JP2020108821A - Autonomous floor cleaning with removable pad - Google Patents

Abstract

To provide floor cleaning by an autonomous robot using a cleaning pad.SOLUTION: An autonomous floor cleaning robot includes a robot body, a controller supported by the robot body, a drive unit supporting the body to maneuver the robot across a floor surface in response to commands from the controller, and a pad holder attached to the bottom surface of the body to hold a removable cleaning pad during operation of the robot. The pad includes a mounting plate and a mounting surface. The mounting plate is attached to the mounting surface. The robot includes a pad sensor for detecting a feature on the pad and generating a signal on the basis of the feature which is defined in part by a cutout on the card backing. The mounting plate enables the pad sensor to detect the feature. The controller responds to the signal to perform operations including selecting a cleaning mode on the basis of the signal, and controlling the robot according to a selected cleaning mode.SELECTED DRAWING: Figure 1A

Description

This application is a continuation-in-part application of US application number 14/828,285 filed on August 17, 2015, which is a partial continuation application of US application number 14/658,820 filed on March 16, 2015. No. 14/936,236, filed Nov. 9, 2015, which claims priority. These applications are incorporated herein by reference in their entirety.

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

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

Traditionally, wet mops are used to remove dust and other dirt (eg, dust, oil, food, sauces, coffee, coffee grounds) from the floor. A person soaks the mop in a bucket of water and soap or a dedicated floor cleaning solution and scrubs the floor with the mop. In some instances, a floor scrubbing action may need to be performed in a reciprocating manner to clean certain dirty areas. After that, the cleaner soaks the mop in water in a bucket and continues to rub the floor. In addition, the cleaner may need to kneel on the floor to clean the floor, which can be a tedious and tiring task, especially if the floor occupies a large area.

Floor mops are used to rub the floor without knees on the floor. The floor mop or the pad attached to the autonomous robot can scrape and remove an individual from the surface, and can prevent the user from bending over to clean the surface.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

In some examples, the pad sensor receives a first radiation emitter that illuminates a first area, a second radiation emitter that illuminates a second area, and reflected radiation from both the first and second areas. However, a photodetector that generates a signal based on the reflected radiation light may be included.

In some examples, the controller may be configured to perform the operation to select the cleaning mode. The operation determines the respective states of the plurality of identification elements based on the first reflectance and the second reflectance, determines the characteristic states based on the respective states of the plurality of identification elements, and stores the characteristic states in a memory. And comparing the stored state index to selecting a cleaning mode from the plurality of cleaning modes based on the comparison.

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

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

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

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

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

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

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

In some examples, in a set of different types of autonomous robot cleaning pads, each of the set of cleaning pads includes a pad body having a widthwise opposing surface including a cleaning surface and a mounting surface. Each of the set of cleaning pads further includes a pad type identification feature that indicates the type of cleaning pad, and a mounting plate mounted across the mounting surface of the pad body. The mounting plate includes cutouts that at least partially define pad type identification features. The mounting plate may allow detection of pad type identification features by a robot pad sensor.

In some examples, the mounting surface may include a wrap layer wrapped around an absorbent layer that absorbs liquid on the floor surface. Pad type identification features may also be defined by markings on the wrap layer. The marking may occupy a larger area than the cutout area. The cutout can allow detection of the marking by the pad sensor.

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

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

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

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

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

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

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

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

An autonomous mobile cleaning robot capable of cleaning the floor surface of the room by moving inside the room while scrubbing the floor surface will be described in more detail below. The robot can spray the cleaning liquid on the floor surface and rub the floor surface using a cleaning pad attached to the bottom surface of the robot. The cleaning liquid can be floated by melting debris on the floor surface, for example. The robot can automatically select the cleaning mode based on the attached cleaning pad. The cleaning mode may include, for example, the amount of cleaning liquid supplied by the robot and/or the cleaning pattern. In some cases, the cleaning pad can clean the floor without the use of cleaning fluid, in which case the robot will have to spray the floor with cleaning fluid as part of the selected cleaning mode. Absent. In other cases, the amount of cleaning liquid used to clean the floor may depend on the type of cleaning pad identified by the robot. Some cleaning pads require more cleaning liquid to improve their rubbing ability, while others require a relatively small amount of cleaning liquid. The cleaning mode may include various navigation behaviors that cause the robot to perform some movement pattern. For example, when the robot sprays the cleaning liquid on the floor surface as a part of the cleaning mode, the robot operates in accordance with an operation pattern that prompts a back-and-forth reciprocating rubbing operation to sufficiently spread and absorb the cleaning liquid that may include floating debris. be able to. The navigational and spraying characteristics of the cleaning mode can vary widely depending on the type of cleaning pad. The robot can select these characteristics upon detecting the type of cleaning pad attached. As described in detail below, the robot automatically detects the identifying features of the cleaning pad to identify the type of cleaning pad attached and selects a cleaning mode depending on the identified cleaning pad type. ..
Overall structure of robot

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

One or more rear cliff sensors (not shown) located at one or both rear corners of the robot 100 along the bottom of the body 102 and at one or both front corners of the robot 100. One or more front cliff sensors (not shown) placed detect ledges or other steep height differences on the floor 10 and cause the robot 100 to drop from such floor edges. Prevent. The cliff sensor is an optical proximity sensor, such as a mechanical drop sensor, a pair of IR (infrared), dual emitter, single receiver or dual receiver, single emitter IR proximity sensor, directed toward the floor 10 below. Good. In some examples, the cliff sensor extends between the sidewalls of the robot 100 to detect elevation differences above a floor threshold, such that it cuts the front and rear corners while covering as close as possible to the corners. At an angle to the front and rear angles. By arranging the cliff sensor close to the corner of the robot 100, the cliff sensor can immediately and surely react when the robot 100 protrudes above the floor drop, and the wheels of the robot reach the end of the drop. Can be prevented.

The front portion 104 of the main body 102 carries a movable bumper 110 for detecting a vertical (A, F) or horizontal (L, R) collision. The bumper 110 has a shape that complements the main body 102, extends to the front of the main body 102, and has a widthwise dimension of the entire front portion 104 that is larger than that of the rear portion 106 of the main body 102. The bottom of the body 102 carries an attached cleaning pad 120. Referring to FIG. 1B, the rear portion 106 of the body 102 includes wheels 121 that rotatably support the rear portion 106 of the body 102 as the robot 100 moves on the floor 10. The cleaning pad 120 supports the front portion 104 of the main body 102 when the robot 100 moves on the floor surface 10. In one embodiment, the cleaning pad 120 allows the outer edge of the cleaning pad 120 to reach hard-to-reach surfaces or gaps, such as a wall-floor boundary, and allows the outer edge of the cleaning pad 120 to be positioned along them. It extends beyond the width of the bumper 110. In another embodiment, the cleaning pad 120 extends to the end of a robot pad holder (not shown), but not beyond the pad holder. In such an example, the end of the cleaning pad 120 can be cut off, and the absorbent can be exposed at the end where the end is cut off. The robot 100 can press the end portion of the cleaning pad 120 against the wall surface. This arrangement of the cleaning pad 120 further enables the extended end portion of the cleaning pad 120 to clean the surface or the gap of the wall while the robot 100 is moving in the wall following operation. Thus, the extension of the cleaning pad 120 allows the robot 100 to clean the interior of a crevice or gap that the body 102 cannot reach.

