JP5269958B2 - 表面処理ロボット - Google Patents
表面処理ロボット Download PDFInfo
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- JP5269958B2 JP5269958B2 JP2011156589A JP2011156589A JP5269958B2 JP 5269958 B2 JP5269958 B2 JP 5269958B2 JP 2011156589 A JP2011156589 A JP 2011156589A JP 2011156589 A JP2011156589 A JP 2011156589A JP 5269958 B2 JP5269958 B2 JP 5269958B2
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- robot
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- housing
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Description
本出願は、35U.S.C.§119(e)のもとで、米国仮出願第60/654,838号に対する優先権を主張し、該予備出願の全ての開示が、その全体として本明細書において参考として援用される。本出願はまた、35U.S.C.§120のもとで、米国特許出願第11/134,212号、米国特許出願第11/134,213号、米国特許出願第11/133,796号、米国特許出願第11/207,574号、米国特許出願第11/207,575号、および米国特許出願第11/207,620号に対する優先権を主張し、これら出願の全ての開示が、その全体として本明細書において参考として援用される。
本発明は清掃装置に関し、より詳細には自律的表面清掃ロボットに関する。
家庭床掃除市場に参入するための、十分低い末端消費者価格を有する、自律的ロボット床清掃装置が当技術分野において知られている。例えば、自律的床清掃ロボットと題されたJonesらによる特許文献1は、自律的ロボットを開示しており、その開示は、その全体が参考として本明細書において援用される。そこで開示されているロボットは、筐体、バッテリー電力サブシステム、電力サブシステム、清掃動作のために床上で前記自律的床清掃ロボットを進ませるよう作動する駆動力源サブシステム、前記清掃動作および前記動力源サブシステムを制御するよう作動するコマンドおよび制御サブシステム、表面から遊離した粒子状物質を掃く、または回収するための回転ブラシアセンブリ、表面上の遊離した粒子状物質を吸引する、または回収するための真空サブシステム、および動作中に粒子状物質を回収して遊離した粒子状物質をロボットに格納するための取り外し可能な破片格納容器を含む。特許文献1で開示されている装置に類似したモデルは、ルンバレッド(ROOMBA
RED)およびルンバディスカバリー(ROOMBA DISCOVERY)という商標名のもとでiRobot社によって市販されている。これらの装置は、例えば敷物を敷いてない床などの硬質床表面、ならびにじゅうたんの敷いてある床を清掃し、無人かつ清掃過程を中断することなく、一方の表面から他方へと自由に動くように作動する。
その中に形成される空洞の中に前記ファンインペラーを収納するためおよびその上に前記モーター固定枠を固定して支持するための枠であって、前記インペラーが回転すると空気が通って前記空洞内に引き込まれる空気取入口および空気が通って前記空洞の外に吐き出される空気出口を有するように構成される枠と、前記第一回収装置の前記ファン空気取入口と前記空気取入口との間を流体的につなぐ第一流体管と、前記ファン空気取入口と前記真空槽との間で流体的につながれる第三流体管とを含み、これらの要素は前記筐体に取り付けられる。前記表面清掃装置はまた、前記第一回収装置の前記ファン出口と前記空気噴出口との間で流体的につながれる第二流体管、および/または前記筐体に取り付けられ、表面から回収される前記液体を格納するように構成される廃棄物貯蔵容器またはタンクを含み得る。さらにその他の実施例は、前記筐体に取り付けられ、表面から回収される前記液体を格納するように構成される廃棄物貯蔵容器であって、前記第三流体管内で流体的に接続されている廃棄物貯蔵容器を使用する。いくつかの実施例において前記清掃装置は、前記筐体に取り付けられ、表面から回収される前記液体を格納するように構成される廃棄物貯蔵容器であって、前記第一および前記第三流体管内で流体的に接続されている前記廃棄物貯蔵容器を含む。特定の場合において、前記廃棄物貯蔵容器またはタンクは、前記第一回収装置によって回収される遊離した粒子状物質を格納するためおよび第二回収装置によって回収される液体を格納するためであり、かつ容器から廃棄物を空にするためにその中に形成される少なくとも1つのアクセス口を有する密封廃棄物容器と、前記清掃装置の操作中に空気溜りが前記密封廃棄物容器の垂直に上部に配置されるように、前記密封容器の天壁に組み込まれる空気溜りとを含み、前記空気溜りは前記第一、前記第二および前記第三流体管のそれぞれの中で流体的に接続するための引き込み口を有するように構成される。
