EP3750464A1 - Robotic cleaner - Google Patents
Robotic cleaner Download PDFInfo
- Publication number
- EP3750464A1 EP3750464A1 EP20179577.0A EP20179577A EP3750464A1 EP 3750464 A1 EP3750464 A1 EP 3750464A1 EP 20179577 A EP20179577 A EP 20179577A EP 3750464 A1 EP3750464 A1 EP 3750464A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- unitary assembly
- moveable housing
- housing
- debris
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/02—Floor surfacing or polishing machines
- A47L11/10—Floor surfacing or polishing machines motor-driven
- A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
- A47L11/18—Floor surfacing or polishing machines motor-driven with rotating tools the tools being roll brushes
- A47L11/185—Floor surfacing or polishing machines motor-driven with rotating tools the tools being roll brushes with supply of cleaning agents
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/02—Floor surfacing or polishing machines
- A47L11/20—Floor surfacing or polishing machines combined with vacuum cleaning devices
- A47L11/201—Floor surfacing or polishing machines combined with vacuum cleaning devices with supply of cleaning agents
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
- A47L11/305—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools the tools being disc brushes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A47L11/4027—Filtering or separating contaminants or debris
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4044—Vacuuming or pick-up tools; Squeegees
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4075—Handles; levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- Autonomous or robotic floor cleaners can move without the assistance of a user or operator to clean a floor surface.
- the floor cleaner can be configured to sweep dirt (including dust, hair, and other debris) into a collection bin carried on the floor cleaner or to sweep dirt using a cloth which collects the dirt.
- the floor cleaner can move randomly about a surface while cleaning the floor surface or use a mapping/navigation system for guided navigation about the surface.
- Some floor cleaners are further configured to apply and extract liquid for deep cleaning carpets, rugs, and other floor surfaces.
- the disclosure relates to a floor cleaning robot.
- the floor cleaning robot includes an autonomously moveable housing, and a unitary assembly removably mounted to the autonomously moveable housing, the unitary assembly including a brush chamber, a debris receptacle, and a supply tank.
- the floor cleaning robot also includes a brushroll located in the brush chamber, at least one fluid distributor in fluid communication with the supply tank, and a fluid delivery pump configured to control a flow of the cleaning fluid to the at least one fluid distributor.
- the disclosure generally relates to autonomous floor cleaners for cleaning floor surfaces, including hardwood, tile and stone. More specifically, the disclosure relates to devices, systems and methods for sweeping and mopping with an autonomous floor cleaner.
- FIGS. 1 and 2 illustrate a schematic view of an autonomous floor cleaner, such as a floor cleaning robot 10, also referred to herein as a robot 10.
- a floor cleaning robot 10 also referred to herein as a robot 10.
- the robot 10 shown is but one example of a floor cleaning robot configured to sweep as well as dust, mop or otherwise conduct a wet cleaning cycle of operation, and that other autonomous cleaners requiring fluid supply or fluid recovery are contemplated, including, but not limited to autonomous floor cleaners capable of delivering liquid, steam, mist, or vapor to the surface to be cleaned.
- the robot 10 can include components of various functional systems in an autonomously moveable unit.
- the robot 10 can include a main housing 12 ( FIG. 3 ) adapted to selectively mount components of the systems to form a unitary movable device.
- a controller 20 is operably coupled with the various functional systems of the robot 10 for controlling the operation of the robot 10.
- the controller 20 can be a microcontroller unit (MCU) that contains at least one central processing unit (CPU).
- a navigation/mapping system 30 can be provided in the robot 10 for guiding the movement of the robot 10 over the surface to be cleaned, generating and storing maps of the surface to be cleaned, and recording status or other environmental variable information.
- the controller 20 can receive input from the navigation/mapping system 30 or from a remote device such as a smartphone (not shown) for directing the robot 10 over the surface to be cleaned.
- the navigation/mapping system 30 can include a memory 31 that can store any data useful for navigation, mapping or conducting a cycle of operation, including, but not limited to, maps for navigation, inputs from various sensors that are used to guide the movement of the robot 10, etc.
- wheel encoders 32 can be placed on the drive shafts of wheels coupled to the robot 10 and configured to measure a distance traveled by the robot 10. The distance measurement can be provided as input to the controller 20.
- the robot 10 can be configured to travel in any pattern useful for cleaning or sanitizing including boustrophedon or alternating rows (that is, the robot 10 travels from right-to-left and left-to-right on alternate rows), spiral trajectories, etc., while cleaning the floor surface, using input from various sensors to change direction or adjust its course as needed to avoid obstacles.
- movement of the robot 10 can be controlled using a mobile device such as a smartphone or tablet.
- the robot 10 can also include at least the components of a sweeper 40 for removing debris particles from the surface to be cleaned, a fluid delivery system 50 for storing cleaning fluid and delivering the cleaning fluid to the surface to be cleaned, a mopping or dusting assembly 60 for removing moistened dust and other debris from the surface to be cleaned, and a drive system 70 for autonomously moving the robot 10 over the surface to be cleaned.
- a sweeper 40 for removing debris particles from the surface to be cleaned
- a fluid delivery system 50 for storing cleaning fluid and delivering the cleaning fluid to the surface to be cleaned
- a mopping or dusting assembly 60 for removing moistened dust and other debris from the surface to be cleaned
- a drive system 70 for autonomously moving the robot 10 over the surface to be cleaned.
- the sweeper 40 can also include at least one agitator for agitating the surface to be cleaned.
- the agitator can be in the form of a brushroll 41 mounted for rotation about a substantially horizontal axis, relative to the surface over which the robot 10 moves.
- a drive assembly including a separate, dedicated brush motor 42 can be provided within the robot 10 to drive the brushroll 41.
- Other agitators or brushrolls can also be provided, including one or more stationary or non-moving brushes, or one or more brushes that rotate about a substantially vertical axis.
- a debris receptacle 44 FIG. 4
- a dustbin can be provided to collect dirt or debris from the brushroll 41.
- the fluid delivery system 50 can include a supply tank 51 for storing a supply of cleaning fluid and at least one fluid distributor 52 in fluid communication with the supply tank 51 for depositing a cleaning fluid onto the surface.
- the cleaning fluid can be a liquid such as water or a cleaning solution specifically formulated for hard or soft surface cleaning.
- the fluid distributor 52 can be one or more spray nozzles provided on the housing 12 with an orifice of sufficient size such that debris does not readily clog the nozzle.
- the fluid distributor 52 can be a manifold having multiple distributor outlets.
- a pump 53 can be provided in the fluid pathway between the supply tank 51 and the at least one fluid distributor 52 to control the flow of fluid to the at least one fluid distributor 52.
- the pump 53 can be driven by a pump motor 54 to move liquid at any flowrate useful for a cleaning cycle of operation.
- a heater 56 can be configured, for example, to warm up the cleaning fluid before it is applied to the surface.
- the heater 56 can be an in-line fluid heater between the supply tank 51 and the distributor 52.
- the heater 56 can be a steam generating assembly. The steam assembly is in fluid communication with the supply tank 51 such that some or all the liquid applied to the floor surface is heated to vapor.
- the dusting assembly 60 can be utilized to disperse the distributed fluid on the floor surface and remove moistened dust and other debris.
- the dusting assembly 60 can include at least one pad 61 that can optionally be rotatable.
- the at least one pad 61 can be driven to rotate about a vertical axis that intersects with the center of the respective pad 61.
- a drive assembly including at least one pad motor 62 can be provided as part of the dusting assembly 60.
- Each pad 61 can be optionally be detachable for purposes of cleaning and maintenance.
- the drive system 70 can include drive wheels 71 for driving the robot 10 across a surface to be cleaned.
- the drive wheels can be operated by a common wheel motor 72 or individual wheel motors coupled with the drive wheels by a transmission, which may include a gear train assembly or another suitable transmission.
- the drive system 70 can receive inputs from the controller 20 for driving the robot 10 across a floor, based on inputs from the navigation/mapping system 30 for the autonomous mode of operation or based on inputs from a smartphone for the manual mode of operation.
- the drive wheels 71 can be driven in a forward or reverse direction to move the unit forwardly or rearwardly. Furthermore, the drive wheels 71 can be operated simultaneously at the same rotational speed for linear motion or independently at different rotational speeds to turn the robot 10 in a desired direction.
- the robot 10 can include any number of motors useful for performing locomotion and cleaning.
- five dedicated motors can be provided to rotate each of two pads 61, the brushroll 41, and each of two drive wheels 71.
- one shared motor can rotate both the pads 61, a second motor can rotate the brushroll 41, and a third and fourth motor can rotate each drive wheel 71.
- one shared motor can rotate the pads 61 and the brushroll 41, and a second and third motor can rotate each drive wheel 71.
- a brush motor driver 43, pump motor driver 55, pad motor driver 63, and wheel motor driver 73 can be provided for controlling the brush motor 42, pump motor 54, pad motors 62, and wheel motors 72, respectively.
- the motor drivers 43, 55, 63, 73 can act as an interface between the controller 20 and their respective motors 42, 54, 62, 72.
- the motor drivers 43, 55, 63, 73 can also be an integrated circuit chip (IC). It is also contemplated that a single wheel motor driver 73 can control multiple wheel motors 72 simultaneously.
- the motor drivers 43, 55, 63, 73 can be electrically coupled to a battery management system 80 that includes a built-in rechargeable battery or removable battery pack 81.
- the battery pack 81 can include lithium ion batteries. Charging contacts for the battery pack 81 can be provided on an exterior surface of the robot 10.
- a docking station (not shown) can be provided with corresponding charging contacts that can mate to the charging contacts on the exterior surface of the robot 10.
- the battery pack 81 can be selectively removable from the robot 10 such that it can be plugged into mains voltage via a DC transformer for replenishment of electrical power, i.e. charging.
- the removable battery pack 81 When inserted into the robot 10, the removable battery pack 81 can be at least partially located outside the housing 12 ( FIG. 3 ) or completely enclosed in a compartment within the housing 12, in non-limiting examples and depending upon the implementation.
- the controller 20 is further operably coupled with a user interface (UI) 90 on the robot 10 for receiving inputs from a user.
- the user interface 90 can be used to select an operation cycle for the robot 10 or otherwise control the operation of the robot 10.
- the user interface 90 can have a display 91, such as an LED display, for providing visual notifications to the user.
- a display driver 92 can be provided for controlling the display 91, and acts as an interface between the controller 20 and the display 91.
- the display driver 92 may be an integrated circuit chip (IC).
- the robot 10 can further be provided with a speaker (not shown) for providing audible notifications to the user.
- the robot 10 can further be provided with one or more cameras or stereo cameras (not shown) for acquiring visible notifications from the user.
- the user can communicate instructions to the robot 10 by gestures.
- the user can wave their hand in front of the camera to instruct the robot 10 to stop or move away.
- the user interface 90 can further have one or more switches 93 that are actuated by the user to provide input to the controller 20 to control the operation of various components of the robot 10.
- a switch driver 94 can be provided for controlling the switch 93, and acts as an interface between the controller 20 and the switch 93.
- the controller 20 can further be operably coupled with various sensors for receiving input about the environment and can use the sensor input to control the operation of the robot 10.
- the sensors can detect features of the surrounding environment of the robot 10 including, but not limited to, walls, floors, chair legs, table legs, footstools, pets, consumers, and other obstacles.
- the sensor input can further be stored in the memory or used to develop maps for navigation. Some exemplary sensors are illustrated in FIG. 2 , and described below. Although it is understood that not all sensors shown may be provided, additional sensors may be provided, and that all of the possible sensors can be provided in any combination.
- the robot 10 can include a positioning or localization system 100.
- the localization system 100 can include one or more sensors, including but not limited to the sensors described above.
- the localization system 100 can include obstacle sensors 101 determining the position of the robot 10, such as a stereo camera in anon-limiting example, for distance and position sensing.
- the obstacle sensors 101 can be mounted to the housing 12 ( FIG. 3 ) of the robot 10, such as in the front of the housing 12 to determine the distance to obstacles in front of the robot 10. Input from the obstacle sensors 101 can be used to slow down or adjust the course of the robot 10 when objects are detected.
- Bump sensors 102 can also be provided in the localization system 100 for determining front or side impacts to the robot 10.
- the bump sensors 102 may be integrated with the housing 12, such as with a bumper 14 ( FIG. 3 ). Output signals from the bump sensors 102 provide inputs to the controller for selecting an obstacle avoidance algorithm.
- the localization system 100 can further include a side wall sensor 103 (also known as a wall following sensor) and a cliff sensor 104.
- the side wall sensor 103 or cliff sensor 104 can be optical, mechanical, or ultrasonic sensors, including reflective or time-of-flight sensors.
- the side wall sensor 103 can be located near the side of the housing 12 and can include a side-facing optical position sensor that provides distance feedback and controls the robot 10 so that robot 10 can follow near a wall without contacting the wall.
- the cliff sensors 104 can be bottom-facing optical position sensors that provide distance feedback and control the robot 10 so that the robot 10 can avoid excessive drops such as stairwells or ledges.
- the localization system 100 can also include an inertial measurement unit (IMU) 105 to measure and report the robot's acceleration, angular rate, or magnetic field surrounding the robot 10, using a combination of at least one accelerometer, gyroscope, and, optionally, magnetometer or compass.
- the inertial measurement unit 105 can be an integrated inertial sensor located on the controller 20 and can be a nine-axis gyroscope or accelerometer to sense linear, rotational or magnetic field acceleration.
- the IMU 105 can use acceleration input data to calculate and communicate change in velocity and pose to the controller for navigating the robot 10 around the surface to be cleaned.
- the localization system 100 can further include one or more lift-up sensors 106 which detect when the robot 10 is lifted off the surface to be cleaned e.g. if a user picks up the robot 10. This information is provided as an input to the controller 20, which can halt operation of the pump motor 54, brush motor 42, pad motor 62, or wheel motors 73 in response to a detected lift-up event.
- the lift-up sensors 106 may also detect when the robot 10 is in contact with the surface to be cleaned, such as when the user places the robot 10 back on the ground. Upon such input, the controller 20 may resume operation of the pump motor 54, brush motor 42, pad motor 62, or wheel motors 73.
- the robot 10 can optionally include one or more tank sensors 110 for detecting a characteristic or status of the supply tank 51 or the debris receptacle 44.
- one or more pressure sensors for detecting the weight of the supply tank 51 or the debris receptacle 44 can be provided.
- one or more magnetic sensors for detecting the presence of the supply tank 51 or debris receptacle 44 can be provided. This information is provided as an input to the controller 20, which may prevent operation of the robot 10 until the supply tank 51 is filled, the debris receptacle 44 is emptied, or both are properly installed, in non-limiting examples.
- the controller 20 may also direct the display 91 to provide a notification to the user that either or both of the supply tank 51 and debris receptacle 44 is missing.
- the robot 10 can further include one or more floor condition sensors 111 for detecting a condition of the surface to be cleaned.
- the robot 10 can be provided with an IR dirt sensor, a stain sensor, an odor sensor, or a wet mess sensor.
- the floor condition sensors 111 provide input to the controller that may direct operation of the robot 10 based on the condition of the surface to be cleaned, such as by selecting or modifying a cleaning cycle.
- the floor condition sensors 111 can also provide input for display on a smartphone.
- An artificial barrier system 120 can also be provided for containing the robot 10 within a user-determined boundary.
- the artificial barrier system 120 can include an artificial barrier generator 121 that comprises a barrier housing with at least one signal receiver for receiving a signal from the robot 10 and at least one IR transmitter for emitting an encoded IR beam towards a predetermined direction for a predetermined period of time.
- the artificial barrier generator 121 can be battery-powered by rechargeable or non-rechargeable batteries or directly plugged into mains power.
- the receiver can comprise a microphone configured to sense a predetermined threshold sound level, which corresponds with the sound level emitted by the robot 10 when it is within a predetermined distance away from the artificial barrier generator.
- the artificial barrier generator 121 can further comprise a plurality of IR emitters near the base of the barrier housing configured to emit a plurality of short field IR beams around the base of the barrier housing.
- the artificial barrier generator 121 can be configured to selectively emit one or more IR beams for a predetermined period of time, but only after the microphone senses the threshold sound level, which indicates the robot 10 is nearby.
- the artificial barrier generator 121 can conserve power by emitting IR beams only when the robot 10 is near the artificial barrier generator 121.