The reservoir 122 in the main body 102 holds the cleaning liquid 124 (for example, cleaning solution, water, and/or cleaning agent), and can hold 170-200 ml of the cleaning liquid 124, for example. In one example, the reservoir volume is 200 ml. The robot 100 has a liquid applicator 126 connected to a reservoir 122 by a tube in the body 102. The liquid applicator 126 can be a spray or spray mechanism having an upper nozzle 128a and a lower nozzle 128b. The upper nozzle 128a and the lower nozzle 128b are vertically stacked in the recess 129 of the liquid applicator 126 and are angled with respect to a horizontal plane parallel to the floor surface 10. The nozzles 128a-128b spray the liquid in a relatively long range forward and downward so that the upper nozzle 128a covers a region of the floor surface 10 in front of the robot 100, and the other nozzle 128b. In order to supply the coating liquid backward to a region of the floor surface 10 nearer to the robot 100 than the region of the coating liquid sprayed by the upper nozzle 128a in front of the robot 100, it is relatively short in the front and downward directions. They are placed apart from each other so as to spread the liquid over the area. In some cases, the nozzles 128a-128b draw a small amount of liquid at the nozzle openings prior to each spray stroke to prevent the cleaning fluid 124 from leaking or dripping from the nozzles 128a-128b after each spray stroke. To finish.

In another example of the liquid applicator 126, multiple nozzles are configured to spray liquid in different directions. The liquid applicator may apply the liquid by directly dripping or spraying the cleaning liquid from the lower part of the bumper 110 downward to the front of the robot 100, not in the outward direction. In some examples, the liquid applicator is a microfiber cloth or strip, a liquid application brush, or a spray. In another case, the robot 100 includes only one nozzle.

The cleaning pad 120 and the robot 100 have dimensions and shapes so that the robot 100 maintains the front-rear balance of the robot 100 during the dynamic motion even by the process of moving the cleaning liquid from the storage unit 122 to the absorbent cleaning pad 120. It is set. The cleaning liquid lifts the rear part 106 of the robot 100 and the front part of the robot 100 by the gradually saturating cleaning pad 120 and the gradually emptying liquid reservoir 122, which may give a downward force to the robot 100 to impede its movement. The robot 100 is provided so that the cleaning pad 120 can be continuously moved on the floor surface 10 without causing the depression of the cleaning pad 120. Therefore, the robot 100 can move the cleaning pad 120 on the floor surface 10 even when the cleaning pad 120 is completely saturated with the liquid and the storage section becomes empty. The robot 100 may monitor the distance traveled on the floor surface 10 and/or the amount of liquid remaining in the reservoir 122, and may be audible and/or prompting replacement of the cleaning pad 120 and/or replenishment of the reservoir 122. Provide the user with a visual alarm. In some embodiments, the robot 100 stops moving and stays in place when the cleaning pad 120 is fully saturated or needs to be replaced when there is remaining floor to be cleaned.

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

Another detail of the overall configuration of the robot 100 can be found in US patent application Ser. No. 14/077,296, filed Nov. 12, 2013, entitled “Autonomous Surface Cleaning Robot,” 2013 entitled “Cleaning Pad”. Provisional US Patent Application No. 61/902,838, filed November 12, 2014, and Provisional US Patent Application No. 62/059, filed August 3, 2014, entitled "Surface Cleaning Pads". No. 637, all incorporated herein by reference.
Cleaning pad structure

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

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

The wrap layer 204 is a non-woven porous material that covers the periphery of the absorbent layer 201. The wrap layer 204 may include a spunlace layer and an abrasive layer. The polishing layer can be disposed on the outer surface of the wrap layer. Spunlace layers are also known as hydroentangling, water entangling, jet entangling, or hydraulic needleling, in which a plurality of thin, high-pressure water streams are drawn into the fibers. Can be formed by entanglement of fibers to form a sheet. The hydroentanglement treatment can entangle a fibrous material into a composite non-woven mesh. The materials thus obtained show advantages in the performance required of many wiping tools due to improved performance and low cost construction.

The wrap layer 204 covers the periphery of the absorbent layer 201 and prevents the absorbent layer 201 from coming into direct contact with the floor surface 10. The wrap layer 204 can be a flexible material including natural or synthetic fibers (eg, spunlace or spunbond). The liquid applied to the floor surface 10 under the cleaning pad 120 moves to the absorbent layer 201 through the wrap layer 204. The wrap layer 204 wrapped around the absorbent layer 201 is a transfer layer for preventing the absorbent material in the absorbent layer 201 from being exposed.

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

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

The wrap layer 204 of some pads may be configured to absorb the solution. In some cases, the wrap layer 204 is smooth to prevent scratching the delicate floor. The cleaning pad 120 may include, among other things, one or more of the following cleaning agent components as a surfactant and as a component that acts on scale and mineral deposits: butoxypropanol, alkyl polyglucosides, dialkyl-dimethyl chloride. Ammonium, polyoxyethylene castor oil, and linear alkylbenzene sulfonate. Various pads may also include fragrances, antibacterial and antifungal agents.

2A-2C, cleaning pad 120 includes a cardboard backing layer or card backing 206 adhered to the top surface (eg, wrap layer 204) of cleaning pad 120. As described in detail below, when the card backing 206 (ie, the cleaning pad) is attached to the robot 100, the mounting surface 202 of the card backing 206 faces the robot 100. The robot 100 can identify the type of cleaning pad 120 attached by detecting features on the card backing 206 or mounting surface 202. Although the card backing 206 is described as being cardboard, in another embodiment, the material of the card backing can be a variety of materials that can hold the cleaning pad in place during movement of the robot 100 to prevent the cleaning pad from moving significantly. It can be a hard material. In some cases, the cleaning pad may be a washable and reusable rigid plastic material such as polycarbonate.

The card backing 206 projects beyond the longitudinal end of the cleaning pad 120, and the protruding longitudinal end 210 of the card backing 206 is a pad of the robot 100 (described in detail below with respect to FIGS. 3A-3D). It is attached to the holder. The card backing 206 may have a thickness between 0.02 and 0.03 inches (0.5 mm and 0.8 mm), a width between 68 mm and 72 mm, and a length between 90 and 94 mm. In one embodiment, the card backing 206 is 0.026 inches (0.66 mm) thick, 70 mm wide, and 92 mm long. The card backing 206 is double-sided with a water resistant coating, such as a wax or polymer or a combination of wax and water resistant materials such as polyvinyl alcohol, polyamines, to help prevent the card backing 206 from degrading when wet. Is coated.

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

In some cases, the cleaning pad 120 is disposable. In another case, the cleaning pad 120 is a reusable microfiber cloth with a durable plastic backing. The microfiber cloth pad may be washable. It may also be possible to dry in a dryer without the lining melting or decomposing. In another example, a washable microfiber cloth pad has an attachment mechanism for attaching a cleaning pad to a plastic backing, which can be removed before washing. An example of an attachment mechanism may include Velcro® or another hook-and-loop attachment mechanism provided on both the cleaning pad and the plastic backing. Another cleaning pad 120, intended for use as a disposable dry cloth, comprises a single layer of spunbond or spunlace needle punch material with exposed fibers to collect hair. The cleaning pad 120 may include a chemical treatment that adds adhesive properties to hold dust and debris.

