping (devibrate) is become single fiber.Single fiber enters the distributor with the sieve rotor looking like flour bolt.Processbearing astrocyte, in the sheet material on another sieve in below with applied vacuum, mixes with the sheet material of bicomponent fibre at this sheet material of this stage.The hot blast blown melts this bi-component to bond with air lay.

Does is airlaid layer positioned at to distribute the liquid of absorption roughly equably on whole core, and liquid (can not expand at sandwich layer?) any position puddle.Mobile robot 400 sprays fluid 172 equably before robot, and pad 100 picks up solution 173a, 173b of applying of uniform distribution along its length when advancing forward.In one embodiment, airlaid layer 101,102,103 and the spray adhesive be evenly applied on the surface of airlaid layer 101,102,103 bond.In one embodiment, adhesive is polyolefin, and is applied in thin even mode and obtains reliable adhesive force, and can not create protuberance and hardened area.Spray adhesive also creates the surface interface of evenly bonding, fluid is allowed to wick into airlaid layer 101,102,103, and there is no large mechanical obstacles (such as, suture needle or relatively large not seep through patch or protuberance), and this surface interface evenly engaged between airlaid layer 101,102,103 prevents puddle between layer 101,102,103.

Acrylic latex binder very in a small amount can be micro-ly sprayed on surface in conjunction with skin and minimizing comes off and contributes to minimizing and falls hair as far as possible.Fall hair be cotton, fiber crops or fiber to be carefully entangled on object or fabric clearly time situation about occurring.Airlaid layer 101,102,103 can comprise the biological components polymer of 15%, the cellulose of 85% and latex at top to eliminate hair.

Integument 105 can be made up of thin and any material of absorption fluids.In addition, integument 105 can be smooth, to prevent scratch floor surface 10.In some embodiments, it is one or more that cleaning pad 100 can comprise in following detergent composition: butoxypropanol, alkyl polyglycoside, alkyl dimethyl ammonium chloride, Emulsifier EL-60, linear alkylbenzene sulfonate (LAS), glycolic---such as they serve as surfactant, and among other things to attack squama and inorganic deposition (attackscaleandmineraldeposits); And comprise smell, antibacterial or antifungal preservative.

In some instances, integument 105 is water thorn non-woven materials.Water thorn can also be called water thorn, water tangles, jet tangles or hydrodynamic needling.Water thorn tangles the net that is usually formed in by card the loose fiber that porous belts or mobile perforation or patterning sieve with by making fiber carry out the method for formation sheet equipment structure through the thin and tall pressure water jet of multipass.Water entanglement processes makes it possible to form unique fabric by adding fibrous material such as cotton paper, air lay, water thorn and spunbond non-woven with the non-knitmesh of compound.These materials provide the performance advantage needed for multiple wipe applications due to its performance improved and cost structure.

With reference to Fig. 2 A and 2B, water thorn process 200 comprises precursor net forming process 202a.Precursor Netcom is often made up of textile-like short fiber.These nets can be single fleeces or be made up of many different fibre blends.Typical four kinds of fibers are selected to be polyester, viscose glue, polypropylene and cotton.The each variant in these fibers can also be used, such as organic cotton and Lyocell material and Tencel staple fibre.Biodegradable PLA (PLA) fiber can also be used.

Precursor net forming process 202a can comprise formation air lay comb, and it can be used to provide more isotropic net of the higher horizontal orientation because of fiber.Combing is a kind of method manufacturing the thin net of parallel fiber.Higher bulk density can also be obtained by using such combing system.Once form the net of short fiber, then just by the air forming cellulose fibre, second layer fiber can be placed on the top of this substrate, or by " lamination " preformed nonwoven web, such as tissue, water thorn or spunbond.In some instances, viscose non-woven material and airlaid layer combine, and therefore obtained fabric does not need water to sting the combing step of continuous fiber and cellulosic pulp fibers.Then this fiber composition enters fibre matting process 204, and it comprises number row high-pressure water jet 210, and they repeat conventional mechanical acupuncture process and are wound around fiber individually, thus make them become entanglement, form net 212.

Water thorn process 200 comprises fibre matting process 204 is applied to fiber composition.Fibre matting process 204 comprises from number row high-pressure water jet 210 injection water, to repeat conventional mechanical acupuncture process and to be wound around fiber individually, thus makes them become entanglement, forms net 212.Net 212 (formed through net and after carding process 202) be placed on the conveyer belt 214 that rotated by two or more pulleys 216.During each water course of injection and/or afterwards, net 212 is through suction 218 drum, and it is from fiber pump up water and allow fiber to keep moving to next high-pressure water jet 210.

The nonwoven substrate 215 of reinforcing is dry by air dryer in air dryer process 206 subsequently, is then wound around in winding process 208.

Integument 105 can be printed on and by hot padding.Impress and go print (debosing) to be the process creating raised or sunken design in fabric or other materials.The fiber such as polypropylene of relatively low fusing can be used for realizing better hot padding.The coefficient of friction of integument 105 is based on surface type and humidity change.In one embodiment, on glass, the dry pad 100 of movement has the coefficient of friction of about 0.4 to about 0.5, the coefficient of friction of 0.25 to about 0.4 and the wet spacer on ceramic tile is had an appointment.Integument 105 can comprise hydraulic pressure print, and it gives 3-D view on fabric.Hydraulic pressure print is usually more cheap than heat bonding.In one example, integument 105 impression has herringbone pattern.The integument 105 wrapped up around a series of airlaid layer 101,102,103 makes it possible to form the absorbent core locking institute's absorption fluids.The layering of air lay sandwich layer 101,102,103 make capillarity and keep running through combination core and in each layer 101,102,103 separately.In addition, the airlaid layer 101,102,103 forming the core of pad keeps their shape, runs through each liquid retaining layer distributing fluids equably simultaneously, and prevents from forbidding collecting of additional absorbent.

Wearing and tearing meltblown layer 106 comprises meltblown fibers 107, and this molten thermoplastic is extruded into as melting filament or long filament the long filament assembling cutting molten thermoplastic by the die capillaries of multiple usual circle carefully to reduce the high velocity air of its diameter and the fiber that formed.Therefore, meltblown fibers 107 is carried by high velocity air and is placed on the surface of collection fiber, therefore forms the net/web (web) of the meltblown fibers 107 of random distribution.