- the robot 10 can have a plurality of IR transceivers (also referred to as "IR XCVRs") 123 around the perimeter of the robot 10 to sense the IR signals emitted from the artificial barrier generator 121 and output corresponding signals to the controller 20, which can adjust drive wheel control parameters to adjust the position of the robot 10 to avoid boundaries established by the artificial barrier encoded IR beam and the short field IR beams. Based on the received IR signals, the controller 20 prevents the robot 10 from crossing an artificial barrier 122 or colliding with the barrier housing.
- the IR transceivers 123 can also be used to guide the robot 10 toward the docking station, if provided.
- sound (or light) emitted from the robot 10 greater than a predetermined threshold signal level is sensed by the microphone (or photodetector) and triggers the artificial barrier generator 121 to emit one or more encoded IR beams for a predetermined period of time.
- the IR transceivers 123 on the robot 10 sense the IR beams and output signals to the controller 20, which then manipulates the drive system 70 to adjust the position of the robot 10 to avoid the barriers 122 established by the artificial barrier system 120 while continuing to perform a cleaning operation on the surface to be cleaned.
- the robot 10 can operate in one of a set of modes.
- the modes can include a wet mode, a dry mode and a sanitization mode.
- a wet mode of operation liquid from the supply tank 51 is applied to the floor surface and both the brushroll 41 and the pads 61 are rotated.
- a dry mode of operation the brushroll 41, the pads 61, or a combination thereof, are rotated and no liquid is applied to the floor surface.
- a sanitizing mode of operation liquid from the supply tank 51 is applied to the floor surface and both the brushroll 41 and the pads 61 are rotated and the robot 10 can select a travel pattern such that the applied liquid remains on the surface of the floor for a predetermined length of time.
- the predetermined length of time can be any duration that will result in sanitizing floor surfaces including, but not limited to, two to five minutes. However, sanitizing can be effected with durations of less than two minutes and as low as fifteen seconds.
- the pump 53 ( FIG. 1 ) can be driven according to a pulse-width modulation (PWM) signal 28.
- Pulse-width modulation is a method of communication by generating a pulsing signal. Pulse-width modulation can be utilized for controlling the amplitude of digital signals in order to control devices and applications requiring power or electricity, such as the pump motor 54.
- the PWM signal 28 can control an amount of power given to the pump 53 by cycling the on-and-off phases of a digital signal at a predetermined frequency and by varying the width of an "on" phase.
- the width of the "on” phase is also known as duty cycle, which is expressed as the percentage of being "fully on” (100%).
- the pump 53 can essentially receive a steady power input with an average voltage value which is the result of the duty cycle and can be less than the maximum voltage capable of being delivered from the battery pack 81.
- the PWM signal 28 can be transmitted from the controller 20 and configured to provide a set flowrate of deposited cleaning fluid.
- the PWM signal 28 can cyclically energize the pump 53 for a first predetermined time duration, such as 40 milliseconds, and then de-energize the pump for a second predetermined time duration, such as 2 seconds, at a rate of 50 Hz and a duty cycle of 40%. Higher flow rates can be achieved by, for example, increasing either of both of the duty cycle or frequency.
- the controller 20 can provide for any suitable or customized flow rate, including a low flow rate, from the pump 53 being powered from the battery pack 81.
- FIG. 3 illustrates the exemplary robot 10 that can include the systems and functions described in FIGS 1-2 .
- the robot 10 can include a D-shaped housing 12 with a first end 13 and a second end 15.
- the first end 13 defines a housing front 11 of the robot 10 which is a straightedge portion of the D-shaped housing 12, and can be formed by the bumper 14.
- the second end 15 can define a housing rear 16 which is a rounded portion of the D-shaped housing 12.
- the battery pack 81 and supply tank 51 can also be mounted to the housing 12 as shown.
- the bumper 14 wraps around the first end 13 of the robot 10 to provide a lateral portion 18 along the D-shaped front region of the robot 10.
- the bumper 14 includes a lower crenellated structure 19 which is described in more detail below. During a collision with an obstacle, the bumper 14 can shift or translate to register a detection of an object.
- the robot 10 is shown in a lower perspective in FIG. 4 , where an underside portion 21 of the housing 12 is visible.
- the robot 10 can include the sweeper 40 with brushroll 41, at least one wheel assembly with a drive wheel 71, and the dusting assembly 60 which is illustrated with two circular pads 61.
- the brushroll 41 can be positioned within a brush chamber 22.
- the brushroll 41 and brush chamber 22 can be located proximate the first end 13, e.g. proximate the straightedge portion of the housing 12.
- the sweeper 40 is mounted ahead of the pads 61 and drive wheels 71 are disposed therebetween.
- the debris receptacle 44 can be positioned adjacent the brushroll 41 and brush chamber 22. In the illustrated example, the debris receptacle 44 is positioned in line with the drive wheels 71, between the brush chamber 22 and pads 61.
- the robot 10 can also include one or more casters 74 set behind the brush chamber 22.
- the casters 74 can include a wheel mounted on an axle, or an omnidirectional ball for rolling in multiple directions, in non-limiting examples.
- the one or more casters 74 can, in one example, be utilized to maintain a minimum spacing between the surface to be cleaned and the underside portion 21 of the robot 10.
- a squeegee can optionally be provided on the housing 12, such as behind the pads 61.
- the squeegee can be configured to contact the surface as the robot 10 moves across the surface to be cleaned.
- the squeegee can wipe any remaining residual liquid from the surface to be cleaned, thereby leaving a moisture and streak-free finish on the surface to be cleaned.
- the squeegee can prevent loose debris from being propelled by the brushroll 41 to the rear of the robot 10.
- FIG. 5 is a side elevation cross-sectional view of the robot 10.
- the supply tank 51 and debris receptacle 44 can be separate components within the robot 10. Alternately, the supply tank 51 and debris receptacle 44 can be integrated into a single tank assembly.
- the supply tank 51 can define at least one supply reservoir 51R to store liquid for application, via the pump 53 ( FIG. 1 ), to a surface of a floor to be cleaned by the dusting assembly 60.
- the debris receptacle 44 can define at least one receptacle reservoir 44R and can include a receptacle inlet 45 directly adjacent, and open to, the brush chamber 22.
- the brush chamber 22 can include a partition having a ramped front surface 24 provided at a bottom of the receptacle inlet 45 to guide debris into the debris receptacle 44. In operation, dirt or debris swept up by rotation of the brushroll 41 can be moved by the brushroll 41 through the brush chamber 22, including along the ramped front surface 24, and propelled through the receptacle inlet 45 into the debris receptacle 44.
- pad holders 64 can be utilized to mount the circular pads 61 to the housing 12.
- the pad holders 64 can include rotation plates and form the bottom of the base of the dusting assembly 60.
- the pad holders 64 can include a bottom cover through which a motor shaft of the pad motor 62 extends.
- the pad motor 62 rotates the motor shaft via a suitable transmission, such as a worm gear assembly that can rotate the pad holder 64 and, consequently, the pad 61.
- the coupling between the motor shaft and the rotatably driven pad holder 64 defines a vertical axis of rotation for the pad 61.
- the dusting assembly 60 can include selectively removable elements.
- the selectively removable elements can be the pads 61, and in such a case a user or consumer can remove the pads 61 for cleaning or replacement.
- the removable elements include detachable elements such as the pad holder 64 which couple the pads 61 to the pad motor 62. In such a case, a consumer can release the removable elements (e.g. the pad holders 64) through any suitable decoupling means and can then remove the pads 61 from the removable elements for cleaning or replacement.
- the removable elements are released from the robot 10 via an actuator 65 directly coupled to a mechanical catch and latch assembly. It is also contemplated that the pad holders 64 can also be rotatable along with the pads 61 in the dusting assembly 60.
- a cleaning station (not shown) can be provided to aid in cleaning or replacing the pads 61 of the dusting assembly 60.
- the robot 10 can be placed on the cleaning station and can apply or assist in a cleaning operation for the pads 61.
- the cleaning station can include a surface provided with a plurality of bosses or nubs for agitating the bottom of the pads 61.
- the robot 10 can activate a self-cleaning mode where the pads 61 are rotated while in contact with the plurality of bosses or nubs to produce an agitation process that mechanically cleans the pads 61.
- FIG. 6 illustrates additional details of the dusting assembly 60.
- the robot 10 can optionally include a pad-lifting assembly 66 that selectively and automatically lifts the pads 61 off the floor surface whenever the robot 10 comes to a complete stop.
- the dusting assembly 60 including the rotating pads 61 are coupled to a movable frame that includes a spring 67 which is biased to provide vertical separation between the pads 61 and the floor surface.
- a user can initiate a cleaning cycle of operation, for example, by pressing a button 75 that activates a microswitch 68 and displaces the dusting assembly 60 from a raised position, with the pads 61 out of contact with the floor surface, downwardly to a lowered position in which the pads 61 contact the floor surface.
- the dusting assembly 60 can be selectively retained in the lowered position by a catch 69 that is selectively movable by another actuator 65 such as a solenoid.
- the robot 10 can be configured to activate the actuator 65 to move the catch 69 and release the dusting assembly 60 after a cleaning cycle of operation such that the spring 67 urges the dusting assembly 60 to translate back to the raised position.
- the pads 61 can be out of contact with the floor surface while drying, thus preventing streaking and staining of the floor surface directly beneath the pads 61.
- the pad-lifting assembly 66 can include a caster 74 coupled to an actuator, such as a solenoid, configured to affect a linear motion that extends the caster 74 downward from a first raised position to a second lowered position.
- the caster 74 can travel downward to contact the surface of the floor and at which point it raises at least a rear portion of the robot 10 until the pads 61 are no longer in contact with the floor surface.
- the robot 10 can selectively engage the pad-lifting assembly 66 to raise the pads 61 off the floor surface at the completion of a scheduled cleaning cycle of operation.
- the robot 10 can vary the speed and direction of the rotation of the pads 61.
- the robot 10 can select the speed and rotation according to a cycle of operation to aid or improve cleaning or locomotion of the robot 10.
- the pads 61 can counter-rotate such that the front edge of each pad 61 is spinning away from the fluid distributor 52 ( FIG. 1 ) or spray nozzle 57 ( FIG. 8 ).
- the rate of spinning can include any rate useful for performing a cleaning cycle of operation including, but not limited to a range of rotations per minute from 80 to 120. However, slower and faster rotations may be advantageous for specialized cleaning modes.
- FIG. 7 illustrates the underside of the robot 10 with the bumper 14 shown in additional detail.
- a lower portion of the bumper 14 can include a crenellated structure 19 of interleaved merlons 25 and crenels 26.
- the lower portion of the bumper 14 has a series of projecting lead-ins (merlons 25) that direct debris into the openings (crenels 26) disposed along the lower leading edge of the bumper 14 between adjacent merlons 25.
- Such a configuration allows the robot 10 to detect surface transitions, such as from a hard surface to an area rug or carpet, through sensors on the forward bumper 14 while also allowing debris to pass through the crenels 26.
- the merlons 25 can be formed of a substantially trapezoidal cross-section where the shorter base of the trapezoid forms the leading edge of the bumper 14 with respect to the forward motion of the robot 10. In this way, debris can be funneled along the legs of the trapezoidal merlons 25 to the sweeper 40 (e.g. the brushroll 41 and brush chamber 22) configured behind the bumper 14.
- the debris receptacle 44 can include a flapper to prevent the collected debris from inadvertently spilling out of the debris receptacle 44 during removal or transport to a waste container.
- FIG. 8 is an isometric view of the robot 10 illustrating further details of the fluid delivery system 50.
- the distributor 52 includes a spray nozzle 57 fluidly coupled to the supply tank 51 ( FIG. 3 ) via the pump 53.
- the spray nozzle 57 can be positioned between adjacent pads 61 as shown.
- cleaning fluid dispensed from the spray nozzle 57 can be delivered directly to the floor surface, and the rotating pads 61 can absorb and remove the applied cleaning fluid from the floor surface, including during a wet mode of operation of the robot 10 as described above.
- the supply tank 51 can further include a valve 58 with an outlet 59 that is fluidly connected to a downstream portion of the fluid delivery system, such as the spray nozzle 57 ( FIG. 8 ).
- the valve 58 can comprise a plunger valve removably mounted to an open neck on bottom of the supply tank 51.
- a mechanical closure 29, such as a threaded cap, can secure the valve 58 to the supply tank 51 and be easily removed for refilling the supply tank 51 when necessary.
- the supply tank 51 includes a single supply reservoir 51R for water or a combination of water and a cleaning formula.
- the supply tank 51 can includes a first reservoir for storing water and a second reservoir for storing a cleaning formula. It is contemplated that the robot 10 can include multiple supply tanks, a single supply tank with multiple reservoirs or chambers therein, or the like, or combinations thereof for storing cleaning fluid within the robot 10.
- FIG. 10 is a schematic illustration of a wheel assembly 76 of the robot 10 having parallel linkages 77 and an extension spring 78.
- the wheel assembly 76 in the illustrated example includes one or more drive wheel subassemblies.
- a drive wheel subassembly includes at least one drive wheel 71 coupled to a wheel housing 79 via at least one linkage 77.
- the at least one linkage 77 can include any element useful for raising or lowering the wheel 71 with respect to the wheel housing 79.
- the wheel housing 79 is coupled to the chassis or housing 12 of the robot 10.
- the extension spring 78 can include a first end 83 coupled to the housing 12 or a sensor thereon, such as the lift-up sensor 106 ( FIG. 2 ).
- a second end 84 of the extension spring 78 can couple to any suitable portion of the robot 10, illustrated with an exemplary first position 85 on a housing of the wheel motor 72, or an exemplary second position 86 directly on the at least one linkage 77, in non-limiting examples.
- the linkages 77 can rotate while the drive wheels 71 can partially rise into the wheel housing 79, aided by the extension spring 78, such that the pads 61 remain in contact with the floor surface.
- the drive wheels 71 can lower from the wheel housing 79 and indicate that the robot 10 has been lifted from the floor surface.
- FIG. 11 is a schematic illustration of another wheel assembly 76B similar to the wheel assembly 76.
- the wheel assembly 76B includes a compression spring 78B biasing the drive wheels 71 downward toward the surface to be cleaned.
- the wheel assembly 76B can include non-parallel first and second linkages 77A, 77B coupling the drive wheels 71 to the wheel housing 79.
- the non-parallel linkages 77A, 77B can, in one example, be utilized in combination with the compression spring 78B to direct the drive wheels 71 in a customized direction or path of movement in the event of the robot 10 traversing an obstacle such as a flooring threshold or power cord.
- the compression spring 78B can be coupled at a first position 85B to the housing of the wheel motor 72, or directly to either of the non-parallel linkages 77A. 77B as illustrated with a second position 86B.
- FIG. 12 another autonomous floor cleaner, such as another floor cleaning robot 210 is illustrated that can include the various functions and system as described in FIGS. 1-2 .
- the robot 210 is similar to the robot 10; therefore, like parts will be identified with like numerals increased by 200, with it being understood that the description of the like parts of the robot 10 applies to the robot 210, except where noted.
- the robot 210 can include the D-shaped main housing 212 adapted to selectively mount components of the systems to form a unitary movable device.
- One difference is that the robot 210 can include a sweeper 240 without including a dusting assembly as described above.
- the robot 210 can be driven in an opposite direction as compared to the robot 10, where an arrow 217 illustrates a direction of motion of the robot 10 during operation. More specifically, a first end 213 forming a straight-edge portion of the D-shaped housing 212 can define the housing rear 216, and a second end 215 forming a rounded edge of the housing 212 can define the housing front 211.
- the robot 210 can further include a unitary or integrated tank assembly 246.
- the integrated tank assembly 246 can include a supply tank 251 and debris receptacle 244.
- the tank assembly 246 is shown in a partially-removed state from the housing 212. It is contemplated that the tank assembly 246 can be selectively removed by a consumer such that both the supply tank 251 and the debris receptacle 244 are removed together in one action.
- the tank assembly 246 can include a hook-and-catch mechanism wherein a hook 247 on the tank assembly 246 engages with a catch 248 on the housing 212 of the robot 210.
- a handle 249 can be provided on the tank assembly 246, wherein a user can grasp the handle 249 and rotate the tank assembly 246 to disengage the tank assembly 246 from the housing 212.
- the tank assembly 246 can at least partially define the brush chamber 222.
- the brushroll is not shown in this view for clarity; however, any suitable agitator including one or more brushrolls can be provided.
- the brush chamber 222 can be open to the debris receptacle 244 as described above.
- the brushroll (not shown) can be located at the rear of the housing 212 when the robot 210 moves in the direction indicated by the arrow 217.
- a bumper 214 can form the second end 215 of the housing 212.
- FIG. 14 illustrates the tank assembly 246 in isolation with the supply tank 251 and debris receptacle 244.