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

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

The cutouts 214 of the cleaning pad 120 engage corresponding protrusions 304 of the pad holder 300, and the cutouts 212 of the cleaning pad 120 engage corresponding protrusions 306 of the pad holder 300. The protrusions 304 and 306 position the cleaning pad 120 with respect to the pad holder 300 and prevent the cleaning pad 120 from slipping in the longitudinal direction and/or the longitudinal direction so that the cleaning pad 120 is in a fixed position relative to the pad holder 300. keep. The configurations of cutouts 212, 214 and protrusions 304, 306 allow cleaning pad 120 to be attached to pad holder 300 from either of two similar orientations (180 degrees opposite to each other). Further, in the pad holder 300, when the pad releasing mechanism 322 operates, the cleaning pad 120 can be removed more easily. The number of cooperating raised protrusions and cutouts may be different in another example.

As the raised protrusions 304, 306 extend into the cutouts 212, 214, the cleaning pad 120 is held in place against rotational forces by the cutout-convex retention system. In some cases, robot 100 moves in a rubbing motion as described in this disclosure, and in some embodiments, pad holder 300 vibrates cleaning pad 120 for further rubbing. For example, the robot 100 may rub the floor surface 10 by vibrating the attached cleaning pad 120 in a trajectory of 12 to 15 mm. The robot 100 can also apply a downward pressure of less than 1 pound to the cleaning pad. By aligning the cutouts 212, 214 of the card backing 206 with the protrusions 304, 306, the cleaning pad 120 maintains a fixed position with respect to the pad holder 300 during use, so that a rubbing operation including vibration cleans through the pad holder 300. It is directly transmitted to each layer of the pad 120 without loss.

With reference to FIGS. 3B-3D, the pad release mechanism 322 includes a movable retention clip 324a or lip that holds the cleaning pad 120 securely in place by grasping the protruding longitudinal end 210 of the card backing 206. The non-movable holding clip 324b also supports the cleaning pad 120. The pad release mechanism 322 includes a movable holding clip 324a and an ejection projection 326 that slides in the slot or opening of the pad holder 300. In some embodiments, retaining clips 324a, 324b may include hook-and-loop fasteners. Also, in another embodiment, the retaining clips 324a, 324b may include clips or retaining brackets, and the clips or retaining brackets may be selectively moved to selectively release and remove the cleaning pad. Different types of holding members, such as snaps, clamps, brackets, adhesives, that can be configured to release the cleaning pad 120 when the pad releasing mechanism 322 is activated, etc., are used to connect the cleaning pad 120 and the robot 100. You may use.

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

The user basically slides the cleaning pad 120 into the pad holder 300. In the embodiments of the present disclosure, the cleaning pad 120 is pushed into the pad holder 300 to engage the retaining clip 324.
Navigation behavior and spray schedule

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

The navigational behavior may include a straight ahead pattern, a vine pattern, a cornrow pattern, or a combination of these patterns. Other patterns are possible. In the straight-ahead pattern, the robot 100 normally moves along a linear trajectory and follows an obstacle defined by a straight line such as a wall. The behavior of continuously repeating a birdfoot pattern is called a vine pattern. In the vine-like pattern, the robot 100 repeats a bird's foot pattern in which the robot 100 gradually moves forward and backward while moving forward and backward. Each time the bird foot pattern is repeated, the robot 100 is advanced along the trajectory that advances as a whole, and by repeating the bird foot pattern, the robot 100 can be moved on the floor along the trajectory that advances as a whole. Further details of the vine and birdfoot patterns are described below with respect to Figures 4A-4E. In the Kornlaw pattern, the robot 100 moves a little in the direction perpendicular to the longitudinal motion of the Kornlow pattern each time it traverses the room and draws a series of essentially parallel trajectories across the floor. Make a round trip.

In the example described below, each spray schedule defines a wetting period, a cleaning period, and a finishing period. The different work periods in each application schedule define the frequency of application (based on distance traveled) and the time of application. The wetting period starts immediately after the robot 100 is started and the cleaning work is started. During the wetting period, the cleaning pad 120 provides additional cleaning liquid to sufficiently wet the cleaning pad 120 such that the cleaning pad 120 has absorbed a sufficient amount of cleaning liquid to begin the cleaning period of the cleaning operation. Need. During the cleaning period, the cleaning pad 120 requires less cleaning liquid than during the wetting period. The robot 100 basically sprays the cleaning liquid so as to maintain the wet state of the cleaning pad 120 without collecting the cleaning liquid on the floor surface 10. During the finishing period, the cleaning pad 120 requires less cleaning liquid than during the cleaning period. During the finishing period, the cleaning pad 120 is essentially fully saturated and must absorb a sufficient amount of cleaning liquid to supplement evaporation and other dryness that hinders removal of dust and debris from the floor 10. Good.

Referring to Table 1 below, the type of cleaning pad 120 identified by the robot 100 determines the spray schedule and navigation behavior of the cleaning mode performed by the robot 100. The spraying schedule, including the wetting period, cleaning period, and finishing period, depends on the type of cleaning pad 120. When the robot 100 determines that the cleaning pad 120 is a wet mopping cleaning pad, a dump mopping cleaning pad, or a washable cleaning pad, the robot 100 should perform spraying at each stage of one bird foot pattern or at a plurality of bird foot patterns. Run a time-specific scatter schedule. The robot 100 performs a navigation behavior that uses a vine and cone law pattern when the robot 100 crosses a room and uses a straight-ahead pattern when moving near the periphery of the room or near the edges of objects in the room. Although the application schedule has been described as having three distinctly different work periods, in some embodiments, the application schedule may have more or less than three work periods. For example, the spray schedule may have a first and second cleaning period in addition to a wetting period and a finishing period. In other cases, the wetting period may be absent if the robot 100 is configured to function with a pre-moistened cleaning pad. Similarly, the navigation behavior may include other movement patterns such as zigzag patterns and spiral patterns. Although the cleaning operation has been described as including a wetting period, a cleaning period, and a finishing period, in some embodiments, the cleaning operation may include only a cleaning period and a finishing period, the wetting period prior to the cleaning operation. It may be a separate work that occurs.

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

In the example described in Table 1, it was described that the robot uses the same pattern for the wetting period and the cleaning period (for example, a vine pattern or a cone low pattern), but in some examples, a different pattern is used during the wetting period. obtain. For example, during the wetting period, the robot may form a puddle of more cleaning liquid and move back and forth to wet the cleaning pad while traversing the puddle of cleaning liquid. In such an embodiment, the robot does not begin the cone low pattern until the cleaning period is entered. 4A-4D, the cleaning pad 120 of the robot 100 rubs the floor surface 10 and absorbs the liquid on the floor surface 10. As described above with respect to FIG. 1A, the robot 100 includes a liquid applicator 126 that sprays the cleaning liquid 124 onto the floor surface 10. The robot 100 scrapes and removes the dirt 22 (eg, dust, oil, food, sauce, coffee, coffee grounds) absorbed by the cleaning pad 120 with the applied cleaning liquid 124 that dissolves and/or floats the dirt 22. .. The soil 22 may also include those having viscoelastic properties that exhibit both viscous and elastic properties (eg, honey). The cleaning pad 120 is absorbent and may also be abrasive to abrade the dirt 22 and free it from the floor surface 10.