In some instances, the meltblown layer 106 that weares and teares is to provide one deck meltblown fibers 107 of rough surface.Meltblown fibers 107 is formed with high-throughput by melt blown process 300 (see Fig. 3), and this process produces foam or hair-like fiber, and it is formed from the polymer that nib flows out by Yin Wendu and other conditions of running.Abrasive material 106 is formed in (such as, another meltblown layer, spunbond layer or hydroentangled layer) on the top of integument 105.Integument 105 can be fish-bone hydraulic pressure print non-woven material, and it is made up of the ratio of viscose glue (artificial silk) fiber being mixed with polyester fiber.In some instances, the basis weight (also referred to as every Gram Mass) that the meltblown layer 106 that weares and teares has equals 55g/m ²(gram every square metre).The basis weight that integument 105 can have is at about 30gsm (gram every square metre) with about between 65gsm.In other examples, the basis weight that integument can have is between about between 35-40gsm.Basis weight is that the one that uses in textile and paper industry is measured, and is used for the quality of measurement products per unit area.In one embodiment, integument 105 is that the water formed together with its further groove (not shown) stings spunbond or water and stings material, described recess allows fluid and soil suspension more directly to pass through to airlaid layer 101,102,103, and reduces the amount of poly-suction between integument 105 and floor surface 10 when pad 100 is moistening.In one embodiment, groove is herringbone pattern.In another embodiment, groove type squarely grid, its size is determined and to be partitioned between 0.50 and 1.0 millimeter square and in the length of grid protocol 2.0-2.5 millimeter spaced intermediate.In one embodiment, the size of groove is determined and is partitioned into 0.75 millimeter square, and in the length of 2.25 millimeters spaced intermediate of grid protocol.In another embodiment, integument 105 be wherein there is wicking capacity for improving integument 105 and reduce wet between integument 105 and floor surface 10 spunbond the or water of the pinprick of cohesive force sting material.Herringbone, square and acupuncture groove prevent from producing negative pressure because of fluid evaporator and/or from the back side wicking of liner in the outside of integument.Owing to not moving freely in integument 105 or do not have some textures on integument 105, the fluid being applied to floor surface 10 can not change the fluid of wicking, and it causes the suction between pad 100 and floor.The low-density of 35-40gsm spunbond or water thorn material be combined with the superficial makings of the form in water embossed grooves, superficial makings and pattern (such as herringbone) or acupuncture groove or hole the suction preventing and pad between floor.Meltblown layer 105 contributes to anti-suction here further.

In addition, when pad 100 is moist, there is not the interface that enough fluids come between the bottom surface of lubricating pad and floor surface 10.The pad 100 soaked completely can rely in a layer fluid, and simultaneously robot 400 is moving, but along with humidity pad 100 slowly absorption fluids, integument 106 that is fully not moistening, non-sufficient lubrication will drag on floor surface 10.In embodiments, spunbond or water thorn integument 105 adopts hydrophilic fibre manufacture, and this fiber reduces the surface area of the pad 100 of the air be exposed between pad 100 and floor surface 10 to greatest extent.If groove or pin hole are not parts for integument 100, then wet pad 100 can adhere to hydrophily floor surface 10.Superficial makings is applied to the spunbond of integument 105 or water puncture bad otherwise wet pad 100 will be impelled to adhere to the surface tension of wet floor surface 10.

The weight of wearing and tearing meltblown layer 106 makes wearing and tearing meltblown layer 106 be used as absorbed layer, and allows fluid to pass through meltblown layer 106 to be absorbed, and is kept by airlaid layer 101,102,103.In some instances, the about 60-70% of surface area of meltblown layer 106 overing number thorn integument 105, in other example, meltblown layer 106 covers the about 50-60% of the surface area of spunbond or water thorn integument 105.

Meltblown fibers 107 can sting on integument 105 at water has different layouts and configuration.In some instances, meltblown fibers 107 is arranged on integument 105 randomly.Meltblown fibers 107 can be arranged in the one or more part 109a-e on clean surface 109.Clean surface 109 is the bottom surfaces of the cleaning pad 100 contacted with floor surface 10.Covering ratio between the melt-blown abrasive fiber 107 that one or more part 109a-e on clean surface 109 have and integument 105 is greater than 50%.Meltblown layer is destroy otherwise wet integument may be caused to adhere to the surface tension of wetland plate to the advantage that this pad provides.By texture and pattern being added to the floor towards pad surface, meltblown layer prevents pad from adhering to or runs into large drag force.Meltblown layer also provides superficial makings to pad, treats for coarse the dirt and chip that adhere to or be dried to floor surface, and loosens dirt and chip absorbs by the air lay inner core of pad.

As shown in Figure 3, melt blown process 300 adopts the high-speed air 310 of heating to extrude with pull molten plastic resin to form the process of fiber or long filament 107.Fibers/filaments 107 cools, and then on the top of diaphragm 320, forms net 106.This process 300 is similar to spunbond, but the meticulousr and scope of the fiber 107 generated here is at the diameter range of 0.1 to 20 micron (such as, 0.1-5 micron).Melt-blownly also be considered to melt-spun or spunbond process.Meltblown polypropylene fibres is expressed in continuous poriferous conveyer and forms nonwoven web 106 by the extrusion die 312 (beam) shown in the process shown in Fig. 3.It is by six primary clusterings: extruder, measuring pump, extrusion die, web forming device, net bracing means and wind.Other processes are also possible.

There is the basic Design of Dies 312 that two kinds use together with melt blown technology, single row mould and arrange mould more.The main distinction between these two kinds designs is the amount of used air and the handling capacity of mould.Adopt many row's moulds can realize larger handling capacity.Many rows mould has the hole of two to ten eight rows usually, and per inch about has 300 holes, and traditional single row mould per inch has 25 to 35 holes.Any one Design of Dies 312 may be used for forming meltblown fibers 107.To sting 200+ kg/hr/meter (kilogram every meter per hour) obtaining much smaller for having the spunbond of its larger fibre diameter or water for the throughput ratio of this process.Conventional mould can extrude 70 to 90 kgs/hr/meters substantially, and arranges mould more and can reach about 160 kgs/hr/meter.

In some embodiments, the diameter that meltblown fibers 107 has, between about 0.1 micron to about 5 microns, is on average about 2.5 microns.Handling capacity and air mass flow have maximum effect to minimizing fibre diameter, and melting and air themperature and mould affect less to the distance of forming table.Optimizing process variable and use metallocene polypropylene to produce meltblown web, fiber diameter is in the scope of 0.3 to 0.5 micron, and maximum fiber diameter is less than 3 microns.By providing the very high head net with superior ventilation property, the integument 104 with the meltblown fibers 107 of this size can provide obstacle to prevent liquid from cleaning pad 100 seepage.Meltblown fibers 107 can be created by using HOPP; But, some other resin can also be extruded by melt blown process, such as polyethylene, polyester, polyamide and polyvinyl alcohol.In some embodiments, meltblown layer 106 is formed by PLA (PLA), biodegradable non-woven fleece.