- the supply tank 251 can be positioned above the debris receptacle 244. It is further contemplated that the debris receptacle 244 can be selectively removable from the supply tank 251. Any suitable mechanism can be utilized, such as a second hook-and-catch mechanism (not shown) between the supply tank 251 and debris receptacle 244.
- a release button 295 or other actuator can optionally be provided for selective detachment of the debris receptacle 244 from the tank assembly 246.
- FIG. 15 illustrates removal of the debris receptacle 244 from the supply tank 251.
- the debris receptacle 244 can be rotated downward and away from the supply tank 251 to access the receptacle reservoir 244R, such as for complete removal and cleanout of the receptacle 244. It can also be appreciated that removal of the supply tank 251 and debris receptacle 244 in a single integrated tank assembly 246 can improve usability, wherein a consumer can remove the tank assembly 246 in a single action to fill the supply tank 251 with cleaning fluid and remove debris from the receptacle 244.
- FIGS. 16-17 another autonomous floor cleaner, such as another floor cleaning robot 410 is illustrated that can include the various functions and system as described in FIGS. 1-2 .
- the robot 410 is similar to the robot 10; therefore, like parts will be identified with like numerals increased by 400, with it being understood that the description of the like parts of the robot 10 applies to the robot 410, except where noted.
- the robot 410 can include a D-shaped main housing 412 adapted to selectively mount components of the systems to form a unitary movable device.
- the D-shaped housing 412 has a first end 413 and a second end 415.
- the robot 410 can be driven in an opposite direction as compared to the robot 10, where an arrow 417 illustrates a direction of motion of the robot 410 during operation. More specifically, a first end 413 forming a straight-edge portion of the D-shaped housing 412 can define the housing rear 416, and a second end 415 forming a rounded edge of the housing 412 can define the housing front 411.
- a bumper (not shown) can be provided at the second end 415.
- the robot 410 can include a vacuum collection or recovery system for removing the liquid and debris from the floor surface, and storing the recovered liquid and debris in a debris receptacle 444 (or recovery tank).
- a vacuum collection or recovery system for removing the liquid and debris from the floor surface, and storing the recovered liquid and debris in a debris receptacle 444 (or recovery tank). The details of one embodiment of the vacuum collection or recovery system for the robot 410 are described in more detail below.
- the robot 410 shown does not include a mopping and dusting assembly as described above, although in other embodiments the robot 410 can be provided with one or more vertically-rotating dusting pads as described above.
- the robot 410 includes a unitary or integrated tank assembly 446.
- the integrated tank assembly 446 can include at least a supply tank 451 and the debris receptacle 444. It is further contemplated that the debris receptacle 444 can be selectively removable from the supply tank 451.
- a cover 427 defining a brush chamber 422 can be formed with or otherwise coupled to the tank assembly 446, and can be removed from the housing 412 along with the tank assembly 446 as one unit.
- the tank assembly 446 can be selectively removed by a consumer such that the supply tank 451, the debris receptacle 444, and the brush chamber 422 are removed together in one action.
- a handle 449 can be provided on the tank assembly 446, wherein a user can grasp the handle 449 and rotate the tank assembly 446 to disengage the tank assembly 446 from the housing 412. It is contemplated that the handle 449 can serve two purposes. First, when the tank assembly 446 is attached to the housing 412, the handle 449 can be used to carry the entire robot 410. Second, when the tank assembly 446 is not attached to the housing 412, the handle 449 can be used to carry the tank assembly 446.
- the tank assembly 446 can be attached to the housing 412 using any suitable mechanism.
- the robot 410 can include a pivot coupling for movement of the tank assembly 446 about axis A, shown herein as a hook-and-catch mechanism that allows the tank assembly 446 to be fully separated from the housing 412.
- the hook-and-catch mechanism can include a hook 447 on the tank assembly 446 that engages with a catch 448 on the housing 412 of the robot 410.
- Two hooks 447 can be provided on opposing lateral sides of a rear portion of the tank assembly 446, or on the cover 427, with corresponding catches 448 provided on opposing lateral sides of the first end 313 or housing rear 416 of the housing 412.
- the hooks 447 can be provided on the housing 412 and the catches 448 can be provided on the tank assembly 446.
- a latch 433 can secure a portion of the tank assembly 446 to the housing 412.
- the tank assembly 446 can be secured to the housing 412 using just a hook-and-catch mechanism or just a latch mechanism.
- the latch 433 includes a latch actuator, such as a latch button 434 that is depressed by the user to release the tank assembly 446.
- the latch 433 can be any suitable latch, catch, or other mechanical fastener that can join the tank assembly 446 and housing 412, while allowing for the regular separation of the tank assembly 446 from the housing 412, such as a spring-biased latch operable via the latch button 434.
- the tank assembly 446 is shown in a partially-removed state from the housing 412 in FIG. 18 .
- the tank assembly 446 can be removed from the housing 412 by pressing the latch button 434 and rotating the tank assembly 446 as shown in FIG. 18 , about an axis A defined by the hook-and-catch mechanism. Once the hooks 447 have cleared the catches 448, the tank assembly 446 can be lifted upwardly away from the housing 412. This process can be performed with one hand.
- the handle 449 can be proximate to, i.e. lie close enough to, the latch button 434 so that the consumer can grip the handle 449 with one hand and actuate the latch 433 using the same hand, e.g.
- Having the tank assembly 446 removable from the top side of the housing 412 also provides a benefit for charging or docking the robot 410 because the tank assembly 446 can be removed when the robot 410 is seated in the charging cradle or docking station.
- Having the latch 433 on the housing 412 and the handle 449 on the tank assembly 246 can provide some further benefits to the tank removal process.
- the consumer must provide opposing forces to lift the tank assembly 446 upwardly while simultaneously pressing downward on the housing 412. This helps create a clean breakaway between the two assemblies and keeps the housing 412 in position during removal of the tank assembly 446. This can be particularly helpful if the robot 410 is in a charging cradle or at a docking station when the consumer removes the tank assembly 446.
- the tank assembly 446 can be removed without disturbing any electrical contact needed for charging the battery (not shown).
- the tank assembly 446 combines the supply tank 451, debris receptacle 444, and brush chamber 422 in one unitary assembly or module. These parts of the robot 410 are serviced most frequently, and providing them in a single unit allows the consumer to easily remove them. After a cleaning operation, the debris receptacle 444 is emptied and rinsed along with the brush chamber 422 since these two parts make up the recovery pathway for liquid and debris.
- the supply tank 451 will also most likely need to be refilled after each operation.
- removing the tank assembly 446 from the housing 412 will expose the brushroll 441 and allows the consumer to easily access the brushroll 441.
- the consumer can remove the brushroll 441 by lifting one end of the brushroll upwardly, as indicated by arrow B in FIG. 20 .
- the consumer can then carry the brushroll 441, optionally along with the tank assembly 446, to a sink for service.
- the brushroll 441 can be rinsed after a cleaning operation; optionally, the user can manually remove hair and other debris as well.
- the user can easily reassemble the brushroll 441 and the tank assembly 446 back on the housing 412, optionally after allowing one or both to dry, to prepare the robot 410 for its next cleaning operation.
- the housing 412 can be docked and charging.
- the fluid delivery system can include at least one fluid distributor 452 in fluid communication with the supply tank 451 for depositing a cleaning fluid onto the surface.
- the fluid distributor 452 shown is a manifold having multiple distributor outlets. Other configuration for the fluid distributor 452 are possible.
- the fluid distributor 452 can optionally be arranged forwardly of the brush chamber 422 to distribute liquid in front of the brushroll 441, with reference to the front and rear portions 411, 416 of the robot 410.
- a pump 453 is provided in the fluid pathway between the supply tank 451 and the fluid distributor 452, and is coupled to an inlet of the fluid distributor 452 by a first conduit 435.
- a second conduit 436 couples the pump 453 to a valve receiver 437 on the housing 412 for fluidly coupling with the supply tank 451 when the tank assembly 446 is seated within the housing 12.
- the pump 453 can be driven according to a pulse-width modulation (PWM) signal 28 ( FIG. 1 ).
- PWM pulse-width modulation
- the recovery system can include a recovery pathway through the robot 410 having an air inlet and an air outlet, the debris receptacle 444 for receiving recovered liquid and debris for later disposal, and a suction source 438 in fluid communication with the brush chamber 422 and the debris receptacle 444 for generating a working airstream through the recovery pathway.
- the suction source 438 can include a vacuum motor located fluidly upstream of the air outlet, and can define a portion of the recovery pathway.
- a pre-motor filter and/or a post-motor filter (not shown) can be provided in the recovery pathway as well.
- the recovery pathway can further include various conduits, ducts, or tubes for fluid communication between the various components of the vacuum collection system.
- the suction source 438 can be positioned downstream of the debris receptacle 444 in the recovery pathway.
- the suction source 438 can include a motor air inlet port 439 for coupling the debris receptacle 444 with the suction source 438.
- the suction source 438 may be located fluidly upstream of the debris receptacle 444.
- FIG. 21 is a side elevation cross-sectional view of the robot 410.
- the supply tank 451 can define at least one supply reservoir 451R to store liquid for application, via the pump 453, to a surface of a floor to be cleaned.
- the debris receptacle 444 can define at least one receptacle reservoir 444R and can include a separator 487 for separating liquid and debris from the working airstream.
- the recovery system of the robot 410 can include a dirty inlet defined by a suction conduit 489.
- the dirty inlet or suction conduit 489 can be any type of suction inlet suitable for the purposes described herein, including the collection of debris and liquid from the brushroll 441.
- the dirty inlet or suction conduit 489 comprises an elongated duct extending from a brush chamber 422 that receives the brushroll 441, and fluidly couples the brush chamber 422 with the separator 487.
- the suction conduit 489 pulls debris and excess liquid from the brushroll 441.
- the brush chamber 422 helps define the air flow that goes through the suction conduit 489 and into the debris receptacle 444.
- the suction conduit 489 can extend to or be integrally formed with the separator 487.
- the debris receptacle 444 can be positioned behind the supply tank 451, relative to the direction of forward travel 417 of the robot 410.
- the brush chamber 422 is located proximate the first end 413, e.g. proximate the straightedge portion of the housing 412 defining the housing rear 416.
- the robot 410 can also include one or more additional wheels 482 proximate to the first end 413 of the housing 412.
- the additional wheels 482 can, in one example, be utilized to maintain a minimum spacing between the surface to be cleaned and the underside of the housing rear 416.
- the caster 374 can be disposed proximate to the second end 415 of the housing 412 to maintain a minimum spacing between the surface to be cleaned and the underside of the housing front 11.
- FIG. 22 is a cross-sectional view taken through the brush chamber 422.
- the brush chamber 422 substantially surrounds the front, back, and top sides of the brushroll 441 and is defined by the cover 427.
- the brush chamber 422 is open at the bottom side of brushroll 441 for engagement of the brushroll 411 with the surface to be cleaned.
- the cover 427 extends over the housing 412 so that the housing 412 is not exposed to the brushroll 441, and is in particular not exposed to ingested debris and liquid. This prevents debris from collecting on the housing 412. Rather, debris not ingested into the debris receptacle 444 instead can collect on the cover 427 and in the suction conduit 489 extending to debris receptacle 444.
- the brush chamber 422 includes a scraper 496 that removes liquid and debris from the brushroll 441 and keeps it in the brush chamber 422 so that it can be removed by the suction conduit 489.
- the scraper 496 can be mounted to or otherwise provided within the brush chamber 422, and can extend toward the brushroll 441 to interface with a portion of the brushroll 441. More specifically, the scraper 496 is configured to engage with a forward portion of the brushroll 441, as defined by the direction of forward travel 417 of the robot 410. As the brushroll 441 rotates, the scraper 496 can scrape liquid and debris off the brushroll 441.
- the scraper 496 can additionally can help redistribute liquid evenly along the length of the brushroll 441, which can help to reduce streaking on the surface to be cleaned.
- the scraper 496 can be an elongated rib, wiper, or blade that generally spans the transverse length of the brushroll 441.
- the scraper 496 can have a thin or narrow edge 497 that engages the brushroll 441, and can optionally taper to the thin or narrow edge 497.
- the edge 497 can be disposed generally orthogonally to the portion of the brushroll 441 which it engages.
- the edge 497 can be disposed at an angle to the brushroll 441.
- the scraper 496 can be provided on the inside of the cover 427 to project into the brush chamber 422.
- the scraper 496 can be formed integrally with the cover 427, or can be formed separately and attached within the cover 427 using any suitable joining method.
- the scraper 496 can be rigid, i.e. stiff and non-flexible, so the scraper 496 does not yield or flex by engagement with the brushroll 441.
- the scraper 496 can be formed of rigid thermoplastic material, such as poly(methyl methacrylate) (PMMA), polycarbonate, or acrylonitrile butadiene styrene (ABS).
- PMMA poly(methyl methacrylate)
- ABS acrylonitrile butadiene styrene
- the scraper 496 can be pliant, i.e. flexible or resilient, in order to deflect according to the contour of the brushroll 441.
- a squeegee 498 can be provided in the brush chamber 422, rearwardly of the brushroll 441, to wipe the surface to be cleaned while introducing liquid and dirt into the brush chamber 422 to reduce streaking on the surface to be cleaned, as well as to prevent dry dirt from scattering when the brushroll 441 is rotating during a dry mode of operation.
- the squeegee 498 can be disposed on the cover 427, behind the brushroll 441, and is configured to contact the surface as the robot 410 moves across the surface to be cleaned. Moisture or debris that contacts the squeegee 498 as the robot 410 moves forwardly is entrained in the air flow that goes through the suction conduit 489 and into the debris receptacle 444.
- the squeegee 498 can include nubs or ribs on a rearward-facing surface that facilitates liquid and debris passage under the squeegee 498 when the robot 410 is moving in a rearward direction.
- the opposite side, or forward-facing side, of the squeegee 498 can be a smooth surface that effectively moves surface moisture to trap it within the brush chamber 422 for entrainment in the air flow when the robot 410 is moving in a forward direction.
- the squeegee 498 can be pliant, i.e. flexible or resilient, in order to bend readily according to the contour of the surface to be cleaned, yet remain undeformed by typical operation of the robot 410.
- the squeegee 498 can be formed of a resilient polymeric material, such as ethylene propylene diene monomer (EPDM) rubber, polyvinyl chloride (PVC), a rubber copolymer such as nitrile butadiene rubber, or any material known in the art of sufficient rigidity to remain substantially undeformed during a typical operation of the robot 410.
- EPDM ethylene propylene diene monomer
- PVC polyvinyl chloride
- nitrile butadiene rubber nitrile butadiene rubber
- the tank assembly 446 when the tank assembly 446 is assembled or reassembled with the housing 412, one or more connections are made between components of the tank assembly 446 and components of the housing 412.
- the supply tank 451 can be connected with the pump 453 and the debris receptacle 444 can be connected with the suction source 438.
- the supply tank 451 can further include a valve 458 that is coupled with the valve receiver 437 on the housing 412. When the tank assembly 446 is seated on the housing 412, the valve 458 is opened by engagement with the valve receiver 437, and liquid can flow to the pump 453 via conduit 436.
- a direct connection can be made between the valve 458 and pump 453 upon seating of tank assembly 446 on the housing 412.
- various other fluid connectors, conduits, ducts, or tubes can be provided to convey liquid from the supply tank 451 to an inlet of the pump 453.
- the debris receptacle 444 can include an air outlet port 499 that is coupled with the air inlet port 439 of the suction source 438, or otherwise provided on the housing 12 and in fluid communication with the suction source 438, when the debris receptacle 444 is seated on the housing 412.
- the connection made between the air outlet port 499 and the inlet port 439 can be fluid-tight and can include appropriate sealing.
- various other fluid connectors, conduits, ducts, or tubes can be provided to convey working air from the debris receptacle 444 to an inlet of the suction source 438.
- the tank assembly 446 can optionally include an openable and/or removable lid 500.
- the lid 500 can form a top or closure for the debris receptacle 444, and optionally can include the supply tank 451.
- the lid 500 can be secured to a lower portion 501 of the tank assembly 446.
- the lower portion 501 can include at least the debris receptacle 444, or at least the receptacle reservoir 444R of the debris receptacle 444.
- the lower portion 501 further includes the cover 427, brush chamber 422, the suction conduit 489, and the separator 487.
- the lid 500 can be openable while remaining attached to the debris receptacle 444 or lower portion 501, such as by pivoting away from the debris receptacle 444 or lower portion 501 to open the receptacle reservoir 444R. In other embodiments, the lid 500 can be openable by being fully removable from the debris receptacle 444 or lower portion 501.