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

4A-4D, the robot 100 may perform a cleaning operation by moving in a forward direction F toward an obstacle or wall 20 and then in a backward or opposite direction A. The robot 100 can move to the first position L1 by advancing the first distance FD in the forward drive direction. When the robot 100 retreats on the floor surface 10 traced while already moving at least the distance D in the forward direction F, and the robot 100 retreats by the second distance AD and moves to the second position L2, the nozzles 128a and 128b respectively The long range cleaning liquid 124a and the short range cleaning liquid 124b are simultaneously sprayed on the floor surface 10 in the front of the robot 100, forward and downward. The cleaning liquid 124 may be sprayed on an area substantially the same as or smaller than the footprint area AF of the robot 100. Since the distance D extends at least the length LR of the robot 100, the cleaning liquid is not supplied to the robot 100 unless the robot 100 confirms in advance that there is nothing on the floor 10 in the area of the floor 10 traced by the robot 100. It can be determined that there are no furniture, walls 20, cliffs, carpets or other surfaces or obstructions that 124 would have been applied. The robot 100 moves in the forward direction F before applying the cleaning liquid 124 and then in the opposite direction A to identify boundaries such as changes in flooring and walls, and furniture made of liquid, wall 20, cliff, carpet. Or prevent damage to other surfaces and obstacles.

In some embodiments, the nozzles 128a, 128b supply the cleaning liquid 124 in an area pattern that extends over a dimension of one robot width WR and at least one robot length LR. The upper and lower nozzles 128a and 128b are robots to allow the cleaning pad 120 to pass the outer ends of the strips of coating liquid 402a, 402b during angled forward and backward rubbing operations (described below with respect to FIGS. 4D-4E). Two strip-shaped coating liquids 402a and 402b which are clearly separated and are less than the full width WR of 100 are applied. In another embodiment, the strips of coating liquid 402a, 402b have regions having a width WS of 75-95% of the robot width WR and a length LS of 75-95% of the robot length LR in combination therewith. cover. In some examples, the robot 100 only sprays the area of the floor surface 10 that has already been traced. In another embodiment, the robot 100 applies the cleaning liquid 124 only to areas of the floor surface 10 that the robot 100 has already followed. In some examples, the strips of coating fluid 402a, 402b may be substantially rectangular or elliptical.

By moving the robot 100 back and forth, the cleaning pad 120 can be moistened and/or the floor surface 10 coated with the cleaning liquid 124 can be rubbed. Referring to FIG. 4D, in one example, the robot 100 passes through a footprint area AF on the floor surface 10 coated with the cleaning liquid 124 in a bird's foot pattern. The bird foot pattern shown in the figure moves the robot 100 (i) forward F and backward or opposite A along the central trajectory 450, and (ii) forward F and opposite A along the left trajectory 460. And (iii) moving in the forward direction F and the opposite direction A along the right trajectory 455. The left orbit 460 and the right orbit 455 are arcuate orbits that extend outward in an arc from a start point on the central orbit 450. Although the left and right trajectories 460 and 455 have been described and illustrated as arcuate trajectories, in other embodiments the left and right trajectories may be straight trajectories extending outward from the central trajectory.

In the example shown in FIG. 4D, robot 100 moves in a forward direction F from position A along central trajectory 450 until it encounters wall 20 at position B and the collision sensor is activated. The robot 100 then moves in a backward direction A along the central trajectory over a distance that should be covered by the liquid application. For example, the robot 100 retreats along the central trajectory 450 by at least one robot length LR to the position C. The position C may be the same as the position A. The robot 100 applies the cleaning liquid 124 to an area that is substantially the same as or smaller than the footprint area AF of the robot 100, and returns to the wall 20. When the robot 100 returns to the wall 20, the cleaning pad 120 passes over the cleaning liquid 124 to clean the floor surface 10. From position F or D, robot 100 moves to position G or position E along left orbit 460 or right orbit 455, respectively, before moving to position D or position F, respectively. In some cases, positions C, E, and G may correspond to position A. The robot 100 can then continue to move and complete its movement along the remaining trajectory. Each time it moves back and forth along the central track 450, the left track 460, and the right track 455, the cleaning pad 120 passes over the applied cleaning liquid 124 to remove dust, debris, and other particulate matter from the floor. Scrape from 10 and absorb dirty liquid from floor 10. The rubbing action of the cleaning pad 120, combined with the solvent nature of the cleaning liquid 124, decomposes and loosens dry stains and dirt. The cleaning liquid 124 applied by the robot 100 raises the disentangled debris so that the cleaning pad 120 absorbs the disentangled debris and removes it from the floor surface 10.

As the robot 100 moves back and forth, the area followed by the robot 100 is cleaned, thereby carefully scrubbing the floor surface 10. The back-and-forth movement of the robot 100 can disintegrate stains on the floor surface 10 (for example, the stain 22 in FIGS. 4A to 4C). The cleaning pad 120 can then absorb the decomposed stains. The cleaning pad 120 can pick up a sufficient amount of sprinkled liquid to prevent uneven streaks that occur when the cleaning pad 120 picks up too much liquid, such as the cleaning liquid 124. The cleaning pad 120 can leave a liquid on the floor surface 10, such as water or another cleaning agent including a solution containing a cleaning agent, to provide a visible gloss on the rubbed floor surface 10. In some examples, the cleaning liquid 124 comprises an antimicrobial solution, such as a solution containing alcohol. Therefore, by preventing the cleaning pad 120 from absorbing a thin layer of the residual liquid, a higher proportion of bacteria can be sterilized.

In some embodiments, if the robot 100 uses a cleaning pad 120 that requires cleaning fluid 124 (eg, wet mopping cleaning pad, dump mopping cleaning pad, and washable cleaning pad), the robot 100 may be vine-shaped. It is also possible to switch between a cone low pattern and a straight ahead pattern. The robot 100 uses a vine-shaped and cone-row pattern during room cleaning, and uses a straight-ahead pattern during edge cleaning.

Referring to FIG. 4E, in another embodiment, the robot 100 moves within the room 465 along a trajectory 467 while performing the combination of vine-like pattern and straight-ahead pattern described above. In this example, the robot 100 is applying the cleaning liquid 124 to the front of the robot 100 all at once along the trajectory 467. In the example shown in FIG. 4E, robot 100 is operating in a cleaning mode that requires cleaning liquid 124. The robot 100 progresses along a trajectory 467 while executing a vine-shaped pattern including repeated bird foot patterns. Each bird foot pattern basically ends at a position advanced from where the robot 100 was originally, as described in more detail above. The robot 100 operates according to the spray schedules shown in Tables 2 and 3 below, which correspond to the vine-shaped and cone-row pattern spray schedules and the straight-ahead pattern spray schedules, respectively. In Tables 2 and 3, the distance traveled may be calculated as the total distance traveled in the vine pattern, taking into account the arcuate trajectory of the robot 100 in the vine pattern. In this example, the spray schedule includes a wetting period, a first cleaning period, a second cleaning period, and a finishing period. In some cases, the robot 100 may calculate the distance traveled simply as the distance traveled.

In the first fifteen times the robot 100 applies liquid to the floor, which corresponds to the wetting period in the spraying schedule, the robot 100 moves at least every 344 mm (about 13.54 inches, or a little more than one foot). The cleaning liquid 124 is sprinkled on. The time for each application is about 1 second. The wetting period basically corresponds to the trajectory 467 included in the region 470 of the room 465, and in this region, the robot 100 executes the navigation behavior in which the vine pattern and the cone law pattern are combined.

Basically, at the time when the cleaning pad 120 is completely wet, which corresponds to the time when the robot 100 executes the first cleaning period in the spraying schedule, the robot 100 is 600 to 1100 mm (about 23.63 to 43). Spray 30 seconds, or 2 to 4 feet) for 1 second each time. This relatively infrequent spraying ensures that the cleaning pad remains wet without excessive wetting or liquid pooling. The first cleaning period is indicated by the track 467 included in the area 475 of the room 465. The robot 100 follows the spray frequency and spray time of the cleaning period up to a predetermined spray count (for example, 20 times).