In some instances, airlaid layer 101,102,103, the combined width W that has of wearing layer 104 and integument 104 (i.e. cleaning pad 100) _tbetween about 68 millimeters and about 80 millimeters, pattern length (not shown) is between about 200 millimeters and about 212 millimeters.In some instances, comprise airlaid layer 101,102,103, the combination thickness T that has of the cleaning pad 100 of wearing layer 104 and integument 105 _tbetween 6.5 millimeters and about 8.5 millimeters.In addition or alternately, the combined airflow that airlaid layer 101,102,103 has becomes net width (W _a1+ W _a2+ W _a3) between 69 millimeters and about 75 millimeters, combined airflow becomes net length (L _a1+ L _a2+ L _a3) between about 165 millimeters and about 171 millimeters.Cleaning pad 100 can bear the pressure being applied to it by instrument 400,500 (such as, robot or mop), because instrument 400,500 will cause cleaning pad 100 to move back and forth through imitating scouring action during floor surface 10 in robot 400.

In some embodiments, when cleaning pad 100 just cleans floor surface 10, it absorbs the cleaning fluid 172 being applied to floor surface 10.Cleaning pad 100 can absorb enough fluids and not change its shape.Therefore, when cleaning pad 100 uses together with clean robot 400, cleaning pad 100 has roughly similar size before clean floor surface 10 He after clean floor surface 10.Cleaning pad 100 can increase by volume when its absorption fluids.In some instances, the thickness T of cleaning pad _tincrease after absorption of fluids and be less than 30%.

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

Table 1

ASTMD3776M-09A and ASTMD5034-09 is the standard testing from U.S.'s test and materials association (ASTM).ASTMD3776M-09A covers the fabric quality measuring per unit area (weight), and is applicable to most of fabric.ASTMD5034-09 (being also referred to as grab method) is the standard method of test of fracture strength for fabric and percentage elongation.WSP120.6 and WSP10.0 (05) is the standardized test created by world strategy partner for testing non-woven fabric attribute.

With reference to Figure 1A-1D, Fig. 3, Fig. 4-6 and Fig. 9 A-9C, cleaning pad 100 is configured to scrubbing floor surface 10 and the fluid absorbed on floor surface 10.In some instances, cleaning pad 100 is connected to burnisher such as mobile robot 400 or hand-held mop 500.Burnisher 400,500 can comprise sprayer 462,512, and cleaning fluid 172 is injected on floor surface 10 by it.Instrument 400,500 is for cleaning and removing any stain (such as, dirt, grease, food, baste, coffee, coffee grounds), and they are absorbed by pad 100 together with the fluid 172 applied dissolving and/or unclamp stain 22.Some stains may have viscoelasticity property, and it shows viscosity and elastic characteristic (such as honey).Cleaning pad 100 has absorbability, and the outer surface 105a had comprises the abrasive material 106 of the random application containing meltblown fibers 107.When instrument 400,500 moves around floor surface 10, cleaning pad 100 adopts the abrasive material side 105b wiping floor surface 10 of the abrasive material 106b containing meltblown fibers, and absorbs employing ratio otherwise be sprayed onto the cleaning solution on floor surface 10 by the power of the only light weight of cleaning needed for the mop with non-abradant cleaning element.

With reference to Fig. 4, in some embodiments, instrument 400 is autonomous mobile robots 400 of compact and portable, and its weight is less than 5 pounds and navigation and clean floor surface 10.Mobile robot 400 can comprise the main body 410 supported by drive system (not shown), and this drive system can handle robot 400 based on the driving instruction such as with x, y and θ component on whole floor surface 10.As shown in the figure, robot body 410 has square shape.But main body 410 can also have other shapes, include but not limited to the combination of the anterior and rounded back section of circle, ellipse, tear drop shape, rectangle, square or rectangular or the longitudinal asymmetric combination of these shapes arbitrarily.Robot body 410 has anterior 412 and rear portion 414.Main body 410 also comprises bottom (not shown) and top 418.One or more rear portions steep cliff sensor (not shown) in one or two after the bottom of robot body 410 is also included in two of robot 400 in bight and be arranged in one or two the one or more anterior steep cliff sensor of forward corner of mobile robot 400, falls from outstanding surface for preventing.In an embodiment, steep cliff sensor can be mechanical decline sensor or the proximity transducer based on light, such as IR (infrared ray) to, two transmitter, single receiver or dual collector, single transmitter, to be intended at the downward proximity transducer based on IR light of floor surface 10.In some instances, one or more anterior steep cliff sensor and one or more rear portions steep cliff sensor are to place relative to the certain angle of forward corner and rear bight respectively, make their cutting bights, cover bight as much as possible between the sidewall crossing over robot 400, take turns by existing reversible robot the floor level falling held threshold value change to detect to exceed.Bight steep cliff sensor being placed close to robot 400 guarantees that they will trigger immediately when robot 400 be suspended in floor decline, and prevents robot wheel from crossing drop edge.

In some embodiments, the front portion 412 of main body 410 with movable bumper 430, collision detection on the direction in longitudinal direction (A, F) or laterally (L, R).Bumper 430 has the shape of complementary robot body 410, and extends before robot body 410, makes the overall dimensions wider than the rear portion 414 of robot body 410 (robot as shown has square shape) of anterior 412.The bottom support cleaning pad 100 of robot body 410.In an embodiment, pad 100 extends beyond the width of bumper 430, make robot 400 outward flange of pad 100 location can be reached tough and arrive surface along it or enter gap, such wall floor interface, and make this surface or gap be cleaned by the extending edge padding 100, robot 400 moves in the mode of moving with wall simultaneously.The embodiment extending beyond the pad 100 of the width of bumper 430 makes robot 400 can crack beyond the scope of cleaning machine human agent 410 and gap.In an embodiment, such as shown in Figure 1A-1D, Fig. 8 A-8C and Fig. 9 E, pad 100 cuts off end 100d straight from the shoulder, makes airlaid layer 101,102,103 be exposed to two end 100d of pad 100.Be sealed in the end 100d of pad 100 with integument 105 and compressed air stream becomes the end 100d of stratum reticulare 101,102,103 by contrast, the total length of pad 100 can be used for absorption of fluids and clean.Any part of air lay core is not compressed by integument 105, therefore can not absorption fluids 172.In addition, what the used disposable pad 100 of the present embodiment can not have a sealed packet covering layer 105 when completing clean soaks into moistening soft end.All fluids 172 will be absorbed regularly and be kept by air lay core, prevent any drippage and prevent the dirty wet end of user's contact pad 100 out of turn.