- a lid latch 502 can secure the lid 500 to a lower portion 501 of the tank assembly 446.
- the lid latch 502 includes a latch button 503 that is depressed by the user to release the lid 500 from the lower portion 501.
- the lid latch 502 can be any suitable latch, catch, or other mechanical fastener that can join the lid 500 and lower portion 501, while allowing for the regular separation of the lid 500 from the lower portion 501, such as a spring-biased latch operable via the latch button 503.
- a latch receiver 504 can be provided on the lid 500 to accept the lid latch 502 and secure the lid 500 to the lower portion 501.
- the tank assembly 446 can include pivot coupling for movement of the lid 500 about axis C, shown herein as a hook-and-catch mechanism that allows the lid 500 to be fully separated from the lower portion 501.
- the hook-and-catch mechanism shown includes a hook 505 on the lower portion 501 that engages with a catch 506 on the lid 500. Multiple hooks 505 and catches 506 can be provided.
- the hooks 505 can be provided on the lid 500 and the catches 506 can be provided on the lower portion 501.
- the tank assembly 446 can be pivotally mounted to the lower portion 501 about axis C for rotation of the lid 500 between open and closed positions, without full separation of the lid 500 from the lower portion 501.
- the lid 500 is shown in a partially-removed state from the lower portion 501 in FIGS. 24-25 .
- the lid 500 can be removed by pressing the latch button 503 and rotating the lid 500 away from the lower portion 501 about axis C as indicated by arrow D. Once the hooks 505 have cleared the catches 506, the lid 500 can be separated from the lower portion 501. After removing the lid 500, the recovered liquid and dirt can be poured out of the debris receptacle 444. The entire lower portion 501, including the internal surface of the debris receptacle 444 and the internal surface of the brush chamber 422 can then be rinsed.
- the separator 487 can be a conduit or duct having a bend for redirecting the working airstream with entrained liquid and/or debris approximately 90 degrees to travel though a separator outlet opening 488 and into the debris receptacle 444.
- the liquid and/or debris will strike the various walls of the separator 487 and fall downwardly into the receptacle reservoir 444R.
- Other degrees of bend for the separator 487 are possible, such as 90-180 degrees.
- the liquid and debris collect in the receptacle reservoir 444R, while the working airstream passes through the air outlet port 499 and to the suction source 438.
- the separator 487 can be oriented such that the airflow entering the debris receptacle 444 through the separator outlet opening 488 is positioned away from the air outlet port 499.
- FIG. 26 shows an alternate embodiment of the lower portion 501 of the tank assembly 446, with the lid 500 removed.
- the debris receptacle 444 can have a pour spout 507 to aid in conveying liquid and debris out of the receptacle reservoir 444R.
- the pour spout 507 can help show the user how to angle the debris receptacle 444 to optimally empty the debris receptacle 444.
- the pour spout 507 can be provided at a corner 508 of the debris receptacle 444 disposed away from the brush chamber 422.
- the pour spout 507 can be covered by the lid 501 ( FIG. 25 ) when the lid 501 is closed and can be exposed to view when the lid 501 is open.
- the suction conduit 489 pulls debris and excess liquid from the brushroll 441.
- the brush chamber 422 helps define the air flow that goes through the suction conduit 489 and into the debris receptacle 444.
- the brush chamber 422 includes lateral ends 509, with the suction conduit 489 in fluid communication with a portion of the brush chamber 422 between the lateral ends 509.
- the suction conduit 489 can in particular fluidly communicate with a middle portion 510 of the brush chamber 422 centered between the lateral ends 509, such that each lateral end 509 is substantially equidistant from the suction conduit 489, or can be otherwise located relative to the lateral ends 509.
- the brush chamber 422 can taper to become smaller (e.g. shorter) at the lateral ends 509. The taper helps develop air flow across the entire length of the brushroll 441 and improves recovery. At least an inner surface of an upper wall 511 of the brush chamber 422 can be tapered toward the lateral ends 509. The upper wall 511 can be smoothly angled toward the suction conduit 489 to substantially continuously increase the height of the brush chamber 422 toward the suction conduit 489. In the illustrated embodiment, the brush chamber 422 has a height HI at one or both of the lateral ends 509 and a height H2 at the suction conduit 489 which is greater than the height HI.
- the height H2 can be measured at the middle portion 510 of the brush chamber 422 centered between the lateral ends 509.
- the tank assembly 446 can combine the debris receptacle 444 and the brush chamber 422 in one unitary assembly or module.
- the supply tank 451 can be separate from the tank assembly 446 such that it is removable from the housing 412 separately from the tank assembly 446.
- the supply tank 451 can be configured such that it is removable from the housing 412 before or after the tank assembly 446.
- the supply tank 451 and the tank assembly 446 can have an interlocking mounting arrangement such that the supply tank 451 must be removed prior to removal of the tank assembly 446, or vice versa.
- FIGS. 28-30 Several alternative embodiments of tank assemblies 446 for the robot 410 are shown in FIGS. 28-30 .
- the tank assemblies 446 are similar to the tank assembly 446 described above with reference to FIGS. 16-27 , therefore like parts will be identified with like reference numerals, with it being understood that the description of the like parts of the tank assembly 446 and robot 410 applies to the tank assemblies 446 shown in FIGS. 28-30 , except where noted.
- the illustrated tank assembly 446 differs by including a fully removable lid 500 that is separate from the supply tank 451.
- the lower portion 501 can therefore include the supply tank 451, in addition to the debris receptacle 444, cover 427, and brush chamber 422.
- the lid latch 502 securing the lid 500 to the lower portion 501 of the tank assembly 446 is accessible from the top rear side of the tank assembly 446, and the lid 500 can lift off the lower portion 510 without pivoting.
- the tank assembly 446 includes a pivoting handle 449 and
- the handle 449 can pivot against the tank assembly 446 to lie substantially flush with the upper surface of the tank assembly 446 and pivot away upwardly away from the upper surface of the tank assembly 446 for a user to grasp.
- the pivoting handle 449 can be provided on top of the supply tank 451, separate from the lid 500.
- the illustrated tank assembly 446 differs from the tank assembly 446 shown in FIG. 28 by having the supply tank 451 integral with the lid 500 and the pivoting handle 449 on the lid 500.
- the illustrated tank assembly 446 differs from the tank assembly 446 shown in FIG. 28 by having the lid latch 502 accessible from the top of the tank assembly 446, at a forward side of the debris receptacle 444, and by providing finger indentations 512 at a rear side of the debris receptacle 444.
- the consumer can grip the handle 449 in one hand and, using their other hand, simultaneously operate the lid latch 502 with their thumb while lifting the lid 500 away from the lower portion 501 to separate the lid 500 from the lower portion 501.
- aspects described above provide an autonomous cleaning robot that sweeps and mops a floor surface in a single pass, including a single pass in a "forward" or “backward” direction.
- the present disclosure provides a single autonomous floor cleaner that sweeps directly in front of the dusting assembly. This eliminates the need for either two floor cleaning apparatus to completely clean or a single robot that cleans by multiple passes.
- Another advantage of aspects of the disclosure relates to the consistency and robustness of the liquid distribution system.
- the disclosed pump and spray nozzle provide fluid at a consistent low flowrate that does not degrade over time.
- the low flowrate of the applied liquid results in a clean floor surface that is substantially dry after contact with the rotating pads of the dusting assembly concludes.
- the use of a pulse-width modulation signal as described herein can further provide for custom-tailoring of a fluid delivery rate for a variety of floor surfaces, including the adjustment of fluid dwelling times.
- Yet another advantage of aspects of the disclosure relates to the configuration of the brushroll of the sweeper, the wheels of the drive mechanism and the spinning pads of the dusting assembly.
- Still another advantage of aspects of the disclosure relate to the use of a pulse-width modulated signal to drive operation of one or more components such as the fluid pump.
- a modulated signal provides for a reduction in circuit complexity for driving the pump at a variety of flowrates, including at low flow rates, without use of a variable resistor (which can generate undesirable amounts of heat) or use of other, more complex methods of reducing the voltage provided to the pump by the battery pack.
- Another advantage of aspects of the disclosure relate to the ease of access to one or more tanks within the autonomous floor cleaner, including the unitary or integrated tank assembly being selectively removable from the robot housing. Removal of a single unit can improve the ease of refilling the supply tank or cleaning out the debris receptacle without need of manipulating the entire robot for a cleanout or refill operation.
- a floor cleaning apparatus including a housing moveable over a surface to be cleaned, a supply tank configured to store a supply of cleaning fluid, and a unitary assembly removably mounted to the housing, wherein the unitary assembly is configured to be selectively detached from the moveable housing, the unitary assembly having a brush chamber, a brushroll located in the brush chamber, at least one fluid distributor, and a debris receptacle fluidly coupled to the brush chamber.
- the at least one fluid distributor can be in fluid communication with the supply tank and a fluid delivery pump can be provided to control a flow of cleaning fluid from the supply tank to the at least one fluid distributor.
- Yet another advantage of aspects of the disclosure relates to the configuration of the latch, handle, and pivot coupling for the unitary or integrated tank assembly.
- the user provides opposing forces to actuate the latch and lift the tank assembly upwardly away the housing. This helps create a clean breakaway between the two assemblies and keeps the housing in position during removal of the tank assembly.
- Still another advantage of aspects of the disclosure relate to the configuration of the brush chamber and suction conduit leading to the debris receptacle.
- the brush chamber tapers to become smaller in a direction away from the suction conduit, which can help develop air flow across the entire length of the brushroll and improve recovery.
- aspects of the invention may be used on other types of surface cleaning apparatus and floor care devices, including, but not limited to, an upright extraction device (e.g., a deep cleaner or carpet cleaner) having a base and an upright body for directing the base across the surface to be cleaned, a canister extraction device having a cleaning implement connected to a wheeled base by a vacuum hose, a portable extraction device adapted to be hand carried by a user for cleaning relatively small areas, or a commercial extractor. Still further, aspects of the invention may also be used on surface cleaning apparatus which include a fluid recovery system and not a fluid supply system, or on surface cleaning apparatus which include a fluid supply system and not a fluid recovery system.
- an upright extraction device e.g., a deep cleaner or carpet cleaner
- a canister extraction device having a cleaning implement connected to a wheeled base by a vacuum hose
- a portable extraction device adapted to be hand carried by a user for cleaning relatively small areas
- aspects of the invention may also be used on surface cleaning apparatus which include a
- aspects of the invention may also be used on surface cleaning apparatus other than extraction cleaners, such as a steam cleaner or a vacuum cleaner.
- a steam cleaner generates steam by heating water to boiling for delivery to the surface to be cleaned, either directly or via cleaning pad. Some steam cleaners collect liquid in the pad, or may extract liquid using suction force.
- a vacuum cleaner typically does not deliver or extract liquid, but rather is used for collecting relatively dry debris (which may include dirt, dust, stains, soil, hair, and other debris) from a surface.
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
Description
- Autonomous or robotic floor cleaners can move without the assistance of a user or operator to clean a floor surface. For example, the floor cleaner can be configured to sweep dirt (including dust, hair, and other debris) into a collection bin carried on the floor cleaner or to sweep dirt using a cloth which collects the dirt. The floor cleaner can move randomly about a surface while cleaning the floor surface or use a mapping/navigation system for guided navigation about the surface. Some floor cleaners are further configured to apply and extract liquid for deep cleaning carpets, rugs, and other floor surfaces.
- In one aspect, the disclosure relates to a floor cleaning robot. The floor cleaning robot includes an autonomously moveable housing, and a unitary assembly removably mounted to the autonomously moveable housing, the unitary assembly including a brush chamber, a debris receptacle, and a supply tank. The floor cleaning robot also includes a brushroll located in the brush chamber, at least one fluid distributor in fluid communication with the supply tank, and a fluid delivery pump configured to control a flow of the cleaning fluid to the at least one fluid distributor.
- In the drawings:
-
FIG. 1 is a schematic view of an exemplary autonomous floor cleaner illustrating functional systems in accordance with various aspects described herein. -
FIG. 2 is a schematic view of the autonomous floor cleaner ofFIG. 1 illustrating additional functional systems in accordance with various aspects described herein. -
FIG. 3 is an isometric view of the autonomous floor cleaner ofFIG. 1 in the form of a floor cleaning robot in accordance with various aspects described herein. -
FIG. 4 is an isometric view of the underside of the floor cleaning robot ofFIG. 3 . -
FIG. 5 is a side elevation cross-sectional view of the floor cleaning robot ofFIG. 3 . -
FIG. 6 is a schematic illustration of a dusting assembly of the cleaning robot ofFIG. 3 . -
FIG. 7 is an isometric view of the underside of the floor cleaning robot ofFIG. 3 illustrating a bumper assembly. -
FIG. 8 is an isometric view of the floor cleaning robot ofFIG. 3 illustrating a fluid spray nozzle. -
FIG. 9 is a cross-sectional view of a tank assembly in the floor cleaning robot ofFIG. 3 . -
FIG. 10 is a schematic illustration of a wheel assembly that can be utilized in the floor cleaning robot ofFIG. 1 . -
FIG. 11 is a schematic illustration of another wheel assembly that can be utilized in the floor cleaning robot ofFIG. 1 . -
FIG. 12 is an isometric view of another floor cleaning robot in accordance with various aspects described herein. -
FIG. 13 is an isometric view of the floor cleaning robot ofFIG. 12 illustrating a tank assembly. -
FIG. 14 is an isometric view of the tank assembly ofFIG. 13 illustrating a fluid supply tank and a debris receptacle. -
FIG. 15 is an isometric view of the tank assembly ofFIG. 14 illustrating a coupling between the fluid supply tank and the debris receptacle. -
FIG. 16 is a front isometric view of another floor cleaning robot in accordance with various aspects described herein. -
FIG. 17 is a rear isometric view of the floor cleaning robot ofFIG. 16 . -
FIG. 18 is a rear isometric view of the floor cleaning robot ofFIG. 16 , showing a tank assembly in a partially removed state. -
FIG. 19 is a close-up view of section XIX ofFIG. 18 . -
FIG. 20 is a rear isometric view of the floor cleaning robot ofFIG. 16 , with the tank assembly removed for clarity. -
FIG. 21 is a cross-sectional view taken through line XXI-XXI ofFIG. 16 . -
FIG. 22 is a close-up isometric cross-sectional view taken through line XXI-XXI ofFIG. 16 , showing a brush chamber of the floor cleaning robotFIG. 21 . -
FIG. 23 is an isometric view of an underside of the tank assembly of the floor cleaning robot ofFIG. 16 . -
FIG. 24 is a side elevation view of the tank assembly ofFIG. 23 , showing a lid is a partially removed state. -
FIG 25 is an isometric view of the tank assembly ofFIG. 24 . -
FIG. 26 is an isometric view of a lower portion of the tank assembly ofFIG. 24 , with the lid removed. -
FIG. 27 is a cross-sectional view taken through line XVII-XVII ofFIG. 17 . -
FIG. 28 is an isometric view of another tank assembly that can be utilized in the floor cleaning robot ofFIG. 16 . -
FIG. 29 is an isometric view of another tank assembly that can be utilized in the floor cleaning robot ofFIG. 16 . -
FIG. 30 is an isometric view of another tank assembly that can be utilized in the floor cleaning robot ofFIG. 16 . - The disclosure generally relates to autonomous floor cleaners for cleaning floor surfaces, including hardwood, tile and stone. More specifically, the disclosure relates to devices, systems and methods for sweeping and mopping with an autonomous floor cleaner.