When the robot 100 enters the area 480 of the room 465, it initiates a second cleaning period, 0.5 seconds each time it moves 900-1600 mm (about 35.43 to about 63 inches, or about 3 to about 5 feet). Disperse. This relatively infrequent and short duration of spraying keeps the cleaning pad wet without excessive wetting, which in some cases further absorbs the cleaning liquid, which may include raised debris. Can be prevented.

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

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

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

Assuming that the robot 100 sprays 10 times while moving on the periphery of the island kitchen 492, the 47th spraying in the cleaning work will be performed when returning to the floor cleaning using the vine-shaped and cone low patterns at the point 493. At point 493, the robot 100 performs the 47th application according to the vine and cone law pattern application schedule, so the robot 100 returns to the second cleaning period. Thus, the robot 100 sprays every 900-1600 mm (between about 35.43 and about 63 inches, or between about 3 and about 5 feet) along a trajectory 467 included in the area 495 of the room 465.

The robot 100 continues to execute the second cleaning period until the 65th spraying, and from the time of the 65th spraying, starts executing the finishing period in the vine-shaped and cone-low pattern spraying schedule. The robot 100 applies the liquid for 0.5 seconds each time it moves about 1200 to 2250 mm. This less frequent and lesser application of the cleaning pad 120 causes the cleaning pad 120 to become completely saturated and absorb sufficient amount of cleaning liquid to supplement evaporation and other dryness that prevents removal of dust and debris from the floor 10. This can correspond to the final stage of the cleaning work, which is the stage where all that is required is to do.

In the above example, the cleaning fluid application and/or cleaning pattern is changed based on the type of cleaning pad identified by the robot, but other elements may be additionally changed. For example, the robot can be vibrated to aid in cleaning with a particular pad type. Vibrations are said to release surface tension and aid movement, and may help clean because they disintegrate dirt better than without vibrations (eg, wiping alone). For example, when cleaning with a wet pad, the pad holder may vibrate the pad. When cleaning with a dry cloth, the pad holder does not need to vibrate because vibration can remove dust and hair from the pad. Therefore, the robot may identify the pad and determine whether to vibrate the pad based on the pad type. In addition, the robot may include a vibration frequency, a vibration range (for example, a movement amount of the pad with respect to an axis parallel to the floor), and/or a vibration axis (for example, an axis perpendicular to the movement direction of the robot, a movement of the robot The axis parallel to the direction, or another axis that is neither parallel nor perpendicular to the moving direction of the robot) may be changed.

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

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

In some embodiments, the disposable pad is a dry pad having an airlaid layer of wood pulp or a co-formed admixture of wood pulp and a binder such as polypropylene or polyethylene. Unlike disposable wet/dump pads, dry pads are thinner and have a smaller amount of airlaid layer than disposable wet/dump pads to allow the robot to move at an optimal height over a pad that does not compress due to liquid absorption. Can be In some embodiments of the disposable dry pad, the wrap is spunbond needlepunched material to trap dirt, dust, and other debris on the pad to prevent it from falling while the robot completes cleaning. It may be treated with a mineral oil such as drakasol, which aids in The wrap may be electrostatically treated for the same reason.

In some embodiments, the washable cleaning pad is a microfiber pad with a reusable plastic backing attached to engage the pad holder.

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

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

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

Sensor system 530 may additionally include a 3-axis accelerometer, a 3-axis gyroscope, and a rotary encoder for wheels (eg, wheel 121 shown in FIG. 1B). The control unit 505 can also use the linear acceleration detected from the 3-axis accelerometer to estimate the slip in the x and y directions, and can use the 3-axis gyroscope to estimate the slip in the traveling direction or the θ direction. Therefore, the control unit 505 can estimate the basic posture (eg, position and orientation) of the robot 100 by combining the data collected from the rotary encoder, the accelerometer, and the gyroscope. In some embodiments, the robot 100 may use encoders, accelerometers, and gyroscopes to keep the robot 100 in essentially parallel rows when performing a cone law pattern. .. In addition, the gyroscope and rotary encoder can be used in combination in a dead reckoning algorithm to determine the position of the robot 100 within the environment in which it is located.

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

The memory 560 may also store spray schedules and navigation behaviors corresponding to particular types of cleaning pads that may be attached to the robot during cleaning operations. The pad identification system 534 of the sensor system 530 includes sensors that detect characteristics of the cleaning pad to determine the type of cleaning pad attached to the robot. The controller 505 can determine the type of cleaning pad based on the detected characteristics. Pad identification system 534 is described in detail below.

In some examples, where the robot is based on coverage locations stored in a non-transitory memory 560 of the robot or a map stored in an external storage medium accessible to the robot by wired or wireless means during a cleaning run. You can know if you went. The sensor may include a camera and/or one or more ranging lasers to build a map of the space. In some examples, the controller 505 places walls, furniture, flooring changes, and the like in order to position the robot sufficiently far and away from obstacles and/or flooring changes prior to application of the cleaning fluid to position the robot. Use maps of other obstacles. This configuration is advantageous when applying liquid to areas of the floor that are free of known obstructions.
Pad identification system

The pad identification system 534 may depend on the type of pad identification scheme used to identify the robot to the type of cleaning pad attached to the bottom of the robot. Various different types of pad identification schemes are described below.
Discrete discriminant array

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

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

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

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

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

In the example described with respect to FIGS. 6A-6C, the bright-bright state is where the controller 505 determines if the cleaning pad 600 is properly attached to the robot 100 and if the cleaning pad 600 has moved relative to the robot 100. Can be reserved as an error condition used to For example, in some cases, the cleaning pad 600 may move horizontally as the robot 100 rotates during use. If the robot 100 detects the color of the card backing 606 rather than the identification array 603, the robot 100 will detect such detection by moving the cleaning pad 600 along the pad holder and no longer properly attaching the cleaning pad 600 to the pad holder. Can be taken to mean that not. In order to cause the robot to execute the identification algorithm, the dark-dark state also judges the state of the identification elements 608a-608c simply by comparing the reflectances of the left blocks 610a-610c and the right blocks 612a-612c, It is not used in the examples described below. To identify the cleaning pad using the comparison-based identification algorithm, the identification elements 608a-608c function as bits that can be in one of two states: a light-dark state and a dark-light state. The identification array 603 can have one of 43 or 64 states, including error states and dark-dark states. Except for the error and dark-dark states, the identification elements 608a-608c have two states, and thus the identification array 603 can have 23 or one of eight states.

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

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

The alignment block 633 aligns the emitter/detector array 629 on the identification array 603. Specifically, the alignment block 633 aligns the left emitters 630a-630c on the left blocks 610a-610c, the right emitters 634a-634c on the right blocks 612a-612c, and the detectors 632a-632c. Aligned to be equidistant from the left emitters 630a-630c and the right emitters 634a-634c. The windows 635 of the alignment block 633 direct the radiation emitted by the emitters 630a-630c, 634a-634c towards the mounting surface 602. Windows 635 also enable detectors 632a-632c to receive the radiation reflected at mounting surface 602. In some cases, the window 635 is filled (eg, with a plastic resin) to protect the emitter/detector array 629 from moisture, debris (eg, cleaning pad fibers), and debris. The left emitters 630a-630c, detectors 632a-632c, and right emitters 634a-634c are left emitters 630a-630c, detectors 632a-632c, and right emitters 634a- when the cleaning pad is attached to the pad holder 620. 634c is arranged along the surface defined by the alignment block so that it is equidistant from the mounting surface 602. The relative positions of the left emitters 630a-630c, the detectors 632a-632c, and the right emitters 634a-634c are such that the effects of distance on measuring the illumination of the radiation reflected by the block are minimized. A position is selected that minimizes the difference in distance from the vessel to the left and right blocks 610a-610c, 612a-612c. As a result, the darkness of the ink applied to bring blocks 610a-610c, 612a-612c into the dark state and the natural color of card backing 606 affect the reflectance of each block 610a-610c, 612a-612c. It will be the main factor to give.