As shown in Fig. 4 and Fig. 9 A-9G, robot 400 can drive the specific part covering floor surface 10 back and forth.When robot 400 drives back and forth, therefore its clean region passed through also provides degree of depth scrubbing floor surface 10.The reservoir 475 held by robot body 410 keeps cleaning fluid 172 (i.e. cleaning solution), and can hold the fluid of 170-230 milliliter.In an embodiment, reservoir 475 holds the fluid of 200 milliliters.Robot 400 can comprise the fluid applicator 462 being connected to reservoir 475 by pipe.Fluid applicator 462 can be sprayer, at least one nozzle 464 distributing fluids on floor surface 10 that it has.Fluid applicator 462 can have multiple nozzle 464, and the angle and distance being configured to be different from another nozzle 464 separately sprays fluid.In some instances, robot 400 comprises two nozzles 464, vertically to be stacked in the recess in fluid applicator 462 and to tilt and spaced apart, make a nozzle 464a forward with the fluid 172a of Jet with downward flow direction relatively length, the applying fluid 173a supplied forward with employing covers the region before robot 400, another nozzle 464b is the fluid 172b of relatively short length with Jet with downward flow direction forward, to make the applying fluid 173b that supplies backward in the region than the applying fluid 173a distributed by pipe top nozzle 464a closer on the region before robot 400.In an embodiment, fluid 172,172a, 172b are distributed in regard to size expanding machinery people width W by nozzle 464 or nozzle 464a, 464b _rwith at least one robot length L _rzone map in.In some embodiments, pipe top nozzle 464a and end nozzle 464b apply in the bar that fluid 172a, 172b open in two different interval applying fluid 173a, 173b, and described bar does not extend to the whole width W of robot 400 _r, make pad 100 with the outward flange of the scouring action tilted forward and backward as described herein through the bar of applying fluid 173a, 173b.In an embodiment, the bar applying fluid 173a, 173b covers robot width W _rthe width W of 75-95% _swith robot length L _rthe pattern length L of 75-95% _s.In some embodiments, robot 400 is only sprayed on the traversed zone of floor surface 10.

In addition, the spot moved back and forth on broken floor surface 10 of robot 400.Then broken spot is absorbed by cleaning pad 100.In some instances, if cleaning pad 100 picks up too much liquid such as fluid 172, then cleaning pad 100 picks up enough spray fluid to avoid uneven striped.When very few absorption of fluids, robot 400 can leave fluid and wheel vestige.In certain embodiments, cleaning pad 100 leaves fluid remnants, and it can be water or some other cleaning agent (comprising the solution containing cleaning agent), to be provided visible gloss by the floor surface 10 cleaned.In some instances, this fluid contains antiseptic solution, such as, alcohol containing solution.Therefore, thin layer remnants are intended to can't help cleaning pad 100 and absorb, and kill more a high proportion of germ to allow fluid.Therefore, cleaning pad 100 is not swelling or expand, and provides total mat thickness T _tsmall size increase.If this characteristic of cleaning pad 100 prevents robot 400 from tilting backwards or fall forward when cleaning pad 100 expands.Cleaning pad 100 has enough rigidity to support the front portion of robot.In some instances, cleaning pad 100 absorbs the 180ml or 90% up to the total fluid be included in robot reservoir 475.In some instances, cleaning pad keeps the fluid of about 55 to about 60 milliliters, and completely saturated integument keeps the fluid 172 of about 6 to about 8 milliliters.In some instances, the ratio that the liquid of air lay core 101,102,103 and outer casing 105 keeps is about 9:1 to about 5:1.

Pad 100 and the size and dimension of robot 400 are specified to make fluid to transfer to from reservoir the anterior-posterior balance that absorption pad 100 keeps less than 5 pounds of robots 400 the process of dynamic motion.Fluid distribution design becomes to make robot 400 advance pad 100 continuously on floor surface 10, and do not disturb day by day saturated pad 100 and decrescence shared fluid reservoir 475, mention the back side 414 of robot 400 and before the robot 400 that fell downwards 412, and apply thus to suppress the downward power of motion to robot 400.Robot 400 can pass floor surface 10 by movable cushion 100, even if when pad 100 is completely by saturated with fluid.But robot 400 comprises the amount of the floor surface 10 that tracking is advanced and/or remains in the component of amount of the fluid in reservoir 475, and provide to user and can listen and/or visible alarm: pad 100 needs to change and/or reservoir 475 needs backfill.In an embodiment, if pad 100 is completely saturated, robot 400 stops moving and the appropriate location remained on floor surface, and once pad 100 is replaced, still having will by the floor cleaned.

Fig. 9 A to 9G show in detail an embodiment of mobile robot 400 sprinkling, pad is wetting and clean action.In some embodiments, fluid 172 is only applied to the region of the floor surface 10 that robot 100 has passed by by robot 400.In one example, fluid applicator 462 has multiple nozzle 464a, 464b, and each being configured to sprays fluid 172a, 172b on the direction different from another nozzle 464a, 464b.Fluid 172 downwards but not outwards apply fluid 172, directly can drip or is sprayed at before robot 100 by fluid applicator 462.In some instances, fluid applicator 462 is microfiber cloth or bar, fluid distribution brush or sprayer.

With reference to Fig. 9 A-9D and 9F-9G, in some embodiments, robot 400 can by moving along forward direction F towards barrier 20, then along backward or inverse direction A move and perform clean behavior.As illustrated in figures 9a and 9b, robot 400 can drive the first distance Fd to primary importance L1 along driving forwards direction.When robot 400 moves second distance Ad to second place L2 backward, nozzle 464a, 464b robot 400 after move at least distance D along the region driving forwards the floor surface 10 that direction F has passed along the fluid 172a that sprinkling length is longer before robot 400 forward and/or the in downward direction and shorter fluid 172b of length simultaneously on floor surface 10.In one example, fluid 172 is applied to the region of the region footprint AF being substantially equal to or being less than robot 400.Due at least length L that distance D is cross machine people 400 _rdistance, so robot 400 determines that region that floor 10 is crossed is if robot 100 not yet verifies there is the clean and tidy floor surface 10 clean and tidy floor surface 10 that the furniture be applied on it, wall 20, steep cliff, carpet or other surface or barrier take by not cleaned liquid 172 for receiving cleaning solution 172.By then moving backward at the forward position forward direction F applying cleaning solution 172, robot 400 identifies border, such as floor change and wall, and prevents these projects of fluid damages.

As shown in Fig. 4,9B and 9C, in some instances, fluid applicator 462 is sprayers 462, and it comprises at least two nozzles 464a, 464b, is uniformly distributed on whole floor surface 10 by fluid 172 in each two bars applying fluid 173a, 173b.Two nozzles 464a, 464b are each to be configured to the angle and distance spray fluid different from another nozzle 464a, 464b.In some instances, two nozzle 464a, 464b is vertically stacked in the recess in fluid applicator 462, and to be spaced apart from each other with horizontal tilt, make a nozzle 464a forward and spray downwards the fluid 172a of relatively length, the applying fluid 173a supplied forward with employing covers the region before robot 400, and another nozzle 464b forward and spray downwards the fluid 172b of relatively short length, to make the applying fluid 173b that supplies backward in the region than the applying fluid 173a distributed by pipe top nozzle 464a closer on the region before robot 400.In an embodiment, fluid 172,172a, 172b are distributed in regard to size expanding machinery people width W by nozzle 464 or nozzle 464a, 464b _rwith at least one robot length L _rzone map in.In some embodiments, pipe top nozzle 464a and end nozzle 464b apply in the bar that fluid 172a, 172b open in two different interval applying fluid 173a, 173b, and described bar does not extend to the whole width W of robot 400 _r, make pad 100 with the outward flange of the scouring action tilted forward and backward as described herein through the bar of applying fluid 173a, 173b.In an embodiment, the bar applying fluid 173a, 173b covers robot width W _rthe width W of 75-95% _swith robot length L _rthe pattern length L of 75-95% _s.In an embodiment, the bar applying fluid 173a, 173b can be roughly rectangle or ellipse.In an embodiment, nozzle 464a, 464b makes do not have fluid 172 to complete each sprinkling cycle from the nozzle leakage of following each spraying example by the fluid sucking small size at nozzle opening.