-
FIGS. 1 and2 illustrate a schematic view of an autonomous floor cleaner, such as afloor cleaning robot 10, also referred to herein as arobot 10. It is noted that therobot 10 shown is but one example of a floor cleaning robot configured to sweep as well as dust, mop or otherwise conduct a wet cleaning cycle of operation, and that other autonomous cleaners requiring fluid supply or fluid recovery are contemplated, including, but not limited to autonomous floor cleaners capable of delivering liquid, steam, mist, or vapor to the surface to be cleaned. - The
robot 10 can include components of various functional systems in an autonomously moveable unit. Therobot 10 can include a main housing 12 (FIG. 3 ) adapted to selectively mount components of the systems to form a unitary movable device. Acontroller 20 is operably coupled with the various functional systems of therobot 10 for controlling the operation of therobot 10. Thecontroller 20 can be a microcontroller unit (MCU) that contains at least one central processing unit (CPU). - A navigation/
mapping system 30 can be provided in therobot 10 for guiding the movement of therobot 10 over the surface to be cleaned, generating and storing maps of the surface to be cleaned, and recording status or other environmental variable information. Thecontroller 20 can receive input from the navigation/mapping system 30 or from a remote device such as a smartphone (not shown) for directing therobot 10 over the surface to be cleaned. The navigation/mapping system 30 can include amemory 31 that can store any data useful for navigation, mapping or conducting a cycle of operation, including, but not limited to, maps for navigation, inputs from various sensors that are used to guide the movement of therobot 10, etc. For example,wheel encoders 32 can be placed on the drive shafts of wheels coupled to therobot 10 and configured to measure a distance traveled by therobot 10. The distance measurement can be provided as input to thecontroller 20. - In an autonomous mode of operation, the
robot 10 can be configured to travel in any pattern useful for cleaning or sanitizing including boustrophedon or alternating rows (that is, therobot 10 travels from right-to-left and left-to-right on alternate rows), spiral trajectories, etc., while cleaning the floor surface, using input from various sensors to change direction or adjust its course as needed to avoid obstacles. In a manual mode of operation, movement of therobot 10 can be controlled using a mobile device such as a smartphone or tablet. - The
robot 10 can also include at least the components of asweeper 40 for removing debris particles from the surface to be cleaned, afluid delivery system 50 for storing cleaning fluid and delivering the cleaning fluid to the surface to be cleaned, a mopping or dustingassembly 60 for removing moistened dust and other debris from the surface to be cleaned, and adrive system 70 for autonomously moving therobot 10 over the surface to be cleaned. - The
sweeper 40 can also include at least one agitator for agitating the surface to be cleaned. The agitator can be in the form of abrushroll 41 mounted for rotation about a substantially horizontal axis, relative to the surface over which therobot 10 moves. A drive assembly including a separate,dedicated brush motor 42 can be provided within therobot 10 to drive thebrushroll 41. Other agitators or brushrolls can also be provided, including one or more stationary or non-moving brushes, or one or more brushes that rotate about a substantially vertical axis. In addition, a debris receptacle 44 (FIG. 4 ) such as a dustbin can be provided to collect dirt or debris from thebrushroll 41. - The
fluid delivery system 50 can include asupply tank 51 for storing a supply of cleaning fluid and at least onefluid distributor 52 in fluid communication with thesupply tank 51 for depositing a cleaning fluid onto the surface. The cleaning fluid can be a liquid such as water or a cleaning solution specifically formulated for hard or soft surface cleaning. Thefluid distributor 52 can be one or more spray nozzles provided on thehousing 12 with an orifice of sufficient size such that debris does not readily clog the nozzle. Alternatively, thefluid distributor 52 can be a manifold having multiple distributor outlets. - A
pump 53 can be provided in the fluid pathway between thesupply tank 51 and the at least onefluid distributor 52 to control the flow of fluid to the at least onefluid distributor 52. Thepump 53 can be driven by apump motor 54 to move liquid at any flowrate useful for a cleaning cycle of operation. - Various combinations of optional components can also be incorporated into the
fluid delivery system 50, such as aheater 56 or one or more fluid control and mixing valves. Theheater 56 can be configured, for example, to warm up the cleaning fluid before it is applied to the surface. In one embodiment, theheater 56 can be an in-line fluid heater between thesupply tank 51 and thedistributor 52. In another example, theheater 56 can be a steam generating assembly. The steam assembly is in fluid communication with thesupply tank 51 such that some or all the liquid applied to the floor surface is heated to vapor. - The dusting
assembly 60 can be utilized to disperse the distributed fluid on the floor surface and remove moistened dust and other debris. The dustingassembly 60 can include at least onepad 61 that can optionally be rotatable. For example, the at least onepad 61 can be driven to rotate about a vertical axis that intersects with the center of therespective pad 61. A drive assembly including at least onepad motor 62 can be provided as part of the dustingassembly 60. Eachpad 61 can be optionally be detachable for purposes of cleaning and maintenance. - The
drive system 70 can include drivewheels 71 for driving therobot 10 across a surface to be cleaned. The drive wheels can be operated by acommon wheel motor 72 or individual wheel motors coupled with the drive wheels by a transmission, which may include a gear train assembly or another suitable transmission. Thedrive system 70 can receive inputs from thecontroller 20 for driving therobot 10 across a floor, based on inputs from the navigation/mapping system 30 for the autonomous mode of operation or based on inputs from a smartphone for the manual mode of operation. Thedrive wheels 71 can be driven in a forward or reverse direction to move the unit forwardly or rearwardly. Furthermore, thedrive wheels 71 can be operated simultaneously at the same rotational speed for linear motion or independently at different rotational speeds to turn therobot 10 in a desired direction. - The
robot 10 can include any number of motors useful for performing locomotion and cleaning. In one example, five dedicated motors can be provided to rotate each of twopads 61, thebrushroll 41, and each of twodrive wheels 71. In another example, one shared motor can rotate both thepads 61, a second motor can rotate thebrushroll 41, and a third and fourth motor can rotate eachdrive wheel 71. In still another example, one shared motor can rotate thepads 61 and thebrushroll 41, and a second and third motor can rotate eachdrive wheel 71. - In addition, a
brush motor driver 43,pump motor driver 55,pad motor driver 63, andwheel motor driver 73 can be provided for controlling thebrush motor 42,pump motor 54,pad motors 62, andwheel motors 72, respectively. Themotor drivers controller 20 and theirrespective motors motor drivers wheel motor driver 73 can controlmultiple wheel motors 72 simultaneously. - Turning to
FIG. 2 , themotor drivers FIG. 1 ) can be electrically coupled to abattery management system 80 that includes a built-in rechargeable battery orremovable battery pack 81. In one example, thebattery pack 81 can include lithium ion batteries. Charging contacts for thebattery pack 81 can be provided on an exterior surface of therobot 10. A docking station (not shown) can be provided with corresponding charging contacts that can mate to the charging contacts on the exterior surface of therobot 10. Thebattery pack 81 can be selectively removable from therobot 10 such that it can be plugged into mains voltage via a DC transformer for replenishment of electrical power, i.e. charging. When inserted into therobot 10, theremovable battery pack 81 can be at least partially located outside the housing 12 (FIG. 3 ) or completely enclosed in a compartment within thehousing 12, in non-limiting examples and depending upon the implementation. - The
controller 20 is further operably coupled with a user interface (UI) 90 on therobot 10 for receiving inputs from a user. Theuser interface 90 can be used to select an operation cycle for therobot 10 or otherwise control the operation of therobot 10. Theuser interface 90 can have adisplay 91, such as an LED display, for providing visual notifications to the user. Adisplay driver 92 can be provided for controlling thedisplay 91, and acts as an interface between thecontroller 20 and thedisplay 91. Thedisplay driver 92 may be an integrated circuit chip (IC). Therobot 10 can further be provided with a speaker (not shown) for providing audible notifications to the user. Therobot 10 can further be provided with one or more cameras or stereo cameras (not shown) for acquiring visible notifications from the user. In this way, the user can communicate instructions to therobot 10 by gestures. For example, the user can wave their hand in front of the camera to instruct therobot 10 to stop or move away. Theuser interface 90 can further have one ormore switches 93 that are actuated by the user to provide input to thecontroller 20 to control the operation of various components of therobot 10. Aswitch driver 94 can be provided for controlling theswitch 93, and acts as an interface between thecontroller 20 and theswitch 93. - The
controller 20 can further be operably coupled with various sensors for receiving input about the environment and can use the sensor input to control the operation of therobot 10. The sensors can detect features of the surrounding environment of therobot 10 including, but not limited to, walls, floors, chair legs, table legs, footstools, pets, consumers, and other obstacles. The sensor input can further be stored in the memory or used to develop maps for navigation. Some exemplary sensors are illustrated inFIG. 2 , and described below. Although it is understood that not all sensors shown may be provided, additional sensors may be provided, and that all of the possible sensors can be provided in any combination. - The
robot 10 can include a positioning orlocalization system 100. Thelocalization system 100 can include one or more sensors, including but not limited to the sensors described above. In one non-limiting example, thelocalization system 100 can includeobstacle sensors 101 determining the position of therobot 10, such as a stereo camera in anon-limiting example, for distance and position sensing. Theobstacle sensors 101 can be mounted to the housing 12 (FIG. 3 ) of therobot 10, such as in the front of thehousing 12 to determine the distance to obstacles in front of therobot 10. Input from theobstacle sensors 101 can be used to slow down or adjust the course of therobot 10 when objects are detected. -
Bump sensors 102 can also be provided in thelocalization system 100 for determining front or side impacts to therobot 10. Thebump sensors 102 may be integrated with thehousing 12, such as with a bumper 14 (FIG. 3 ). Output signals from thebump sensors 102 provide inputs to the controller for selecting an obstacle avoidance algorithm. - The
localization system 100 can further include a side wall sensor 103 (also known as a wall following sensor) and acliff sensor 104. Theside wall sensor 103 orcliff sensor 104 can be optical, mechanical, or ultrasonic sensors, including reflective or time-of-flight sensors. Theside wall sensor 103 can be located near the side of thehousing 12 and can include a side-facing optical position sensor that provides distance feedback and controls therobot 10 so thatrobot 10 can follow near a wall without contacting the wall. Thecliff sensors 104 can be bottom-facing optical position sensors that provide distance feedback and control therobot 10 so that therobot 10 can avoid excessive drops such as stairwells or ledges. - The
localization system 100 can also include an inertial measurement unit (IMU) 105 to measure and report the robot's acceleration, angular rate, or magnetic field surrounding therobot 10, using a combination of at least one accelerometer, gyroscope, and, optionally, magnetometer or compass. Theinertial measurement unit 105 can be an integrated inertial sensor located on thecontroller 20 and can be a nine-axis gyroscope or accelerometer to sense linear, rotational or magnetic field acceleration. TheIMU 105 can use acceleration input data to calculate and communicate change in velocity and pose to the controller for navigating therobot 10 around the surface to be cleaned. - The
localization system 100 can further include one or more lift-upsensors 106 which detect when therobot 10 is lifted off the surface to be cleaned e.g. if a user picks up therobot 10. This information is provided as an input to thecontroller 20, which can halt operation of thepump motor 54,brush motor 42,pad motor 62, orwheel motors 73 in response to a detected lift-up event. The lift-upsensors 106 may also detect when therobot 10 is in contact with the surface to be cleaned, such as when the user places therobot 10 back on the ground. Upon such input, thecontroller 20 may resume operation of thepump motor 54,brush motor 42,pad motor 62, orwheel motors 73. - The
robot 10 can optionally include one ormore tank sensors 110 for detecting a characteristic or status of thesupply tank 51 or thedebris receptacle 44. In one example, one or more pressure sensors for detecting the weight of thesupply tank 51 or thedebris receptacle 44 can be provided. In another example, one or more magnetic sensors for detecting the presence of thesupply tank 51 ordebris receptacle 44 can be provided. This information is provided as an input to thecontroller 20, which may prevent operation of therobot 10 until thesupply tank 51 is filled, thedebris receptacle 44 is emptied, or both are properly installed, in non-limiting examples. Thecontroller 20 may also direct thedisplay 91 to provide a notification to the user that either or both of thesupply tank 51 anddebris receptacle 44 is missing. - The
robot 10 can further include one or morefloor condition sensors 111 for detecting a condition of the surface to be cleaned. For example, therobot 10 can be provided with an IR dirt sensor, a stain sensor, an odor sensor, or a wet mess sensor. Thefloor condition sensors 111 provide input to the controller that may direct operation of therobot 10 based on the condition of the surface to be cleaned, such as by selecting or modifying a cleaning cycle. Optionally, thefloor condition sensors 111 can also provide input for display on a smartphone. - An
artificial barrier system 120 can also be provided for containing therobot 10 within a user-determined boundary. Theartificial barrier system 120 can include anartificial barrier generator 121 that comprises a barrier housing with at least one signal receiver for receiving a signal from therobot 10 and at least one IR transmitter for emitting an encoded IR beam towards a predetermined direction for a predetermined period of time. Theartificial barrier generator 121 can be battery-powered by rechargeable or non-rechargeable batteries or directly plugged into mains power. In one non-limiting example, the receiver can comprise a microphone configured to sense a predetermined threshold sound level, which corresponds with the sound level emitted by therobot 10 when it is within a predetermined distance away from the artificial barrier generator. Optionally, theartificial barrier generator 121 can further comprise a plurality of IR emitters near the base of the barrier housing configured to emit a plurality of short field IR beams around the base of the barrier housing. Theartificial barrier generator 121 can be configured to selectively emit one or more IR beams for a predetermined period of time, but only after the microphone senses the threshold sound level, which indicates therobot 10 is nearby. Thus, theartificial barrier generator 121 can conserve power by emitting IR beams only when therobot 10 is near theartificial barrier generator 121. - The
robot 10 can have a plurality of IR transceivers (also referred to as "IR XCVRs") 123 around the perimeter of therobot 10 to sense the IR signals emitted from theartificial barrier generator 121 and output corresponding signals to thecontroller 20, which can adjust drive wheel control parameters to adjust the position of therobot 10 to avoid boundaries established by the artificial barrier encoded IR beam and the short field IR beams. Based on the received IR signals, thecontroller 20 prevents therobot 10 from crossing anartificial barrier 122 or colliding with the barrier housing. TheIR transceivers 123 can also be used to guide therobot 10 toward the docking station, if provided. - In operation, sound (or light) emitted from the
robot 10 greater than a predetermined threshold signal level is sensed by the microphone (or photodetector) and triggers theartificial barrier generator 121 to emit one or more encoded IR beams for a predetermined period of time. The IR transceivers 123 on therobot 10 sense the IR beams and output signals to thecontroller 20, which then manipulates thedrive system 70 to adjust the position of therobot 10 to avoid thebarriers 122 established by theartificial barrier system 120 while continuing to perform a cleaning operation on the surface to be cleaned. - The
robot 10 can operate in one of a set of modes. The modes can include a wet mode, a dry mode and a sanitization mode. During a wet mode of operation, liquid from thesupply tank 51 is applied to the floor surface and both thebrushroll 41 and thepads 61 are rotated. During a dry mode of operation, thebrushroll 41, thepads 61, or a combination thereof, are rotated and no liquid is applied to the floor surface. During a sanitizing mode of operation, liquid from thesupply tank 51 is applied to the floor surface and both thebrushroll 41 and thepads 61 are rotated and therobot 10 can select a travel pattern such that the applied liquid remains on the surface of the floor for a predetermined length of time. The predetermined length of time can be any duration that will result in sanitizing floor surfaces including, but not limited to, two to five minutes. However, sanitizing can be effected with durations of less than two minutes and as low as fifteen seconds. - It is also contemplated that the pump 53 (