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

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

During use, detectors 632a-632c can determine the illumination intensity of the reflection of the radiation emitted by emitters 630a-630c, 634a-634c. Radiation incident on left block 610a-610c and right block 612a-612c is reflected towards detectors 632a-632c, which detectors 632a-632c process by a controller to determine the illuminance of the reflected radiation. It produces a signal that can be used (eg, a change in current or voltage). The controller can independently activate the emitters 630a-630c and 634a-634c.

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

Referring also to FIG. 6D, the controller initiates the identification array algorithm to detect and process the information provided by the identification array 603. In step 655, the controller activates the left emitter 630a, which emits radiation towards the left block 610a. The radiation reflects off the left block 610a. At step 660, the controller receives the first signal generated by the detector 632a. The controller activates the left emitter 630a for a period of time (e.g., 10 ms, 20 ms, or longer) that allows detection of the illuminance of the reflected radiation by the detector 632a. Detector 632a detects the reflected radiation and produces a first signal having an intensity corresponding to the illumination of the reflected radiation emitted by left emitter 630a. Therefore, the first signal indicates the reflectance of the left block 610a and the illuminance of the radiation reflected by the left block 610a. In some examples, detection of higher illumination produces a stronger signal. The signal is transmitted to the control unit, and the control unit determines the absolute value of the illuminance that is proportional to the intensity of the first signal. The control unit stops the left emitter 630a after receiving the first signal.

In step 665, the controller activates right emitter 634a, which emits radiation towards right block 612a. The radiation reflects off the right block 612a. At step 670, the controller receives the second signal generated by detector 632a. The controller activates the right emitter 634a for a period of time that allows detection of the illuminance of reflected radiation by the detector 632a. Detector 632a detects the reflected radiation and produces a second signal having an intensity corresponding to the illuminance of the radiation emitted by right emitter 634a and reflected. Therefore, the second signal indicates the reflectance of the right block 612a and the illuminance of the radiation reflected by the right block 612a. In some examples, detection of higher illumination produces a stronger signal. The signal is transmitted to the control unit, and the control unit determines the absolute value of the illuminance that is proportional to the intensity of the first signal. The control unit stops the right emitter 634a after receiving the second signal.

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

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

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

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

The emitter and detector may also be configured to be capable of illuminating and detecting other wavelengths of radiation in and out of the visible light range (eg, 400 nm to 700 nm). For example, the emitter may emit radiation in the ultraviolet range (eg, 300 nm to 400 nm) or the far infrared range (eg, 15 micrometers to 1 mm), and the detector may be capable of detecting radiation in the equivalent range. Good.

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

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

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

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

Since the markings 1010 face the card backing 1006, the cutouts 1012 on the card backing 1006 allow the markings 1010 to be visible through the card backing 1006. The markings 1010 on the outer surface 1009 cooperate with the cutouts 1012 on the card backing 1006 to define the identification array. This identification array uniquely identifies the type of cleaning pad 1000, similar to the identification array 603 of FIG. 6A. During the manufacturing of the cleaning pad 1000, the markings 1010 are formed (eg, applied or printed) directly on the wrap layer 1004. The markings 1010 are limited to areas on the wrap layer 1004 that are located below potential future placements of the cutouts 1012 of the card backing 1006 (eg, potential locations of blocks of the identification array). ing. The presence of cutouts 1012 allows viewing of some of the markings 1010 through the card backing 1006, and the lack of cutouts 1012 prevents viewing of other portions of the markings 1010 through the card backing 1006.

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

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

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

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

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

To produce the card backing 1006, the cutout 1012 and the card backing 1006 are formed, for example, in a single step that removes the card backing 1006 and the corresponding cutout 1012 from the card paper. This step defines the shape of card backing 1006 and the location of cutouts 1012 along card backing 1006. This single step reduces the possible alignment differences between the card backing 1006 (eg, the ends of the card backing 1006) and the identification array. Alignment differences may appear during the manufacturing process in which the card backing 1006 is manufactured separately to define the identification array.

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

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

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

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

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

The markings 1115 occupy the area under the blocks 1110a-1110c, 1112a-1112c so that the markings 1115 fill the respective blocks 1110a-1110c, 1112a-1112c. The markings 1115 are visible only within the blocks 1110a-1110c, 1112a-1112c, which also correspond to the cutout positions in the card backing 1106. The markings 1115 occupy an area beyond the perimeter of the blocks 1110a-1110c, 1112a-1112c, so that the markings 1115 are below any position where the cutout may be placed in the future.

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

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

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

The dark and bright states have different reflectivities so that the pad sensor detects the difference between the dark and bright states. For example, the dark state may be 20%, 30%, 40%, 50% less reflective than the bright state. The reflectance in the dark state depends on the reflectance of the marking 1115, and the reflectance in the bright state depends on the reflectance of the card backing 1106. To ensure that the blocks of the identification array have a lower reflectance in the dark state than in the bright state, the markings 1115 are darker than the reflectance of the dark state blocks compared to the reflectance of the bright state blocks. Contains ink or marks.

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

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

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

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

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

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

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

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

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

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

The number of lights emitted by the emitter 730 and the number of channels of the detector 728 determine the identification order of the identification mark 703. For example, two emission and two detection channels enable fourth-order discrimination. In another embodiment, two emission and three detection channels allow sixth order discrimination. In the above-mentioned embodiment, the 9th order discrimination is possible by the three emission and the three detection channels. Higher order discrimination is more accurate, but more computationally intensive. Although the emitter 730 has been described as emitting three different wavelengths of light, in other embodiments the number of lights that can be emitted may be different. In embodiments where high reliability is required for the color classification of the identification mark 703, additional different wavelengths of light may be emitted and detected to improve the reliability of color determination. In embodiments where fast calculation and metrology are required, a smaller number of lights may be generated and detected to reduce the amount of calculation and the time required to measure the spectral response of the identification mark 703. Although one light source and one detector can be used to identify the identification mark 703, there is a possibility that misidentification will increase.

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

The memory of the control unit typically stores in advance a color index corresponding to the color of the ink to be used as the identification mark of the card backing 706 of the cleaning pad 700. The particular color of ink included in the color index may have spectral response information in the form of (R,G,B) vectors corresponding to each of the colors of light emitted by the emitter 730. For example, the red ink included in the color index may have three identifying response vectors. The first vector (red vector) corresponds to the response of the channel of detector 728 to the red light emitted by emitter 730 and reflected in the red ink. The second vector (blue vector) corresponds to the response of the channel of detector 728 to the blue light emitted by emitter 730 and reflected in the red ink. The third vector (green vector) corresponds to the response of the channel of detector 728 to the green light emitted by emitter 730 and reflected in the red ink. Each ink color intended to be used for the identification mark on the card backing 706 of the cleaning pad 700 has a different unique associated property corresponding to the three response vectors described above. The response vector can be collected by repeatedly performing a test on a specific color ink applied to the same material as the card backing 706. The color inks that are pre-stored in the index can be selected to be far from each other in the light spectrum to reduce the chance of color misidentification (eg, purple, green, red, and black). Predefined color inks correspond to specific cleaning pad types.