With reference to Fig. 9 D, 9F and 9G, in some instances, robot 400 can drive the specific part covering floor surface 10 back and forth, moisturizing cleansing pad 100 and/or scrubbing floor surface 10 when clean operation starts.Robot 400 drives back and forth, cleans and passes through region, therefore provide to floor surface 10 and clean thoroughly.The pad 100 that robot 400 vibrates connected in the track of 12-15mm, with scrubbing floor 10, and to padding the downward thrust of applying 1 pound or less.

In some instances, fluid applicator 462 applies region before fluid 172 to cleaning pad 100 and advancing on the direction of (such as, forward direction F) mobile robot 100.In some instances, fluid 172 is applied to the previously occupied region of cleaning pad 100.In some instances, the region that cleaning pad 100 has occupied is recorded on the map stored of the robot controller 150 can accessed as shown in Figure 10.Robot 400 can comprise for cleaning systems 1060 that are clean or process floor surface 10.

In some instances, according on the non-transience memory 1054 being stored in robot 400 or covering place at clean run duration by its on map that the addressable exterior storage medium of wired or wireless device stores by robot 400, robot 400 knows that it somewhere.Robot 400 sensor 5010 can comprise camera and/or one or more ranging laser for building space map.In some instances, robot controller 1050 use wall, furniture, floor change and other barriers 10 map to apply robot 400 to be located and is placed in before cleaning solution 172 position enough away from barrier and/or floor change.This advantage had is the region above being applied to by fluid 172 without the floor surface 10 of known barrier.

In some instances, robot 100 with the moving back and forth mobile floor surface 10 be applied to moisturizing cleansing pad 100 and/or scouring fluid 172.Footprint area AF on the floor surface 10 that robot 400 can be applied to by fluid 172 moves in hundred arteries and veins patterns.As shown in the figure, in some embodiments, hundred arteries and veins cleaning procedures relate to along centrode 1000 direction of advance F and backward or on inverse direction A and along left track 1010 and right track 1005 mobile robot 100 on forward direction F and backward directions A.In some instances, left track 1010 and right track 1005 are along centrode 1000 from the outward extending arching trajectory of starting point with the form of arc.Left track 1010 and right track 1005 can be from the outward extending straight path of centrode 1000 with straight line.

Fig. 9 D and 9F shows two hundred arteries and veins tracks.In the example of Fig. 9 D, robot 400 moves from position A on forward direction F along centrode 1000, until it runs into wall 20 and trigger sensor 5010, such as salient point sensor at position B.Then robot 400 is equal to or greater than along centrode distance of movement on backward directions A and applies covered distance by fluid.Such as, along centrode 1000, mobile at least one robot length l is to position G backward in robot 400, and this position can be the position identical with position A.Fluid 172 is applied to the region of the footprint area AF being substantially equal to or being less than robot 100 by robot 400, and turns back to wall 20, and cleaning pad 400 is through fluid 172 also clean floor surface 10.From position B, robot 100 retracts before returning the positioning belt covering residual track or along left track 1010 or along right track 1005.Each robot 400 is along centrode 1000, left track 1010 and right track 1005 forward and when moving backward, cleaning pad 100 is through applying fluid 172, the floor surface 10 be applied to from fluid 172 cleans dirt, chip and other particulate matter, and by dirty absorption of fluids to cleaning pad 100 and away from floor surface 10.The scouring action of the wetting pad combined with the solvent properties of cleaning solution 172 is broken and unclamp dry spot and dirt.The cleaning solution 172 applied by robot 400 has hanged the chip loosened, and makes cleaning pad 100 absorb suspension chip and by its wicking away from floor surface 10.

In the example shown in Fig. 9 F, robot 400 is same moves to wall position (position B) along centrode 1000 from original position (position A) by applying fluid 172.Robot 400 leaves wall 20 to position C along centrode 1000, and it can be the position identical with position A, and before covering left and right track 1010,1005, extend to position D and F, cleaning fluid 172 is distributed along track 1010,1005 by cleaning pad 100.In one example, when each robot 400 stretches out along track from centrode 1000, robot 400 turns back to the position indicated by position A, C, E and G along centrode, as shown in fig. 9f.In some embodiments, the order that the robot 400 backward directions A that can change along one or more different tracks moves and forward direction F moves, moves cleaning pad 100 and cleaning fluid 172 through floor surface with effectively and efficient overlay pattern.

In some instances, robot 100 can move when starting clean operation all parts of moisturizing cleansing pad 100 with hundred arteries and veins overlay pattern.As shown in fig. 9e, the bottom surface 100b of cleaning pad 100 has central area PC and right left border region PR and PL.When robot 100 start clean run or cleaning procedure time, cleaning pad 100 is dry, and needs wettedly to reduce friction, and expands cleaning fluid 172 therefrom to clean chip along floor surface 10.

Therefore, robot 400 applies fluid when starting clean operation with higher volume flow rate at first, makes cleaning pad 100 wetted easily.In one embodiment, the first volume flow rate by spraying every 1.5 feet of about 1mL fluids and set at first within a period of time such as 1-3 minute, and the second volume flow rate is sprayed by every 3 feet and sets, and wherein the volume of each spray fluid is less than 1 milliliter.In an embodiment, when bringing into operation, each applies fluid 172, to make the integument 105 of pad 100 saturated in early days in clean operation to two feet in robot 400.Through after a while and/or distance afterwards, the such as duration of 2-10 minute, robot 400 applies fluid with the interval of every three to five feet, because pad 100 is wetted and can scrubbing floor 10.As Fig. 9 G illustrates, in some instances, when starting clean operation, robot 400 drives cleaning pad 100 by applying fluid 172, make left and right sides fringe region PR and PL of the central area PC of the bottom surface 100b of cleaning pad 100 and cleaning pad 100 each individually through applying fluid 172, thus soak whole cleaning pad 100 along the whole bottom surface 100b of the cleaning pad 100 contacted with floor surface 10.