FIG. 1 ) can be driven according to a pulse-width modulation (PWM)signal 28. Pulse-width modulation is a method of communication by generating a pulsing signal. Pulse-width modulation can be utilized for controlling the amplitude of digital signals in order to control devices and applications requiring power or electricity, such as thepump motor 54. ThePWM signal 28 can control an amount of power given to thepump 53 by cycling the on-and-off phases of a digital signal at a predetermined frequency and by varying the width of an "on" phase. The width of the "on" phase is also known as duty cycle, which is expressed as the percentage of being "fully on" (100%). Thepump 53 can essentially receive a steady power input with an average voltage value which is the result of the duty cycle and can be less than the maximum voltage capable of being delivered from thebattery pack 81. ThePWM signal 28 can be transmitted from thecontroller 20 and configured to provide a set flowrate of deposited cleaning fluid. In one non-limiting example of operation, thePWM signal 28 can cyclically energize thepump 53 for a first predetermined time duration, such as 40 milliseconds, and then de-energize the pump for a second predetermined time duration, such as 2 seconds, at a rate of 50 Hz and a duty cycle of 40%. Higher flow rates can be achieved by, for example, increasing either of both of the duty cycle or frequency. In this manner, thecontroller 20 can provide for any suitable or customized flow rate, including a low flow rate, from thepump 53 being powered from thebattery pack 81. -
FIG. 3 illustrates theexemplary robot 10 that can include the systems and functions described inFIGS 1-2 . As shown, therobot 10 can include a D-shapedhousing 12 with afirst end 13 and asecond end 15. Thefirst end 13 defines ahousing front 11 of therobot 10 which is a straightedge portion of the D-shapedhousing 12, and can be formed by thebumper 14. Thesecond end 15 can define a housing rear 16 which is a rounded portion of the D-shapedhousing 12. Thebattery pack 81 andsupply tank 51 can also be mounted to thehousing 12 as shown. - Forward motion of the
robot 10 is illustrated with anarrow 17, and thebumper 14 wraps around thefirst end 13 of therobot 10 to provide alateral portion 18 along the D-shaped front region of therobot 10. In the illustrated example, thebumper 14 includes a lowercrenellated structure 19 which is described in more detail below. During a collision with an obstacle, thebumper 14 can shift or translate to register a detection of an object. - The
robot 10 is shown in a lower perspective inFIG. 4 , where anunderside portion 21 of thehousing 12 is visible. Therobot 10 can include thesweeper 40 withbrushroll 41, at least one wheel assembly with adrive wheel 71, and the dustingassembly 60 which is illustrated with twocircular pads 61. Thebrushroll 41 can be positioned within abrush chamber 22. Thebrushroll 41 andbrush chamber 22 can be located proximate thefirst end 13, e.g. proximate the straightedge portion of thehousing 12. Along the bottom surface of therobot 10 and with respect to forward motion of therobot 10, thesweeper 40 is mounted ahead of thepads 61 and drivewheels 71 are disposed therebetween. In addition, thedebris receptacle 44 can be positioned adjacent thebrushroll 41 andbrush chamber 22. In the illustrated example, thedebris receptacle 44 is positioned in line with thedrive wheels 71, between thebrush chamber 22 andpads 61. - The
robot 10 can also include one ormore casters 74 set behind thebrush chamber 22. Thecasters 74 can include a wheel mounted on an axle, or an omnidirectional ball for rolling in multiple directions, in non-limiting examples. The one ormore casters 74 can, in one example, be utilized to maintain a minimum spacing between the surface to be cleaned and theunderside portion 21 of therobot 10. - In another example (not shown), a squeegee can optionally be provided on the
housing 12, such as behind thepads 61. In such a case, the squeegee can be configured to contact the surface as therobot 10 moves across the surface to be cleaned. The squeegee can wipe any remaining residual liquid from the surface to be cleaned, thereby leaving a moisture and streak-free finish on the surface to be cleaned. In a dry application, the squeegee can prevent loose debris from being propelled by thebrushroll 41 to the rear of therobot 10. -
FIG. 5 is a side elevation cross-sectional view of therobot 10. Thesupply tank 51 anddebris receptacle 44 can be separate components within therobot 10. Alternately, thesupply tank 51 anddebris receptacle 44 can be integrated into a single tank assembly. - The
supply tank 51 can define at least onesupply reservoir 51R to store liquid for application, via the pump 53 (FIG. 1 ), to a surface of a floor to be cleaned by the dustingassembly 60. Thedebris receptacle 44 can define at least onereceptacle reservoir 44R and can include areceptacle inlet 45 directly adjacent, and open to, thebrush chamber 22. Thebrush chamber 22 can include a partition having a rampedfront surface 24 provided at a bottom of thereceptacle inlet 45 to guide debris into thedebris receptacle 44. In operation, dirt or debris swept up by rotation of thebrushroll 41 can be moved by thebrushroll 41 through thebrush chamber 22, including along the rampedfront surface 24, and propelled through thereceptacle inlet 45 into thedebris receptacle 44. - Optionally,
pad holders 64 can be utilized to mount thecircular pads 61 to thehousing 12. In such a case, thepad holders 64 can include rotation plates and form the bottom of the base of the dustingassembly 60. Thepad holders 64 can include a bottom cover through which a motor shaft of thepad motor 62 extends. Thepad motor 62 rotates the motor shaft via a suitable transmission, such as a worm gear assembly that can rotate thepad holder 64 and, consequently, thepad 61. The coupling between the motor shaft and the rotatably drivenpad holder 64 defines a vertical axis of rotation for thepad 61. - To remove the
pads 61 for cleaning, the dustingassembly 60 can include selectively removable elements. In one non-limiting example, the selectively removable elements can be thepads 61, and in such a case a user or consumer can remove thepads 61 for cleaning or replacement. In another non-limiting example, the removable elements include detachable elements such as thepad holder 64 which couple thepads 61 to thepad motor 62. In such a case, a consumer can release the removable elements (e.g. the pad holders 64) through any suitable decoupling means and can then remove thepads 61 from the removable elements for cleaning or replacement. In one example, the removable elements are released from therobot 10 via anactuator 65 directly coupled to a mechanical catch and latch assembly. It is also contemplated that thepad holders 64 can also be rotatable along with thepads 61 in the dustingassembly 60. - Alternatively, or in addition to the selectively removable elements, a cleaning station (not shown) can be provided to aid in cleaning or replacing the
pads 61 of the dustingassembly 60. Therobot 10 can be placed on the cleaning station and can apply or assist in a cleaning operation for thepads 61. In one example, the cleaning station can include a surface provided with a plurality of bosses or nubs for agitating the bottom of thepads 61. Therobot 10 can activate a self-cleaning mode where thepads 61 are rotated while in contact with the plurality of bosses or nubs to produce an agitation process that mechanically cleans thepads 61. -
FIG. 6 illustrates additional details of the dustingassembly 60. Therobot 10 can optionally include a pad-liftingassembly 66 that selectively and automatically lifts thepads 61 off the floor surface whenever therobot 10 comes to a complete stop. In the illustrated example, the dustingassembly 60 including therotating pads 61 are coupled to a movable frame that includes aspring 67 which is biased to provide vertical separation between thepads 61 and the floor surface. A user can initiate a cleaning cycle of operation, for example, by pressing abutton 75 that activates amicroswitch 68 and displaces the dustingassembly 60 from a raised position, with thepads 61 out of contact with the floor surface, downwardly to a lowered position in which thepads 61 contact the floor surface. The dustingassembly 60 can be selectively retained in the lowered position by acatch 69 that is selectively movable by anotheractuator 65 such as a solenoid. Therobot 10 can be configured to activate theactuator 65 to move thecatch 69 and release the dustingassembly 60 after a cleaning cycle of operation such that thespring 67 urges the dustingassembly 60 to translate back to the raised position. In this manner, thepads 61 can be out of contact with the floor surface while drying, thus preventing streaking and staining of the floor surface directly beneath thepads 61. - In another example (not shown), the pad-lifting
assembly 66 can include acaster 74 coupled to an actuator, such as a solenoid, configured to affect a linear motion that extends thecaster 74 downward from a first raised position to a second lowered position. Thecaster 74 can travel downward to contact the surface of the floor and at which point it raises at least a rear portion of therobot 10 until thepads 61 are no longer in contact with the floor surface. In another example, therobot 10 can selectively engage the pad-liftingassembly 66 to raise thepads 61 off the floor surface at the completion of a scheduled cleaning cycle of operation. - In still another example (not shown), the
robot 10 can vary the speed and direction of the rotation of thepads 61. Therobot 10 can select the speed and rotation according to a cycle of operation to aid or improve cleaning or locomotion of therobot 10. In one example, thepads 61 can counter-rotate such that the front edge of eachpad 61 is spinning away from the fluid distributor 52 (FIG. 1 ) or spray nozzle 57 (FIG. 8 ). The rate of spinning can include any rate useful for performing a cleaning cycle of operation including, but not limited to a range of rotations per minute from 80 to 120. However, slower and faster rotations may be advantageous for specialized cleaning modes. -
FIG. 7 illustrates the underside of therobot 10 with thebumper 14 shown in additional detail. A lower portion of thebumper 14 can include acrenellated structure 19 of interleavedmerlons 25 andcrenels 26. In other words, the lower portion of thebumper 14 has a series of projecting lead-ins (merlons 25) that direct debris into the openings (crenels 26) disposed along the lower leading edge of thebumper 14 betweenadjacent merlons 25. Such a configuration allows therobot 10 to detect surface transitions, such as from a hard surface to an area rug or carpet, through sensors on theforward bumper 14 while also allowing debris to pass through thecrenels 26. Themerlons 25 can be formed of a substantially trapezoidal cross-section where the shorter base of the trapezoid forms the leading edge of thebumper 14 with respect to the forward motion of therobot 10. In this way, debris can be funneled along the legs of thetrapezoidal merlons 25 to the sweeper 40 (e.g. thebrushroll 41 and brush chamber 22) configured behind thebumper 14. In another example (not shown), thedebris receptacle 44 can include a flapper to prevent the collected debris from inadvertently spilling out of thedebris receptacle 44 during removal or transport to a waste container. -
FIG. 8 is an isometric view of therobot 10 illustrating further details of thefluid delivery system 50. In the example shown, thedistributor 52 includes aspray nozzle 57 fluidly coupled to the supply tank 51 (FIG. 3 ) via thepump 53. Thespray nozzle 57 can be positioned betweenadjacent pads 61 as shown. In one example, cleaning fluid dispensed from thespray nozzle 57 can be delivered directly to the floor surface, and therotating pads 61 can absorb and remove the applied cleaning fluid from the floor surface, including during a wet mode of operation of therobot 10 as described above. - A cross-sectional view of the
debris receptacle 44 andsupply tank 51 is shown inFIG. 9 . Thesupply tank 51 can further include avalve 58 with anoutlet 59 that is fluidly connected to a downstream portion of the fluid delivery system, such as the spray nozzle 57 (FIG. 8 ). In one example, thevalve 58 can comprise a plunger valve removably mounted to an open neck on bottom of thesupply tank 51. Amechanical closure 29, such as a threaded cap, can secure thevalve 58 to thesupply tank 51 and be easily removed for refilling thesupply tank 51 when necessary. In the example shown, thesupply tank 51 includes asingle supply reservoir 51R for water or a combination of water and a cleaning formula. In another example (not shown), thesupply tank 51 can includes a first reservoir for storing water and a second reservoir for storing a cleaning formula. It is contemplated that therobot 10 can include multiple supply tanks, a single supply tank with multiple reservoirs or chambers therein, or the like, or combinations thereof for storing cleaning fluid within therobot 10. -
FIG. 10 is a schematic illustration of awheel assembly 76 of therobot 10 havingparallel linkages 77 and anextension spring 78. Thewheel assembly 76 in the illustrated example includes one or more drive wheel subassemblies. A drive wheel subassembly includes at least onedrive wheel 71 coupled to awheel housing 79 via at least onelinkage 77. The at least onelinkage 77 can include any element useful for raising or lowering thewheel 71 with respect to thewheel housing 79. Thewheel housing 79 is coupled to the chassis orhousing 12 of therobot 10. In addition, theextension spring 78 can include afirst end 83 coupled to thehousing 12 or a sensor thereon, such as the lift-up sensor 106 (FIG. 2 ). Asecond end 84 of theextension spring 78 can couple to any suitable portion of therobot 10, illustrated with an exemplaryfirst position 85 on a housing of thewheel motor 72, or an exemplarysecond position 86 directly on the at least onelinkage 77, in non-limiting examples. - During locomotion of the
robot 10, if thedrive wheels 71 traverse an obstacle such as a threshold or power cord, thelinkages 77 can rotate while thedrive wheels 71 can partially rise into thewheel housing 79, aided by theextension spring 78, such that thepads 61 remain in contact with the floor surface. During locomotion of therobot 10, if thedrive wheels 71 lose contact with the floor surface, thedrive wheels 71 can lower from thewheel housing 79 and indicate that therobot 10 has been lifted from the floor surface. -
FIG. 11 is a schematic illustration of anotherwheel assembly 76B similar to thewheel assembly 76. One difference is that thewheel assembly 76B includes acompression spring 78B biasing thedrive wheels 71 downward toward the surface to be cleaned. Another difference is that thewheel assembly 76B can include non-parallel first andsecond linkages drive wheels 71 to thewheel housing 79. Thenon-parallel linkages compression spring 78B to direct thedrive wheels 71 in a customized direction or path of movement in the event of therobot 10 traversing an obstacle such as a flooring threshold or power cord. Thecompression spring 78B can be coupled at afirst position 85B to the housing of thewheel motor 72, or directly to either of thenon-parallel linkages 77A. 77B as illustrated with asecond position 86B. - Referring now to
FIG. 12 , another autonomous floor cleaner, such as anotherfloor cleaning robot 210 is illustrated that can include the various functions and system as described inFIGS. 1-2 . Therobot 210 is similar to therobot 10; therefore, like parts will be identified with like numerals increased by 200, with it being understood that the description of the like parts of therobot 10 applies to therobot 210, except where noted. - The
robot 210 can include the D-shapedmain housing 212 adapted to selectively mount components of the systems to form a unitary movable device. One difference is that therobot 210 can include asweeper 240 without including a dusting assembly as described above. - Another difference is that the
robot 210 can be driven in an opposite direction as compared to therobot 10, where anarrow 217 illustrates a direction of motion of therobot 10 during operation. More specifically, afirst end 213 forming a straight-edge portion of the D-shapedhousing 212 can define the housing rear 216, and asecond end 215 forming a rounded edge of thehousing 212 can define thehousing front 211. - Another difference is that the
robot 210 can further include a unitary orintegrated tank assembly 246. Turning toFIG. 13 , theintegrated tank assembly 246 can include asupply tank 251 anddebris receptacle 244. Thetank assembly 246 is shown in a partially-removed state from thehousing 212. It is contemplated that thetank assembly 246 can be selectively removed by a consumer such that both thesupply tank 251 and thedebris receptacle 244 are removed together in one action. For example, thetank assembly 246 can include a hook-and-catch mechanism wherein ahook 247 on thetank assembly 246 engages with acatch 248 on thehousing 212 of therobot 210. Ahandle 249 can be provided on thetank assembly 246, wherein a user can grasp thehandle 249 and rotate thetank assembly 246 to disengage thetank assembly 246 from thehousing 212. - It is further contemplated that the
tank assembly 246 can at least partially define thebrush chamber 222. The brushroll is not shown in this view for clarity; however, any suitable agitator including one or more brushrolls can be provided. Thebrush chamber 222 can be open to thedebris receptacle 244 as described above. In the illustrated example, the brushroll (not shown) can be located at the rear of thehousing 212 when therobot 210 moves in the direction indicated by thearrow 217. Optionally, abumper 214 can form thesecond end 215 of thehousing 212. -
FIG. 14 illustrates thetank assembly 246 in isolation with thesupply tank 251 anddebris receptacle 244. Thesupply tank 251 can be positioned above thedebris receptacle 244. It is further contemplated that thedebris receptacle 244 can be selectively removable from thesupply tank 251. Any suitable mechanism can be utilized, such as a second hook-and-catch mechanism (not shown) between thesupply tank 251 anddebris receptacle 244. Arelease button 295 or other actuator can optionally be provided for selective detachment of thedebris receptacle 244 from thetank assembly 246. -
FIG. 15 illustrates removal of thedebris receptacle 244 from thesupply tank 251. Thedebris receptacle 244 can be rotated downward and away from thesupply tank 251 to access thereceptacle reservoir 244R, such as for complete removal and cleanout of thereceptacle 244. It can also be appreciated that removal of thesupply tank 251 anddebris receptacle 244 in a singleintegrated tank assembly 246 can improve usability, wherein a consumer can remove thetank assembly 246 in a single action to fill thesupply tank 251 with cleaning fluid and remove debris from thereceptacle 244. - Referring now to
FIGS. 16-17 , another autonomous floor cleaner, such as anotherfloor cleaning robot 410 is illustrated that can include the various functions and system as described inFIGS. 1-2 . Therobot 410 is similar to therobot 10; therefore, like parts will be identified with like numerals increased by 400, with it being understood that the description of the like parts of therobot 10 applies to therobot 410, except where noted. - The
robot 410 can include a D-shapedmain housing 412 adapted to selectively mount components of the systems to form a unitary movable device. The D-shapedhousing 412 has afirst end 413 and asecond end 415. Therobot 410 can be driven in an opposite direction as compared to therobot 10, where anarrow 417 illustrates a direction of motion of therobot 410 during operation. More specifically, afirst end 413 forming a straight-edge portion of the D-shapedhousing 412 can define the housing rear 416, and asecond end 415 forming a rounded edge of thehousing 412 can define thehousing front 411. Optionally, a bumper (not shown) can be provided at thesecond end 415. - Another difference is that the