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

In step 760, the controller receives the first signal generated by detector 728, which includes the (R,G,B) vector measured by the three color channels of detector 728. The three channels of detector 728 respond to the light reflected at identification mark 703 and measure the spectral response of red, green, and blue. The detector 728 then produces a first signal containing these numerical values of the spectral response and sends the first signal to the controller.

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

In step 770, the controller receives a second signal produced by detector 728 that includes the (R,G,B) vector measured by the three color channels of detector 728. The three channels of detector 728 respond to the light reflected at identification mark 703 and measure the spectral response of red, green, and blue. The detector 728 then generates a second signal containing the numerical values of these spectral responses and sends the second signal to the controller.

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

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

In some cases, the controller may only provide that the highest probability color ink probability exceeds a threshold probability (eg, 50%, 55%, 60%, 65%, 70%, 75%). , Can be programmed to make a decision and select a color. By using the threshold probability, it is possible to detect that the identification mark 703 is not properly aligned with respect to the pad sensor assembly 724 and prevent an error in mounting the cleaning pad 700 on the pad holder 720. For example, as described above, the cleaning pad 700 may “go away” or slip off the pad holder 720 during use and partially move along the pad holder 720 from the mounting position to identify the identification mark 703 by the pad sensor assembly 724. May interfere with detection. If the controller calculates the probability of the color inks included in the color ink index and none of the probabilities exceeds the threshold probability, then the controller can indicate that a pad identification error has occurred. The threshold probability can be selected based on the sensitivity and accuracy required of the identification mark algorithm 750. In some embodiments, the robot may generate an alert if it determines that no probability exceeds the threshold probability. In some cases, the alert is a visual alert where the robot stops in place and/or illuminates a light on the robot. In other cases, it is an audible alert that can also give a verbal alert that the robot is in error. The audible alert may be an array of sounds, such as an alarm.

Additionally or alternatively, the controller may calculate an error for each of the calculated probabilities. When the error of the color ink having the highest probability is larger than the threshold error value, the controller may indicate that a pad identification error has occurred. Similar to the threshold probability described above, the threshold error value prevents the cleaning pad 700 from being misaligned or the cleaning pad 700 mounting error.

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

Although the ink used to form the identification mark 703 was described as simply color ink, in some examples the color ink allows the control to uniquely identify the ink, thereby uniquely identifying the cleaning pad. It contains additional components that also allow identification. For example, the ink may include a fluorescent marker that fluoresces under a particular type of radiation, which fluorescent marker may further be used to identify the type of pad. The ink may include markers that cause the reflected radiation to have a well-defined phase shift that can be detected by the detector. In this example, the controller uses the identification mark algorithm 750 for both identification and authentication processes, the identification mark 703 to identify the type of cleaning pad, and then the fluorescent or phase shift marker to clean. The type of pad can be verified.

In another embodiment, the same type of color ink is used for different types of cleaning pads. The amount of ink varies depending on the type of cleaning pad, and the photodetector can detect the intensity of the reflected light to identify the type of cleaning pad.

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

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

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

The identification mark 1210 located on the wrap layer 1204 underlying the card backing 1206 is in some cases formed with color ink (eg, during manufacture of the cleaning pad 1300 and the wrap layer of the cleaning pad 1300). To be done. Colored ink is one of a variety of different colors used, for example, by a robot controller to uniquely identify different types of cleaning pads. In some embodiments, the identification mark 1210 may be provided during use of the cleaning pad 1200, such as when the cleaning pad 1200 absorbs moisture through the wrap layer 1204 and the absorbent layers 1201a, 1201b, 1201c. , 1201b, 1201c are not dispersed.

Card backing 1206 is manufactured to include cutouts 1212. The cutout 1212 is defined, for example, by the cutout or punched portion of the card backing 1206 during the manufacturing stage. As a result, in contrast to the cleaning pad 700, where the card backing 706 contains ink to form the identification marks 703, the card backing 1206 does not contain ink or other color markings to form the identification marks. Rather, the card backing 1206 includes cutouts 1212 to allow a portion of the identification mark 1010 to be visible through the card backing 1206, thereby allowing the robot's pad sensor (eg, pad sensor assembly 724) to back the card backing 1206. It enables the detection of a part of the identification mark 1210 through the.

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

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

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

Referring again to FIGS. 7B and 7C, the robot pad sensor assembly 724 used to detect the identification mark 703 can be used to detect the identification mark 1303 of FIG. 13 as well. The dimensions of cutout 1305 are large enough to cause photodetector 728 to detect radiation reflected from the portion of identification mark 1303 visible through card backing 1306 (eg, cutout 1305 is approximately 5 mm to 50 mm long). With diameter). When the sweeping pad 1300 is inserted into the pad holder 720, the cutout 1305 and the identification mark 1303 are arranged so that the radiation emitted by the emitter 730 passes through the window 733 and illuminates the visible portion of the identification mark 1303 through the cutout 1305. Located below the pad sensor assembly 724. The radiation reflects through the detection window 734 at the identification mark 1303 toward the detector 728. After the user inserts the cleaning pad 1300 into the pad holder 720, the robot controller may, for example, identify mark process 750 to detect and process information provided by the identifying mark 1303 (eg, the spectral response of the identifying mark 1303). Is used to determine the type of pad inserted in the pad holder 720. As described in the present disclosure, the control unit can determine the type of the cleaning pad based on the color of the identification mark 1303 and appropriately adjust the cleaning operation and the navigation operation.
Other identification schemes

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

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

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

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

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

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

The robot 100 (shown in FIG. 1A) can execute a control system 500 (shown in FIG. 5A) and a pad identification system 534, which can be pad identifiers (eg, identification array 603 shown in FIG. 6A, identification marks shown in FIG. 7A). 703, RFID chip 803A shown in FIG. 8A, barcode 803B shown in FIG. 8B, microprint identifier 803C shown in FIG. 8C, mechanical fin 803D shown in FIG. 8D, cutout 803E shown in FIG. 8E, and conductivity shown in FIG. 8F. Area 803F) was used to attach to the pad holder 300 (shown in FIGS. 3A-3D and alternatives described as pad holders 620, 720) (shown in FIG. 2A, alternatives are cleaning pads 600). , 700, 800A-800F) (based on the type of cleaning pad 120). The method and process described below is an example of how to use the robot 100 having a pad identification system.

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

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

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

In step 910c, the user fills the robot with cleaning fluid if necessary. If the user inserts a dry dusting cleaning pad, the robot does not need to be filled with cleaning liquid. In some examples, the robot may identify the cleaning pad immediately after step 910b. In that case, the robot can indicate to the user whether the reservoir needs to be filled with cleaning liquid.

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

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

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

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

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

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

At step 910f, the user drains excess cleaning fluid from the robot if necessary.

At step 910g, the user removes the battery from the robot. The user can then use an external power source to charge the battery. The user can save the robot for future use.

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

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

Although some examples have been set forth for purposes of explanation, the above description is not intended to limit the scope of the invention. There are other examples and modifications within the scope of the invention as claimed.