In the example of Fig. 9 G, robot 400 along centrode 1000 direction of advance F and 10 then backward directions A move, by applying fluid 172 center through pad 100.Then, robot 400 drives on forward direction F and backward directions A along right track 1005, by applying the left field PL of fluid 172 through cleaning pad 100.Then, robot 100 drives on forward direction F and backward directions A along left track 1010, by applying the right side area PR of fluid 172 through cleaning pad 100.When starting clean operation, robot applies fluid 172 with the high original frequency of relatively high initial volume flow velocity Vi and/or applying, frequently apply more substantial fluid 172 to surface 10 and/or frequently apply fixed amount fluid 172 to surface 10, with promptly moisturizing cleansing pad 100.Moisturizing cleansing pad reduces friction, and makes pad 100 can dissolve more chip 22, and does not need frequently to apply fluid 172.In an embodiment, according to the material on floor 10 and the humidity of pad 100, the coefficient of friction of the integument 105 of pad 100 is changed to 0.5 from 0.3.In one embodiment, the coefficient of friction that the dry pad 100 of movement has on glass is about 0.4 to 0.5, and the coefficient of friction that the wet spacer on ceramic tile has is about 0.25 to 0.4.

Once the integument 105 of cleaning pad 100 is wetted, then robot 400 just continues its clean operation and applies fluid 172 with the second volume flow rate Vf subsequently.This second volume flow rate Vf is relatively lower than primary rate Vi when starting clean operation, because cleaning pad 100 is wetted and effectively move cleaning fluid on the surface 10 along with its scouring.In one embodiment, initial volume flow rate Vi by spraying every 1.5 feet of about 1mL fluids and set at first within a period of time such as 1-3 minute, second volume flow rate Vf is sprayed by every 3 feet and sets, and wherein the volume of each spray fluid is less than 1 milliliter.Robot 400 adjusted volume flow rate V, makes the cleaning pad 100 of specified size wetted on bottom surface 100b (Fig. 9 E), and does not soak to greatest extent in airlaid layer 101,102,103 completely.The bottom surface 100b of cleaning pad 100 is wetted at first, and the absorbability padding 100 inner will make cleaning pad 100 keep fully absorbing the clean remainder run by ponding.The spot 22 moved back and forth on broken floor surface 10 of robot 400.Then, broken spot 22 is absorbed by cleaning pad 100.

In some instances, cleaning pad 100 picks up enough injection fluids 172, to avoid uneven striped.In some instances, cleaning pad 100 leaves solution remnants, to provide visible gloss to by the floor surface 10 cleaned.In some instances, fluid 172 is containing antiseptic solution; Therefore, thin layer remnants are intended to can't help cleaning pad 100 and absorb, and kill more a high proportion of germ to allow fluid 172.

In one embodiment, spacer can be made savory.Flavouring agent can be integrated into or be applied in the combination of one or more air lay sandwich layer, liner or airlaid layer and liner.Flavouring agent can be inertia in the pre-activate stage and by liquid activation to discharge fragrance, make pad only produce fragrance during use, otherwise do not produce any smell when storing.In another embodiment, pad the cleaning agent that comprises or surfactant can be integrated into or be applied in the combination of one or more air lay sandwich layer, liner or airlaid layer and liner.In one embodiment, cleaning agent be only applied to under the back side (do not expose, non-meltblown side) of the liner that contacts of most air lay core component, make cleaning agent being released on clean face by porous liner with during fluid contact.Cleaning agent can be have the blowing agent from cleaning agent to clean surface and/or cleaning agent that represent the obvious gloss applying.In another embodiment, pad comprises one or more chemical preservatives be applied to or be manufactured in cardboard back member.Anticorrisive agent is selected to and prevents from being present in the timber spore growth based in the back member of timber.Some embodiments of pad can comprise all these features-conventional aroma agent, cleaning agent, antiseptic and anticorrisive agent-or the less combination except all these components, such as, comprise the fragrance of encapsulation.

With reference to Fig. 5, in some instances, instrument 500 is mops 500.The main body 502 that mop 500 comprises supports the reservoir 504 preserving cleaning fluid 172 (such as clean solution).Handle 506 is arranged on the side of main body 502.This handle comprises controller 508, for controlling from reservoir 504 release fluids.Moveable rotating basis 510 is arranged on the other end of the main body 502 relative with handle 506.Pedestal 510 comprises the fluid applicator 512 being connected to holder 504 by pipe (not shown).Fluid applicator 512 can be the sprayer of at least one nozzle 514 with distributing fluids on floor surface 10.Nozzle 514 sprays to the front of pedestal 510 and below towards floor surface 10.Control user's spray fluid 172 as required of controller 508.Fluid applicator 512 can have multiple nozzle 514, is eachly configured to spray fluid on the direction different from another nozzle 514.

With reference to Fig. 6 and 8E-8G, retainer 600,600a, 600b can be arranged on the instrument 400,500 of support cleaning pad 100.Retainer 600,600a, 600b are arranged on the bottom of instrument 400,500, for keeping cleaning pad 100.In one embodiment, retainer 600 can comprise loop fasteners, and in another embodiment, retainer 600 can comprise clip or keep support and optionally discharge the selective movable clip or maintenance support that pad for removing.The retainer of other type may be used for cleaning pad 100 to be connected to instrument 400,500, such as hasp, clip, support, adhesive etc., it can be configured to allow release cleaning pad 100 when activating the pad relieving mechanism be positioned on instrument 400,500, makes user not need to touch dirty pad to remove pad from burnisher 400,500.

Fig. 7 provides the exemplary arrangement of the operation of the method 700 forming cleaning pad 100.Method 700 comprises the first airlaid layer 101 is arranged 710 in the second airlaid layer 102, the second airlaid layer 102 is arranged 720 in the 3rd airlaid layer 103.Method 700 also comprises wraps up 730 integuments 104 around first, second, and third airlaid layer 101,102,103.Integument 104 comprises water thorn integument 105 and adheres to the melt-blown abrasive material 107 of this water thorn integument 105.

In some instances, method 700 also comprises adhesion and arranges that melt-blown abrasive material 107 is on water thorn integument 105 randomly.Additionally or alternatively, the melt-blown abrasive fiber diameter that can have is between about 0.1 micron to about 20 microns.Method 700 can also comprise arranges that melt-blown abrasive material and water thorn integument 105 to have the collective's thickness between 0.5 millimeter and about 0.7 millimeter on water thorn integument 105.In some instances, melt-blown abrasive material 107 creates the thickness gap of 0.5 millimeter between integument 105 and floor 10.Due to this thickness gap, pad 100 can pick up the bubble fluid with capillary 1.5 mm dias be positioned on floor 10, and does not need power.The minimum point of impression 105 layers, lid is apart from only 0.5 millimeter, floor 10, and the remainder of the surface area of integument 105 is 3 millimeters apart from floor 10.

Method 700 can also comprise and to be arranged in by melt-blown abrasive material 107 on water thorn integument 105, to provide between about 60% and covering surfaces ratio about between 70% to sting at melt-blown abrasive material 107 and water between integument 105.In some instances, method 700 can comprise the first airlaid layer 101 is adhered to the second airlaid layer 102, and the second airlaid layer 102 is adhered to the 3rd airlaid layer 103.Airlaid layer 101,102,103 can be based on cellulosic textile material (such as, comprising the material of fluff pulp).