robot 410 can include a vacuum collection or recovery system for removing the liquid and debris from the floor surface, and storing the recovered liquid and debris in a debris receptacle 444 (or recovery tank). The details of one embodiment of the vacuum collection or recovery system for therobot 410 are described in more detail below. - Another difference is that the
robot 410 shown does not include a mopping and dusting assembly as described above, although in other embodiments therobot 410 can be provided with one or more vertically-rotating dusting pads as described above. - Another difference is that the
robot 410 includes a unitary orintegrated tank assembly 446. Theintegrated tank assembly 446 can include at least asupply tank 451 and thedebris receptacle 444. It is further contemplated that thedebris receptacle 444 can be selectively removable from thesupply tank 451. Acover 427 defining abrush chamber 422 can be formed with or otherwise coupled to thetank assembly 446, and can be removed from thehousing 412 along with thetank assembly 446 as one unit. - Referring to
FIG. 18 , it is contemplated that thetank assembly 446 can be selectively removed by a consumer such that thesupply tank 451, thedebris receptacle 444, and thebrush chamber 422 are removed together in one action. Ahandle 449 can be provided on thetank assembly 446, wherein a user can grasp thehandle 449 and rotate thetank assembly 446 to disengage thetank assembly 446 from thehousing 412. It is contemplated that thehandle 449 can serve two purposes. First, when thetank assembly 446 is attached to thehousing 412, thehandle 449 can be used to carry theentire robot 410. Second, when thetank assembly 446 is not attached to thehousing 412, thehandle 449 can be used to carry thetank assembly 446. - The
tank assembly 446 can be attached to thehousing 412 using any suitable mechanism. In one exemplary embodiment, referring additionally toFIG. 19 , therobot 410 can include a pivot coupling for movement of thetank assembly 446 about axis A, shown herein as a hook-and-catch mechanism that allows thetank assembly 446 to be fully separated from thehousing 412. The hook-and-catch mechanism can include ahook 447 on thetank assembly 446 that engages with acatch 448 on thehousing 412 of therobot 410. Two hooks 447 can be provided on opposing lateral sides of a rear portion of thetank assembly 446, or on thecover 427, with correspondingcatches 448 provided on opposing lateral sides of the first end 313 orhousing rear 416 of thehousing 412. Alternatively, thehooks 447 can be provided on thehousing 412 and thecatches 448 can be provided on thetank assembly 446. - In addition, a
latch 433 can secure a portion of thetank assembly 446 to thehousing 412. Of course, in other embodiments of therobot 410, thetank assembly 446 can be secured to thehousing 412 using just a hook-and-catch mechanism or just a latch mechanism. Thelatch 433 includes a latch actuator, such as alatch button 434 that is depressed by the user to release thetank assembly 446. Thelatch 433 can be any suitable latch, catch, or other mechanical fastener that can join thetank assembly 446 andhousing 412, while allowing for the regular separation of thetank assembly 446 from thehousing 412, such as a spring-biased latch operable via thelatch button 434. - The
tank assembly 446 is shown in a partially-removed state from thehousing 412 inFIG. 18 . Thetank assembly 446 can be removed from thehousing 412 by pressing thelatch button 434 and rotating thetank assembly 446 as shown inFIG. 18 , about an axis A defined by the hook-and-catch mechanism. Once thehooks 447 have cleared thecatches 448, thetank assembly 446 can be lifted upwardly away from thehousing 412. This process can be performed with one hand. Optionally, thehandle 449 can be proximate to, i.e. lie close enough to, thelatch button 434 so that the consumer can grip thehandle 449 with one hand and actuate thelatch 433 using the same hand, e.g. press thelatch button 434 with a finger or thumb of the same hand. Having thetank assembly 446 removable from the top side of thehousing 412 also provides a benefit for charging or docking therobot 410 because thetank assembly 446 can be removed when therobot 410 is seated in the charging cradle or docking station. - Having the
latch 433 on thehousing 412 and thehandle 449 on thetank assembly 246 can provide some further benefits to the tank removal process. The consumer must provide opposing forces to lift thetank assembly 446 upwardly while simultaneously pressing downward on thehousing 412. This helps create a clean breakaway between the two assemblies and keeps thehousing 412 in position during removal of thetank assembly 446. This can be particularly helpful if therobot 410 is in a charging cradle or at a docking station when the consumer removes thetank assembly 446. Thetank assembly 446 can be removed without disturbing any electrical contact needed for charging the battery (not shown). - The
tank assembly 446 combines thesupply tank 451,debris receptacle 444, andbrush chamber 422 in one unitary assembly or module. These parts of therobot 410 are serviced most frequently, and providing them in a single unit allows the consumer to easily remove them. After a cleaning operation, thedebris receptacle 444 is emptied and rinsed along with thebrush chamber 422 since these two parts make up the recovery pathway for liquid and debris. Thesupply tank 451 will also most likely need to be refilled after each operation. - As shown in
FIG. 20 , removing thetank assembly 446 from thehousing 412 will expose thebrushroll 441 and allows the consumer to easily access thebrushroll 441. With thetank assembly 446 removed, the consumer can remove thebrushroll 441 by lifting one end of the brushroll upwardly, as indicated by arrow B inFIG. 20 . The consumer can then carry thebrushroll 441, optionally along with thetank assembly 446, to a sink for service. Thebrushroll 441 can be rinsed after a cleaning operation; optionally, the user can manually remove hair and other debris as well. - After servicing, the user can easily reassemble the
brushroll 441 and thetank assembly 446 back on thehousing 412, optionally after allowing one or both to dry, to prepare therobot 410 for its next cleaning operation. As noted above, while servicing or allowing the serviced components to dry, thehousing 412 can be docked and charging. - Still referring to
FIG. 20 , in addition to thesupply tank 451, the fluid delivery system can include at least onefluid distributor 452 in fluid communication with thesupply tank 451 for depositing a cleaning fluid onto the surface. Thefluid distributor 452 shown is a manifold having multiple distributor outlets. Other configuration for thefluid distributor 452 are possible. Thefluid distributor 452 can optionally be arranged forwardly of thebrush chamber 422 to distribute liquid in front of thebrushroll 441, with reference to the front andrear portions robot 410. - A
pump 453 is provided in the fluid pathway between thesupply tank 451 and thefluid distributor 452, and is coupled to an inlet of thefluid distributor 452 by afirst conduit 435. Asecond conduit 436 couples thepump 453 to avalve receiver 437 on thehousing 412 for fluidly coupling with thesupply tank 451 when thetank assembly 446 is seated within thehousing 12. As discussed above, thepump 453 can be driven according to a pulse-width modulation (PWM) signal 28 (FIG. 1 ). - The recovery system can include a recovery pathway through the
robot 410 having an air inlet and an air outlet, thedebris receptacle 444 for receiving recovered liquid and debris for later disposal, and asuction source 438 in fluid communication with thebrush chamber 422 and thedebris receptacle 444 for generating a working airstream through the recovery pathway. Thesuction source 438 can include a vacuum motor located fluidly upstream of the air outlet, and can define a portion of the recovery pathway. Optionally, a pre-motor filter and/or a post-motor filter (not shown) can be provided in the recovery pathway as well. The recovery pathway can further include various conduits, ducts, or tubes for fluid communication between the various components of the vacuum collection system. - The
suction source 438 can be positioned downstream of thedebris receptacle 444 in the recovery pathway. Thesuction source 438 can include a motorair inlet port 439 for coupling thedebris receptacle 444 with thesuction source 438. In other embodiments, thesuction source 438 may be located fluidly upstream of thedebris receptacle 444. -
FIG. 21 is a side elevation cross-sectional view of therobot 410. Thesupply tank 451 can define at least onesupply reservoir 451R to store liquid for application, via thepump 453, to a surface of a floor to be cleaned. Thedebris receptacle 444 can define at least onereceptacle reservoir 444R and can include aseparator 487 for separating liquid and debris from the working airstream. - The recovery system of the
robot 410 can include a dirty inlet defined by asuction conduit 489. The dirty inlet orsuction conduit 489 can be any type of suction inlet suitable for the purposes described herein, including the collection of debris and liquid from thebrushroll 441. In the illustrated embodiment, the dirty inlet orsuction conduit 489 comprises an elongated duct extending from abrush chamber 422 that receives thebrushroll 441, and fluidly couples thebrush chamber 422 with theseparator 487. Thesuction conduit 489 pulls debris and excess liquid from thebrushroll 441. Thebrush chamber 422 helps define the air flow that goes through thesuction conduit 489 and into thedebris receptacle 444. Thesuction conduit 489 can extend to or be integrally formed with theseparator 487. - The
debris receptacle 444 can be positioned behind thesupply tank 451, relative to the direction offorward travel 417 of therobot 410. Thebrush chamber 422 is located proximate thefirst end 413, e.g. proximate the straightedge portion of thehousing 412 defining thehousing rear 416. - In addition to the
drive wheels 471 andcaster 474, therobot 410 can also include one or moreadditional wheels 482 proximate to thefirst end 413 of thehousing 412. Theadditional wheels 482 can, in one example, be utilized to maintain a minimum spacing between the surface to be cleaned and the underside of thehousing rear 416. The caster 374 can be disposed proximate to thesecond end 415 of thehousing 412 to maintain a minimum spacing between the surface to be cleaned and the underside of thehousing front 11. -
FIG. 22 is a cross-sectional view taken through thebrush chamber 422. Thebrush chamber 422 substantially surrounds the front, back, and top sides of thebrushroll 441 and is defined by thecover 427. Thebrush chamber 422 is open at the bottom side ofbrushroll 441 for engagement of thebrushroll 411 with the surface to be cleaned. In the illustrated embodiment, thecover 427 extends over thehousing 412 so that thehousing 412 is not exposed to thebrushroll 441, and is in particular not exposed to ingested debris and liquid. This prevents debris from collecting on thehousing 412. Rather, debris not ingested into thedebris receptacle 444 instead can collect on thecover 427 and in thesuction conduit 489 extending todebris receptacle 444. Since these portions are removable along with thetank assembly 446, all dirt collected by therobot 410 will be able to be cleaned out at the sink or other waste receptacle. In other words, all surfaces of therobot 410 forming the recovery pathway are removable and easily cleanable. - In some embodiments, the
brush chamber 422 includes ascraper 496 that removes liquid and debris from thebrushroll 441 and keeps it in thebrush chamber 422 so that it can be removed by thesuction conduit 489. Thescraper 496 can be mounted to or otherwise provided within thebrush chamber 422, and can extend toward thebrushroll 441 to interface with a portion of thebrushroll 441. More specifically, thescraper 496 is configured to engage with a forward portion of thebrushroll 441, as defined by the direction offorward travel 417 of therobot 410. As thebrushroll 441 rotates, thescraper 496 can scrape liquid and debris off thebrushroll 441. Thescraper 496 can additionally can help redistribute liquid evenly along the length of thebrushroll 441, which can help to reduce streaking on the surface to be cleaned. - In one embodiment, the
scraper 496 can be an elongated rib, wiper, or blade that generally spans the transverse length of thebrushroll 441. Thescraper 496 can have a thin ornarrow edge 497 that engages thebrushroll 441, and can optionally taper to the thin ornarrow edge 497. Optionally, theedge 497 can be disposed generally orthogonally to the portion of thebrushroll 441 which it engages. Alternatively, theedge 497 can be disposed at an angle to thebrushroll 441. - The
scraper 496 can be provided on the inside of thecover 427 to project into thebrush chamber 422. Thescraper 496 can be formed integrally with thecover 427, or can be formed separately and attached within thecover 427 using any suitable joining method. - Optionally, the
scraper 496 can be rigid, i.e. stiff and non-flexible, so thescraper 496 does not yield or flex by engagement with thebrushroll 441. In one example, thescraper 496 can be formed of rigid thermoplastic material, such as poly(methyl methacrylate) (PMMA), polycarbonate, or acrylonitrile butadiene styrene (ABS). Alternatively, thescraper 496 can be pliant, i.e. flexible or resilient, in order to deflect according to the contour of thebrushroll 441. - A
squeegee 498 can be provided in thebrush chamber 422, rearwardly of thebrushroll 441, to wipe the surface to be cleaned while introducing liquid and dirt into thebrush chamber 422 to reduce streaking on the surface to be cleaned, as well as to prevent dry dirt from scattering when thebrushroll 441 is rotating during a dry mode of operation. Thesqueegee 498 can be disposed on thecover 427, behind thebrushroll 441, and is configured to contact the surface as therobot 410 moves across the surface to be cleaned. Moisture or debris that contacts thesqueegee 498 as therobot 410 moves forwardly is entrained in the air flow that goes through thesuction conduit 489 and into thedebris receptacle 444. Thesqueegee 498 can include nubs or ribs on a rearward-facing surface that facilitates liquid and debris passage under thesqueegee 498 when therobot 410 is moving in a rearward direction. The opposite side, or forward-facing side, of thesqueegee 498 can be a smooth surface that effectively moves surface moisture to trap it within thebrush chamber 422 for entrainment in the air flow when therobot 410 is moving in a forward direction. Thesqueegee 498 can be pliant, i.e. flexible or resilient, in order to bend readily according to the contour of the surface to be cleaned, yet remain undeformed by typical operation of therobot 410. Optionally, thesqueegee 498 can be formed of a resilient polymeric material, such as ethylene propylene diene monomer (EPDM) rubber, polyvinyl chloride (PVC), a rubber copolymer such as nitrile butadiene rubber, or any material known in the art of sufficient rigidity to remain substantially undeformed during a typical operation of therobot 410. It is noted thatFIG. 22 shows thesqueegee 498 unbent, whereas in operation, thesqueegee 498 may be bent backward where it engages the floor surface when therobot 410 moves forward in the direction indicated byarrow 417. - Referring to
FIGS. 20 and 23 , when thetank assembly 446 is assembled or reassembled with thehousing 412, one or more connections are made between components of thetank assembly 446 and components of thehousing 412. For example, thesupply tank 451 can be connected with thepump 453 and thedebris receptacle 444 can be connected with thesuction source 438. - The
supply tank 451 can further include avalve 458 that is coupled with thevalve receiver 437 on thehousing 412. When thetank assembly 446 is seated on thehousing 412, thevalve 458 is opened by engagement with thevalve receiver 437, and liquid can flow to thepump 453 viaconduit 436. Alternatively, a direct connection can be made between thevalve 458 and pump 453 upon seating oftank assembly 446 on thehousing 412. In still another alternative, various other fluid connectors, conduits, ducts, or tubes can be provided to convey liquid from thesupply tank 451 to an inlet of thepump 453. - The
debris receptacle 444 can include anair outlet port 499 that is coupled with theair inlet port 439 of thesuction source 438, or otherwise provided on thehousing 12 and in fluid communication with thesuction source 438, when thedebris receptacle 444 is seated on thehousing 412. The connection made between theair outlet port 499 and theinlet port 439 can be fluid-tight and can include appropriate sealing. Alternatively, various other fluid connectors, conduits, ducts, or tubes can be provided to convey working air from thedebris receptacle 444 to an inlet of thesuction source 438. - Referring to
FIGS. 24-25 , to further aid the user in cleaning out thetank assembly 446, thetank assembly 446 can optionally include an openable and/orremovable lid 500. Thelid 500 can form a top or closure for thedebris receptacle 444, and optionally can include thesupply tank 451. Thelid 500 can be secured to alower portion 501 of thetank assembly 446. Thelower portion 501 can include at least thedebris receptacle 444, or at least thereceptacle reservoir 444R of thedebris receptacle 444. In the illustrated embodiment, thelower portion 501 further includes thecover 427,brush chamber 422, thesuction conduit 489, and theseparator 487. In some embodiments, thelid 500 can be openable while remaining attached to thedebris receptacle 444 orlower portion 501, such as by pivoting away from thedebris receptacle 444 orlower portion 501 to open thereceptacle reservoir 444R. In other embodiments, thelid 500 can be openable by being fully removable from thedebris receptacle 444 orlower portion 501. - A
lid latch 502 can secure thelid 500 to alower portion 501 of thetank assembly 446. Thelid latch 502 includes alatch button 503 that is depressed by the user to release thelid 500 from thelower portion 501. Thelid latch 502 can be any suitable latch, catch, or other mechanical fastener that can join thelid 500 andlower portion 501, while allowing for the regular separation of thelid 500 from thelower portion 501, such as a spring-biased latch operable via thelatch button 503. Alatch receiver 504 can be provided on thelid 500 to accept thelid latch 502 and secure thelid 500 to thelower portion 501. - Further, the
tank assembly 446 can include pivot coupling for movement of thelid 500 about axis C, shown herein as a hook-and-catch mechanism that allows thelid 500 to be fully separated from thelower portion 501. The hook-and-catch mechanism shown includes ahook 505 on thelower portion 501 that engages with acatch 506 on thelid 500.Multiple hooks 505 and catches 506 can be provided. Alternatively, thehooks 505 can be provided on thelid 500 and thecatches 506 can be provided on thelower portion 501. In yet another embodiment, thetank assembly 446 can be pivotally mounted to thelower portion 501 about axis C for rotation of thelid 500 between open and closed positions, without full separation of thelid 500 from thelower portion 501. - The