Claims (34)

An autonomous floor cleaning robot,
The robot body,
A control unit carried by the robot body,
A drive unit that supports the robot body and moves the autonomous floor cleaning robot on the floor surface in response to an instruction from the control unit.
A pad holder attached to the bottom surface of the robot body, having a mounting plate and a mounting surface during operation of the autonomous floor cleaning robot, the mounting plate being mounted on the mounting surface, the pad holder holding a removable cleaning pad. When,
A pad sensor that detects a pad type identification feature on the removable cleaning pad that is at least partially defined by a cutout on the mounting plate and that generates a signal based on the pad type identification feature;
The mounting plate enables detection of the pad type identification feature by the pad sensor, and the controller is responsive to the signal generated by the pad sensor,
Select a cleaning mode from a plurality of cleaning modes based on the signal,
Perform an operation to control the autonomous floor cleaning robot according to the selected cleaning mode,
Autonomous floor cleaning robot. The mounting surface includes a wrap layer wrapped around an absorbent layer that absorbs liquid on the floor surface,
The pad type identification feature is further defined by a marking on the wrap layer that occupies a larger area than the area of the cutout, the cutout enabling detection of the marking by the pad sensor.
The autonomous floor cleaning robot according to claim 1. The pad type identification feature includes a plurality of identification elements at least partially defined by the marking and the cutout, each identification element having a first region and a second region, and the pad sensor includes the first and second regions. The first reflectance of the area and the second reflectance of the second area are arranged to be independently detected,
The autonomous floor cleaning robot according to claim 2. At least one of the first reflectance and the second reflectance is defined by the reflectance of the mounting plate, and at least one of the first reflectance and the second reflectance is defined by the reflectance of the marking. The
The autonomous floor cleaning robot according to claim 3. The plurality of identification elements define a boundary, the marking occupying an area extending beyond the boundary,
The autonomous floor cleaning robot according to claim 3. The pad sensor is
A first radiation emitter for illuminating the first region;
A second radiation emitter for illuminating the second region;
A photodetector that receives reflected radiation from both the first region and the second region and that generates the signal based on the reflected radiation.
The autonomous floor cleaning robot according to claim 3, further comprising: The control unit is
Judge the respective states of the plurality of identification elements based on the first reflectance and the second reflectance,
Determining the state of the pad type identification feature based on the state of each of the plurality of identification elements,
Comparing the state of the pad type identification feature with a state index stored in memory;
Configured to select the cleaning mode by performing an operation of selecting the cleaning mode from the plurality of cleaning modes based on the comparison,
The autonomous floor cleaning robot according to claim 3. The state of each of the plurality of identification elements is based on the detectability of the marking on the wrap layer,
The autonomous floor cleaning robot according to claim 7. The first reflectance is substantially higher than the second reflectance,
The autonomous floor cleaning robot according to claim 3. The marking comprises colored ink, the pad sensor detects a spectral response of the marking, and the signal corresponds to the detected spectral response,
The autonomous floor cleaning robot according to claim 2. The pad sensor includes a radiation detector having a first channel and a second channel responsive to radiation, the first channel and the second channel each detecting a portion of a spectral response of the marking,
The autonomous floor cleaning robot according to claim 10. The first channel has a peak spectral response in the visible light region,
The autonomous floor cleaning robot according to claim 11. The pad sensor includes a radiation emitter configured to emit a first radiation and a second radiation, the first radiation and the second radiation from the marking for detecting the spectral response of the marking. Detect reflections,
The autonomous floor cleaning robot according to claim 10. Each of the plurality of cleaning modes defines a spraying schedule and navigation behavior,
The autonomous floor cleaning robot according to claim 1. A set of cleaning pads for different types of autonomous robots, each of the set of cleaning pads comprising:
A pad body having a facing surface with a width, including a cleaning surface and a mounting surface;
A pad type identification feature indicating the type of said cleaning pad,
A mounting plate mounted across the mounting surface of the pad body and including a cutout that at least partially defines the pad type identification feature, the pad of the autonomous robot when the cleaning pad is mounted to the autonomous robot. A mounting plate that allows the sensor to detect the pad type identification feature;
With
A set of cleaning pads for autonomous robots. The pad body includes a wrap layer wrapped around an absorbent layer that absorbs liquid,
The wrap layer defines a mounting surface,
The pad type identification feature is further defined by a marking on the wrap layer, the marking occupying a larger area than the area of the cutout, the cutout enabling detection of the marking by the pad sensor,
The set of cleaning pads for an autonomous robot according to claim 15. The pad type identification feature includes a plurality of identification elements defined at least in part by the marking and the cutout, the plurality of identification elements having a first area and a second area, respectively. The first reflectance and the second reflectance of the second region are configured to be independently detected by the pad sensor,
A set of cleaning pads for an autonomous robot according to claim 16. At least one of the first reflectance and the second reflectance is defined by the reflectance of the mounting plate, and at least one of the first reflectance and the second reflectance is defined by the reflectance of the marking. The
The set of cleaning pads for an autonomous robot according to claim 17. The plurality of identification elements define a boundary, the marking occupying an area extending beyond the boundary,
The set of cleaning pads for an autonomous robot according to claim 17. The marking comprises a color ink having a spectral response detectable by the pad sensor,
A set of cleaning pads for an autonomous robot according to claim 16. The position of the cutout relative to the outer periphery of the mounting plate indicates the type of the cleaning pad,
The set of cleaning pads for an autonomous robot according to claim 15. At least a portion of the cutout is located inside one of the first region and the second region,
The set of cleaning pads for an autonomous robot according to claim 17. The mounting plate includes a transparent portion that covers the cutout,
The set of cleaning pads for an autonomous robot according to claim 17. The pad type identification feature is at least partially defined by a plurality of cutouts on the mounting plate,
The set of cleaning pads for an autonomous robot according to claim 15. The mounting plate is a first mounting plate for a first cleaning pad, the plurality of cleaning pads includes a second mounting plate for a second cleaning pad,
The outer peripheral shape and dimensions of the first mounting plate are substantially the same as the outer peripheral shape and dimensions of the second mounting plate,
The absorption rate of the absorption layer of the first cleaning pad is higher than the absorption rate of the absorption layer of the second cleaning pad,
The set of cleaning pads for an autonomous robot according to claim 15. The first cleaning pad is a dry cleaning pad and the second cleaning pad is a wet cleaning pad,
The set of cleaning pads for an autonomous robot according to claim 25. The pad body includes a wrap layer wrapped around an absorbent layer that absorbs liquid,
The absorbent layer is exposed at a longitudinal end of the pad body,
The set of cleaning pads for an autonomous robot according to claim 15. The mounting plate includes a water resistant coating,
The set of cleaning pads for an autonomous robot according to claim 15. The attachment plate includes a protrusion that protrudes from a longitudinal end of the pad body, and the protrusion is attachable to the autonomous robot.
The set of cleaning pads for an autonomous robot according to claim 15. The mounting plate comprises a plurality of alignment cutouts that engage corresponding protrusions of the autonomous robot,
The set of cleaning pads for an autonomous robot according to claim 15. The first alignment cutout of the plurality of alignment cutouts is located on the longitudinal center axis of the mounting plate,
One of the plurality of alignment cutouts is located on the lateral center axis of the mounting plate,
A set of cleaning pads for an autonomous robot according to claim 30. The cleaning pad type indicates a spray schedule and navigation behavior of the autonomous robot,
The set of cleaning pads for an autonomous robot according to claim 15. The mounting plate has a thickness of substantially between 0.5 mm and 0.8 mm,
The set of cleaning pads for an autonomous robot according to claim 15. The pad type identification feature is a first pad type identification feature, and each of the plurality of cleaning pads further includes a second pad type identification feature indicating a type of the cleaning pad, the first pad type identification feature and the second pad type identification feature. Pad type identification features are disposed on the mounting plate such that they are symmetrical about a longitudinal center axis and a lateral center axis of the mounting plate,
The set of cleaning pads for an autonomous robot according to claim 15.