In some embodiments, method 700 can comprise wherein first, second, and third airlaid layer 101,102,103, water thorn integument 105 and melt-blown abrasive material are configured to thickness after absorption of fluids increases less than 30%.Method 700 can also comprise impression hydroentangled layer 105.Method 700 can also comprise and being arranged in one or more airlaid layer 101,102,103 by Sodium Polyacrylate.

In some instances, method 700 also comprises pattern length airlaid layer 101,102,103 and integument 104 being configured to have between combined width between about 80 millimeters to about 68 millimeters and about 200 millimeters to about 212 millimeters.Method 700 can also comprise combined width airlaid layer 101,102,103 and integument 104 are configured to have between about 6.5 millimeters to about 8.5 millimeters.Method 700 can comprise and airlaid layer 101,102,103 is configured to the combined airflow had between 69 millimeters to about 75 millimeters becomes the combined airflow between net width and about 165 millimeters to about 171 millimeters to become net length.

Fig. 8 E-G shows the exemplary release mechanism for padding 100 as described herein.Fig. 8 A-8C shows the embodiment of pad 100, and the core of its three airlaid layer 101,102,103 had bonds and is encapsulated in and adheres to top stream and become in the integument 105 of the top surface of stratum reticulare 101.In addition, the embodiment of Fig. 8 A-8C comprises the cardboard back sheet 85 of the top surface adhering to pad 100.Cardboard back sheet 85 protrudes past the longitudinal edge of pad 100 and is attached to the outstanding longitudinal edge 86 of cardboard back sheet 85 of pad support 82 of robot 100.In one embodiment, the thickness of cardboard back sheet 85 is between 0.02 " and 0.03 " between, width is between 68 and 72 millimeters, and length is between 90-94 millimeter.In one embodiment, cardboard back sheet 85 is 0.026 " thick, 70 mm wides and 92 millimeters long.In one embodiment, cardboard back sheet 85 adopts waterproof coating to be coated on both sides, the combination of such as wax or polymer or waterproof material, such as wax/polyvinyl alcohol, polyamine, and cardboard back sheet 85 is not disintegrated when getting wet.

In an embodiment, the bottom surface 100b of pad 100 can comprise one or more hair seizure bar 100c, for catching and collect loose hair in cleaning course.In the embodiment of Fig. 9 E, two hairs catch the bar 100c option character representing this function shown in broken lines.Catch in the embodiment of bar 100c having one or more hair, on the outer longitudinal edge that described bar 100c can be arranged in pad 100 or single bar downward in the middle of arbitrary longitudinal edge or pad of pad.In an embodiment, each hair catch bar 100c less than the bottom surface 100b of pad 100 total surface area 30%, preferably less than the bottom surface 100b of pad 100 surface area 20%.It can be the strip material joining integument 105 that hair catches bar 100c, and it comprises the loose fiber with capture function, such as hook, Roughen Edges fiber or there is the fiber of fusion tip.

As Fig. 8 E and 8G, pad 100 can be fixed to autonomous robot by the pad support 82 that can be connected to robot 400 as described herein.Exemplary pad relieving mechanism 83 also illustrate upwards or pad fixed position.Pad relieving mechanism 83 comprises retainer 600a or lip, and pad 100 is firmly held in appropriate location by catching the outstanding longitudinal edge 86 of cardboard back sheet 85 by it.In shown version, the pad tip of relieving mechanism 83 or end 84 comprise moveable retaining clip 600a and eject projection 84, its pad be inserted in support 82 and be pushed into as shown in fig. 8g to discharge pad 100 (as shown here be pushed on connected back sheet 85 such as cardboard backing) that be fixed downwards to upper/lower positions time upward sliding through the slit in pad support 82 or opening.Relation between pad and pad support 82 is also illustrated in the top view of Fig. 8 F.In one embodiment, pad relieving mechanism 83 is activated by the switching push button 477 below the handle 419 being positioned at robot 400, as shown in Figure 4.Motion switch is represented by dashed double 478.Switch the spring actua that switching push button 477 moves rotating pad relieving mechanism 83, mobile retaining clip 600a is away from cardboard back sheet 85 and mobile ejection projection 84 passes the slit in pad support 882, makes to eject projection and pad 100 is released support.

Turn back to Fig. 8 A and 8B, in an embodiment, cardboard back sheet 85 can comprise otch 88, and its outstanding longitudinal edge 86 along cardboard back sheet 85 is felt relieved and corresponded to appropriate location with the outstanding projection 94 on the bottom of pad support 82, as in fig. 8d.In another embodiment, cardboard back sheet 85 comprises and is centered at first group of otch 88 on the outstanding longitudinal edge 86 of cardboard back sheet 85 and second group of otch 90 in the lateral edge of cardboard back sheet 85.Otch 88,90 is symmetrically along the central transverse axis PCA of pad 100 _lonwith the longitudinal center axis PCA of pad 100 _latcentering, and be centered at the longitudinal center axis HCA of downside of pad support 82 _lonwith the central transverse axis PCA of the downside of pad support 82 _laton complementary protuberance 92,94 engage.The pad support 82 of the embodiment of Fig. 8 D comprises three outstanding projections 92,94.This makes user along any one mounting mat 100 in two equidirectionals (toward each other 180 degree), to allow pad support 82 more easily to discharge pad 100 when relieving mechanism 83 is triggered simultaneously.Other embodiments of pad support comprise four projections 92,94 corresponding to four otch 88,90 appropriate location on the cardboard back sheet shown in Fig. 8 C.In other embodiments, pad support 82 and pad 100 comprise outstanding projection and the respective cut of other quantity any or configuration respectively, for being held in place by pad and can optionally discharging.

In Fig. 8 D, the outstanding projection 94 on the longitudinal edge of pad support 82 is covered by maintenance support 600a, and it illustrates with dashed-line view, makes outstanding projection 94 thereunder visible in example view.Projection 92,94 all makes disposable pad 100 press from both sides and links the bottom of pad support 82, make pad 100 and support 82 aim at accurately and static relative to pad support 82 by preventing from side direction and/or transverse direction from sliding carrying out supporting pad 100.

Because otch 88,90 extends in the surf zone of cardboard back sheet 85, so they have a common boundary with the more how horizontal and vertical surf zone of outstanding projection 92,94 respectively, and pay somebody's debt and expect repayment later and to be remained on opposing revolving force in appropriate location by otch projection keeping system.As mentioned above, robot 100 is to clean action movement, and in an embodiment, pad support 82 makes pad vibration clean extraly.In an embodiment, the pad 100 that robot 400 vibrates connected in the track of 12-15mm, with scrubbing floor 10, and to padding the downward thrust of applying 1 pound or less.By the otch 88,90 in cardboard back sheet 85 is alignd with projection 92,94, pad 100 in use keeps static relative to support, apply to clean action (comprising oscillation action) directly to be transmitted from pad support 82 by the layer of pad, and the motion of transmission can not be lost.