lid 500 is shown in a partially-removed state from thelower portion 501 inFIGS. 24-25 . Thelid 500 can be removed by pressing thelatch button 503 and rotating thelid 500 away from thelower portion 501 about axis C as indicated by arrow D. Once thehooks 505 have cleared thecatches 506, thelid 500 can be separated from thelower portion 501. After removing thelid 500, the recovered liquid and dirt can be poured out of thedebris receptacle 444. The entirelower portion 501, including the internal surface of thedebris receptacle 444 and the internal surface of thebrush chamber 422 can then be rinsed. - As shown in
FIG. 25 , in one embodiment, theseparator 487 can be a conduit or duct having a bend for redirecting the working airstream with entrained liquid and/or debris approximately 90 degrees to travel though aseparator outlet opening 488 and into thedebris receptacle 444. The liquid and/or debris will strike the various walls of theseparator 487 and fall downwardly into thereceptacle reservoir 444R. Other degrees of bend for theseparator 487 are possible, such as 90-180 degrees. The liquid and debris collect in thereceptacle reservoir 444R, while the working airstream passes through theair outlet port 499 and to thesuction source 438. Theseparator 487 can be oriented such that the airflow entering thedebris receptacle 444 through theseparator outlet opening 488 is positioned away from theair outlet port 499. -
FIG. 26 shows an alternate embodiment of thelower portion 501 of thetank assembly 446, with thelid 500 removed. In some embodiments, thedebris receptacle 444 can have a pourspout 507 to aid in conveying liquid and debris out of thereceptacle reservoir 444R. The pourspout 507 can help show the user how to angle thedebris receptacle 444 to optimally empty thedebris receptacle 444. The pourspout 507 can be provided at acorner 508 of thedebris receptacle 444 disposed away from thebrush chamber 422. Optionally, the pourspout 507 can be covered by the lid 501 (FIG. 25 ) when thelid 501 is closed and can be exposed to view when thelid 501 is open. - Referring to
FIG. 27 , as described above, thesuction conduit 489 pulls debris and excess liquid from thebrushroll 441. Thebrush chamber 422 helps define the air flow that goes through thesuction conduit 489 and into thedebris receptacle 444. In the illustrated embodiment, thebrush chamber 422 includes lateral ends 509, with thesuction conduit 489 in fluid communication with a portion of thebrush chamber 422 between the lateral ends 509. Thesuction conduit 489 can in particular fluidly communicate with amiddle portion 510 of thebrush chamber 422 centered between the lateral ends 509, such that eachlateral end 509 is substantially equidistant from thesuction conduit 489, or can be otherwise located relative to the lateral ends 509. - The
brush chamber 422 can taper to become smaller (e.g. shorter) at the lateral ends 509. The taper helps develop air flow across the entire length of thebrushroll 441 and improves recovery. At least an inner surface of anupper wall 511 of thebrush chamber 422 can be tapered toward the lateral ends 509. Theupper wall 511 can be smoothly angled toward thesuction conduit 489 to substantially continuously increase the height of thebrush chamber 422 toward thesuction conduit 489. In the illustrated embodiment, thebrush chamber 422 has a height HI at one or both of the lateral ends 509 and a height H2 at thesuction conduit 489 which is greater than the height HI. With thesuction conduit 489 in fluid communication with themiddle portion 510 of thebrush chamber 422 centered between the lateral ends 509 as shown herein, the height H2 can be measured at themiddle portion 510 of thebrush chamber 422 centered between the lateral ends 509. - In an alternative embodiment of the
robot 410 shown inFIGS. 16-27 , thetank assembly 446 can combine thedebris receptacle 444 and thebrush chamber 422 in one unitary assembly or module. Thesupply tank 451 can be separate from thetank assembly 446 such that it is removable from thehousing 412 separately from thetank assembly 446. Thesupply tank 451 can be configured such that it is removable from thehousing 412 before or after thetank assembly 446. Alternatively, thesupply tank 451 and thetank assembly 446 can have an interlocking mounting arrangement such that thesupply tank 451 must be removed prior to removal of thetank assembly 446, or vice versa. - Several alternative embodiments of
tank assemblies 446 for therobot 410 are shown inFIGS. 28-30 . Thetank assemblies 446 are similar to thetank assembly 446 described above with reference toFIGS. 16-27 , therefore like parts will be identified with like reference numerals, with it being understood that the description of the like parts of thetank assembly 446 androbot 410 applies to thetank assemblies 446 shown inFIGS. 28-30 , except where noted. - Referring to
FIG. 28 , the illustratedtank assembly 446 differs by including a fullyremovable lid 500 that is separate from thesupply tank 451. Thelower portion 501 can therefore include thesupply tank 451, in addition to thedebris receptacle 444,cover 427, andbrush chamber 422. Another difference is that thelid latch 502 securing thelid 500 to thelower portion 501 of thetank assembly 446 is accessible from the top rear side of thetank assembly 446, and thelid 500 can lift off thelower portion 510 without pivoting. - Another difference is that the
tank assembly 446 includes apivoting handle 449 and Thehandle 449 can pivot against thetank assembly 446 to lie substantially flush with the upper surface of thetank assembly 446 and pivot away upwardly away from the upper surface of thetank assembly 446 for a user to grasp. The pivoting handle 449 can be provided on top of thesupply tank 451, separate from thelid 500. - Referring to
FIG. 29 , the illustratedtank assembly 446 differs from thetank assembly 446 shown inFIG. 28 by having thesupply tank 451 integral with thelid 500 and the pivoting handle 449 on thelid 500. - Referring to
FIG. 30 , the illustratedtank assembly 446 differs from thetank assembly 446 shown inFIG. 28 by having thelid latch 502 accessible from the top of thetank assembly 446, at a forward side of thedebris receptacle 444, and by providingfinger indentations 512 at a rear side of thedebris receptacle 444. The consumer can grip thehandle 449 in one hand and, using their other hand, simultaneously operate thelid latch 502 with their thumb while lifting thelid 500 away from thelower portion 501 to separate thelid 500 from thelower portion 501. - There are several advantages of the present disclosure arising from the various aspects or features of the apparatus, systems, and methods described herein. For example, aspects described above provide an autonomous cleaning robot that sweeps and mops a floor surface in a single pass, including a single pass in a "forward" or "backward" direction. The present disclosure provides a single autonomous floor cleaner that sweeps directly in front of the dusting assembly. This eliminates the need for either two floor cleaning apparatus to completely clean or a single robot that cleans by multiple passes.
- Another advantage of aspects of the disclosure relates to the consistency and robustness of the liquid distribution system. In contrast to prior art wicking pads, the disclosed pump and spray nozzle provide fluid at a consistent low flowrate that does not degrade over time. The low flowrate of the applied liquid results in a clean floor surface that is substantially dry after contact with the rotating pads of the dusting assembly concludes. The use of a pulse-width modulation signal as described herein can further provide for custom-tailoring of a fluid delivery rate for a variety of floor surfaces, including the adjustment of fluid dwelling times.
- Yet another advantage of aspects of the disclosure relates to the configuration of the brushroll of the sweeper, the wheels of the drive mechanism and the spinning pads of the dusting assembly. By aligning the outer edges of the wheels, the brushroll and the spinning pads as shown and described above, entrainment of debris in the wheels and spinning pads is reduced thereby improving the driving and cleaning performance of the floor cleaning robot.
- Still another advantage of aspects of the disclosure relate to the use of a pulse-width modulated signal to drive operation of one or more components such as the fluid pump. Such a modulated signal provides for a reduction in circuit complexity for driving the pump at a variety of flowrates, including at low flow rates, without use of a variable resistor (which can generate undesirable amounts of heat) or use of other, more complex methods of reducing the voltage provided to the pump by the battery pack.
- Another advantage of aspects of the disclosure relate to the ease of access to one or more tanks within the autonomous floor cleaner, including the unitary or integrated tank assembly being selectively removable from the robot housing. Removal of a single unit can improve the ease of refilling the supply tank or cleaning out the debris receptacle without need of manipulating the entire robot for a cleanout or refill operation.
- Another advantage of aspects of the disclosure relate to a floor cleaning apparatus including a housing moveable over a surface to be cleaned, a supply tank configured to store a supply of cleaning fluid, and a unitary assembly removably mounted to the housing, wherein the unitary assembly is configured to be selectively detached from the moveable housing, the unitary assembly having a brush chamber, a brushroll located in the brush chamber, at least one fluid distributor, and a debris receptacle fluidly coupled to the brush chamber. The at least one fluid distributor can be in fluid communication with the supply tank and a fluid delivery pump can be provided to control a flow of cleaning fluid from the supply tank to the at least one fluid distributor.
- Yet another advantage of aspects of the disclosure relates to the configuration of the latch, handle, and pivot coupling for the unitary or integrated tank assembly. In some embodiments disclosed herein, the user provides opposing forces to actuate the latch and lift the tank assembly upwardly away the housing. This helps create a clean breakaway between the two assemblies and keeps the housing in position during removal of the tank assembly.
- Still another advantage of aspects of the disclosure relate to the configuration of the brush chamber and suction conduit leading to the debris receptacle. In some embodiments disclosed herein, the brush chamber tapers to become smaller in a direction away from the suction conduit, which can help develop air flow across the entire length of the brushroll and improve recovery.
- While various embodiments illustrated herein show an autonomous floor cleaner or floor cleaning robot, aspects of the invention may be used on other types of surface cleaning apparatus and floor care devices, including, but not limited to, an upright extraction device (e.g., a deep cleaner or carpet cleaner) having a base and an upright body for directing the base across the surface to be cleaned, a canister extraction device having a cleaning implement connected to a wheeled base by a vacuum hose, a portable extraction device adapted to be hand carried by a user for cleaning relatively small areas, or a commercial extractor. Still further, aspects of the invention may also be used on surface cleaning apparatus which include a fluid recovery system and not a fluid supply system, or on surface cleaning apparatus which include a fluid supply system and not a fluid recovery system. Still further, aspects of the invention may also be used on surface cleaning apparatus other than extraction cleaners, such as a steam cleaner or a vacuum cleaner. A steam cleaner generates steam by heating water to boiling for delivery to the surface to be cleaned, either directly or via cleaning pad. Some steam cleaners collect liquid in the pad, or may extract liquid using suction force. A vacuum cleaner typically does not deliver or extract liquid, but rather is used for collecting relatively dry debris (which may include dirt, dust, stains, soil, hair, and other debris) from a surface.
- While the invention has been specifically described in connection with certain specific embodiments thereof, it is to be understood that this is by way of illustration and not of limitation. Reasonable variation and modification are possible with the scope of the foregoing disclosure and drawings without departing from the invention which, is defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise.
Claims (15)
- A floor cleaning robot, comprising:an autonomously moveable housing;a drive system for autonomously moving the autonomously moveable housing over a surface to be cleaned based on inputs from a controller;a unitary assembly removably mounted to the autonomously moveable housing, wherein the unitary assembly is configured to be selectively detached from the autonomously moveable housing, the unitary assembly comprising:a brush chamber;a debris receptacle fluidly coupled to the brush chamber, anda supply tank configured to store a supply of cleaning fluid;a brushroll located in the brush chamber;at least one fluid distributor in fluid communication with the supply tank and configured to dispense cleaning fluid; anda fluid delivery pump configured to control a flow of cleaning fluid from the supply tank to the at least one fluid distributor;a latch securing the unitary assembly to the autonomously moveable housing.
- The autonomous floor cleaner of claim 1, wherein the brush chamber is pivotally coupled with the autonomously moveable housing by a pivotal coupling, and the unitary assembly is configured to be selectively detached from the autonomously moveable housing by actuating the latch, rotating the unitary assembly about a pivot axis defined by the pivotal coupling, and then lifting the unitary assembly to decouple the brush chamber from the autonomously moveable housing.
- The floor cleaning robot of claim 2, wherein the pivotal coupling comprises:a catch on one of the unitary assembly and the autonomously moveable housing; anda hook on the other of the unitary assembly and the autonomously moveable housing, the hook configured to engage the catch to pivotally couple the unitary assembly to the autonomously moveable housing.
- The floor cleaning robot of any of claims 1-3, wherein the latch comprises a latch actuator provided on the autonomously moveable housing, wherein the unitary assembly is configured to be selectively detached from the autonomously moveable housing by pressing downwardly on the latch actuator and then lifting the unitary assembly upwardly.
- The floor cleaning robot of any of claims 1-4, wherein the unitary assembly comprises a handle proximate to the latch so that a user can grip the handle to lift the unitary assembly upwardly and actuate the latch with one hand.
- The floor cleaning robot of any of claims 1-5, wherein the brush chamber is defined by a cover that extends over the autonomously moveable housing so that the autonomously moveable housing is not exposed to the brushroll.
- The floor cleaning robot of any of claims 1-6, further comprising a suction conduit extending from the brush chamber to fluidly communicate with the debris receptacle and a suction source in fluid communication with the suction conduit for generating a working airstream through the debris receptacle, and optionally comprising a scraper configured to remove liquid and debris from the brushroll, wherein the scraper is provided within the brush chamber and engages the brushroll.
- The floor cleaning robot of claim 7, wherein the brush chamber includes lateral ends, a middle portion between the lateral ends, the suction conduit joins the brush chamber at the middle portion, and the brush chamber tapers to become smaller at the lateral ends.
- The floor cleaning robot of claim 7, wherein the debris receptacle includes a separator configured to separate liquid and debris from the working airstream, and wherein the suction conduit and the separator form portions of the unitary assembly.
- The floor cleaning robot of claim 7, wherein the suction source comprises a vacuum motor carried on the autonomously moveable housing, the vacuum motor having a motor air inlet port, and the debris receptacle comprises an air outlet port that is coupled with the motor air inlet port when the unitary assembly is mounted to the autonomously moveable housing to fluidly couple the debris receptacle with the suction source.
- The floor cleaning robot of claim 7, wherein:the autonomously moveable housing comprises an air inlet port receiver in fluid communication with the suction source and the debris receptacle comprises an air outlet port that is coupled with the air inlet port when the unitary assembly is mounted to the autonomously moveable housing to fluidly couple the debris receptacle with the suction source; andthe autonomously moveable housing comprises a valve receiver in fluid communication with the fluid delivery pump and the supply tank comprises a valve that is coupled with the valve receiver when the unitary assembly is mounted to the autonomously moveable housing to fluidly couple the supply tank with the fluid delivery pump.
- The floor cleaning robot of any of claims 1-11, wherein the unitary assembly comprises an openable lid selectively secured to a lower portion of the unitary assembly and moveable between a closed position and an open position, the lower portion including at least a receptacle reservoir of the debris receptacle.
- The floor cleaning robot of claim 12, wherein the openable lid includes the supply tank and/or wherein the openable lid is fully separable from the lower portion.
- The floor cleaning robot of claim 12, wherein the debris receptacle includes a pour spout, wherein the pour spout is covered by the lid when the lid is in the closed position and is exposed to view when the lid is in the open position.
- The floor cleaning robot of any of claims 1-14. wherein:the at least one fluid distributor and the fluid delivery pump are carried on the autonomously moveable housing; andthe at least one fluid distributor is positioned to deposit cleaning fluid onto the surface to be cleaned over which the autonomously moveable housing moves;optionally wherein the unitary assembly comprise a squeegee provided proximate to the brushroll on a first side thereof and the at least one fluid distributor is provided proximate to the brushroll, on a second side thereof, opposite the first side.
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US16/438,552 US11219347B2 (en) | 2017-12-22 | 2019-06-12 | Robotic cleaner |
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- 2020-06-09 JP JP2020099762A patent/JP2020199263A/en active Pending
- 2020-06-10 CA CA3083076A patent/CA3083076A1/en active Pending
- 2020-06-11 AU AU2020203847A patent/AU2020203847A1/en not_active Abandoned
- 2020-06-11 EP EP20179577.0A patent/EP3750464A1/en not_active Withdrawn
- 2020-06-12 CN CN202010535411.6A patent/CN112075886A/en active Pending
- 2020-06-12 KR KR1020200071246A patent/KR20200142473A/en unknown
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CN114652242B (en) * | 2022-03-02 | 2023-04-07 | 深圳市杉川机器人有限公司 | Cleaning system |
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Also Published As
Publication number | Publication date |
---|---|
JP2020199263A (en) | 2020-12-17 |
KR20200142473A (en) | 2020-12-22 |
AU2020203847A1 (en) | 2021-01-07 |
CA3083076A1 (en) | 2020-12-12 |
CN112075886A (en) | 2020-12-15 |
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