In an embodiment, the pad of Figure 1A-1D and Fig. 8 A-8C is disposable pad.In other embodiments, pad 100 is reusable superfine fibre cloth pads, has with herein with regard to those the identical absorption characteristics described in embodiment.In the embodiment with capable of washing, reusable superfine fibre cloth, the end face of cloth comprises fixing rigid backing layer, and its shape is determined to be and the cardboard back sheet of the embodiment of positioning and imaging Fig. 8 A-8C.Rigid backing layer is made up of the material heat-resisting, capable of washing of the backing that can not can be melted or degrade by mechanical drying.Rigid backing layer's tool has the dimensions, and the embodiment had as described herein and with regard to the pad support 82 described by embodiment of Fig. 8 A-8G exchanges the otch used.

In other example, pad 100 is intended to be used as disposable dry cloth, and comprises exposed fibers and carry out retaining the spunbond or water thorn material of the individual layer acupuncture of hair.Dry pad 100 embodiment also comprises chemical treatment, and viscous characteristics is increased to pad 100 and is used for carrying out maintenance dirt and chip by it.In one embodiment, chemical treatment is the commercially available material that a kind of such as commodity are called DRAKESOL.

Some embodiments are illustrated.It is to be appreciated, however, that, when not departing from spirit and scope of the present disclosure, can various amendment be carried out.Therefore, other embodiment is also within the scope of following claim.Such as, the action of record in enforcement of rights requirement can be carried out with different order, and still obtain the result of expectation.

Claims

1. a surface cleaning pad, comprising:

Absorbent core, it comprises and absorbs and keep the fibrous material of fluent material,

Backing layer, it contacts and covers at least side of described absorbent core, comprises and is kept and the fibrous material of wicking liquid material by described backing layer.

2. pad according to claim 1, wherein, described core material absorbs up to about 7 to about 10 times to its weight.

3. pad according to claim 1, wherein, described backing layer keeps the fluent material absorbed up to about 10%.

4. pad according to claim 1, wherein, described absorbent core comprises nonwoven cellulosic wood pulp.

5. pad according to claim 1, wherein, described absorbent core also comprises the superficial layer containing acrylic latex.

6. pad according to claim 1, wherein, described pad comprises the board and box lining liner layer being fixed to this pad, and described board and box lining liner layer is configured to described pad to be connected to cleaning equipment and is coated with the hydrophobic polymer that thickness is less than 0.1 centimetre.

7. pad according to claim 1, wherein, described absorbent core comprises first, second, and third airlaid layer, each airlaid layer has end face and bottom surface, the bottom surface of described first airlaid layer is arranged on the end face of described second airlaid layer, and the bottom surface of described second airlaid layer is arranged on the end face of described 3rd airlaid layer.

8. pad according to claim 7, wherein, described layer is adhered to each other by jointing material.

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

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

11. pads according to claim 1, wherein, described backing layer is by least four side wrap around described absorbent core.

12. pads according to claim 1, wherein, described backing layer comprises water thorn (spunlace) layer.

13. pads according to claim 1, wherein, described backing layer comprises water thorn spunbond layer, this water thorn spunbond layer floor to have on the surface reduce thickness groove in wherein, and there is the basis weight of 35-40gsm.

14. pads according to claim 1, wherein, described backing layer comprises the melt-blown abrasive fiber that the side that adheres to backing layer does not contact with described absorbent core.

15. pads according to claim 14, wherein, the diameter that described meltblown fibers has is between about 0.1 micron and about 20 microns.

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

17. pads according to claim 14, wherein, collective's thickness that described melt-blown abrasive fiber and described backing layer have on the surface of backing layer is between about 0.5 millimeter and about 0.7 millimeter.

18. pads according to claim 1, wherein, the thickness that described backing layer has is between about 0.5 millimeter and about 0.7 millimeter.

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

20. pads according to claim 1, wherein, described in pay somebody's debt and expect repayment later that to comprise in flavouring agent, cleaning agent, surfactant, blowing agent, glazing agent, chemical preservative, adhesive formulations and/or antibacterial agent one or more.

21. pads according to claim 1, wherein, the thickness that described spacer has is between about 6.5 millimeters and about 8.5 millimeters, and width is between about 68 millimeters and about 80 millimeters, length is between about 165 millimeters and about 212 millimeters, and described absorbent core keeps up to about 180 milliliters.

22. 1 kinds of mobile floor clean robots, comprising:

Robot body, its restriction drives forwards direction;

Driver, it supports described robot body to handle described robot from the teeth outwards,

Described driver comprises left and right sidesing driving wheel, and they are arranged in the corresponding left and right portion of described robot body; And

Cleaning assemblies, it is arranged on described robot body, and described cleaning assemblies comprises:

Pad support, it is arranged on described driving wheel front portion and has top and bottom, and the basal surface that described bottom has is arranged in about 1/2 centimetre and about 1 of this surface ¹/ ₂between centimetre in and be configured to receive cleaning pad, the basal surface of described pad support comprises at least 40% of the surface area of robot footprint, and described bottom have from its extend outstanding projection; And

Orbit shaker, its have be arranged on described pad support top on the track-bound being less than 1 centimetre;

Wherein, the track-bound that described pad support is configured to the described orbit shaker of permission more than 80% is transferred to the basal surface of received cleaning pad from the top of received cleaning pad, and wherein, described pad support has relieving mechanism, and it is configured to eject pad when relieving mechanism activates from the basal surface of described pad support.

23. robots according to claim 22, wherein, described cleaning assemblies also comprises:

Reservoir, it keeps the fluid of certain volume; And

Fluid applicator, it is communicated with described reservoir fluid, and described fluid applicator is configured to apply fluid along the direction that drives forwards before described pad support.

24. robots according to claim 22, wherein, described cleaning pad is configured to absorb about 90% of the fluid volume remained in described reservoir.

25. robots according to claim 22, also comprise back sheet, and it is on described cleaning pad, for engaging with described pad support.

26. robots according to claim 25, wherein, at least one the outstanding projection on the bottom of described pad support is positioned to for aiming at and engaging the formed slots otch of described back sheet.

27. robots according to claim 22, wherein, the gross weight of described robot when not keeping any fluid between about 1 kilogram and about 1.5 kilograms of pounds, keep fluid time between about 1.5 kilograms to 4.5 kilograms between.

28. robots according to claim 22, wherein, described robot applies fluid with initial volume flow rate to floor surface and carrys out wetting described cleaning pad, and described initial volume flow rate is relatively higher than volume flow rate subsequently when described cleaning pad is wetted.

29. robots according to claim 28, described initial volume flow rate by spraying every 30 centimetres of about 1 milliliter of fluids and setting within a period of time of about 1 to 3 minute, second volume flow rate is sprayed by every 3 feet and sets, and wherein the volume of each spray fluid is less than 1 milliliter.