図2を参照して、前記自律的ロボット100は、前記ロボットが清掃表面上を移動すると実質的に水平な清掃表面を清掃するための、筐体200の上に支持される複数の清掃モジュールを含む。前記清掃モジュールは、清掃動作中に清掃表面上で前記ロボット筐体200の下で伸びて接触、あるいは作動する。より具体的には、前記ロボット100は、清掃表面から遊離した粒子状物質を回収するため、および前記ロボットによって携行される容器の中に前記遊離した粒子状物質を格納するための第一清掃域Aで構成される。前記ロボット100はさらに、清掃表面に洗浄液を少なくとも塗布する第二清掃域Bで構成される。前記洗浄液は、清浄水単独または清掃を向上させるためのその他の原料で混合された清浄水とすることができる。前記洗浄液の塗布は、清掃表面上で分解、乳化、あるいは汚染物質と反応して、そこから汚染物質を分離させる。汚染物質は懸濁するか、あるいは前記洗浄液と結合される場合がある。前記洗浄液は表面に塗布された後、汚染物質と混合して、例えば懸濁あるいはその中に含まれる汚染物質を伴う液状廃棄物などの廃棄物となる。
図2を参照して、ロボット筐体200の底面は等角図で示されている。そこで示されているとおりに、第一清掃域Aは前記首尾軸106に対して第二清掃域Bの前方に配置される。それに応じて、前記ロボット100が順方向に移動すると、清掃表面上で前記第一清掃域Aは前記第二清掃域Bに先行する。各清掃域AおよびBは通常前記横軸108に沿って配置される清掃幅Wを持つ。理想的には、各清掃域の前記清掃幅は実質的に同一であるが、清掃域AおよびBの実際の清掃幅はわずかに異なる場合がある。本発明の好ましい実施例によれば、前記清掃幅Wは、実質的に前記横軸108に沿っている前記ロボット筐体200の底面の右円周縁に近接して伸びる前記第二清掃域Bによって主に定義され、約296mmまたは11.7インチの長さ、つまり約30cmまたは12インチの長さである。前記清掃域Bを右円周縁に近接して位置付けることによって、前記ロボット100は壁または障害物に隣接する清掃表面を清掃するために、壁またはその他の障害物に近いその右円周縁を操縦することができる。それに応じて、前記ロボットの運動パターンは、清掃周期中に前記ロボットによって遭遇される各壁または障害物に隣接する前記ロボット100の右側を移動させるためのアルゴリズムを含む。よって前記ロボット100は支配的な右側を有すると言える。もちろん、前記ロボット100はその代わりに支配的な左側で構成することも可能である。前記第一清掃域Aは、単に前記ロボット100の円周形状により、前記横軸108の前方に位置して前記第二清掃域Bよりもわずかに狭い清掃幅を持つ。しかしながら、前記第一清掃域Aによって清掃されない清掃表面積は、前記第二清掃域Bによって清掃される。
前記第一清掃域Aは、前記清掃表面から遊離した粒子状物質を回収するよう構成される。好ましい実施例において、前記第一清掃域Aの左端に配置される空気噴出口554を含む換気装置によって空気の噴流が発生する。前記空気噴出口554は、そこから圧搾空気の持続的噴流または流れを吐き出す。前記空気噴出口554は、左から右へ前記清掃幅にわたって空気の噴流を方向付けるよう指向される。前記空気噴出口554と向かい合って、空気取入口556は前記第一清掃域Aの右端に配置される。ここで使用されているとおりの「空気取入口」は、「真空口」、「空気吸入口」、「負圧帯」などを意味する場合がある。前記換気装置は、前記取入口556に接続される導管内で負の空気圧帯を発生させ、これは前記取入口556に近接する負の空気圧帯を作り出す。前記負の空気圧帯は前記空気取入口556内に遊離した粒子状物質および空気を吸引し、前記換気装置はさらに前記遊離した粒子状物質を前記ロボット100の持つ廃棄物容器内に入れるよう構成される。それに応じて、前記空気噴出口554から吐き出された加圧空気は前記第一清掃域A内で前記清掃幅上を動き、前記前記取入口556に近接する負の空気圧帯に向けて前記清掃表面上の遊離した粒子状物質を押し進める。前記遊離した粒子状物質は、前記空気取入口556を通って前記清掃表面から吸引され、前記ロボット100の持つ廃棄物容器に入れられる。前記第一清掃域Aはさらに、前記空気噴出口554と前記空気取入口556との間に形成されるほぼ長方形のチャネルによって定義される。前記チャネルは、前記ロボット筐体200の底面に形成される輪郭形状である長方形の陥凹部574の対向する前方および後方壁によって定義される。前記前方および後方壁は前記首尾軸106に対して実質上横にある。前記チャネルはさらに、例えば前記陥凹部574の後部端に沿って前記筐体の底面から前記清掃表面へと伸びる、前記ロボット筐体200に取り付けられる第一柔軟「ドクター」(気流案内)ブレードによって定義される。
前記第二清掃域Bは、洗浄液を清掃表面に塗布するよう構成される液体塗布器700(またあるいは、噴射ヘッドおよび/または散布装置)を含み、前記洗浄液は好ましくは前記清掃幅全体にわたって均一に塗布される。前記液体塗布器700は前記筐体200に取り付けられ、前記洗浄液を前記清掃表面に吹き付けるよう構成される少なくとも1つのノズルを含む。前記第二清掃域Bはまた、前記洗浄液が前記清掃表面に塗布された後に前記清掃幅にわたってその他の清掃作業を行うためのスクラブモジュール600(またあるいは、電動ブラシ)も含み得る。前記スクラブモジュール600は、前記洗浄液を塗抹して清掃表面上でより均一にそれを分配するための、前記清掃幅にわたって配置される塗抹要素を含み得る。前記第二清掃域Bはまた、前記清掃幅にわたって前記清掃表面を磨くよう構成される受動または能動スクラブ要素、スクラブブラシ、ワイパー、またはぞうきんをも含み得る。前記第二清掃域Bはまた、前記清掃幅にわたって前記清掃表面から廃棄物を回収するよう構成される第二回収装置(またあるいは、濡れた表面または濡れたブラシのいずれかに向けられる湿式真空発生器)をも含み得、前記第二回収装置は特に液状廃棄物を回収するために構成される。
図5で図式的に示されている前記液体塗布器モジュール700は、前記清掃幅にわたって測定量の洗浄液を前記清掃表面上に塗布するよう構成される。ここで使用されるとおりの「液体塗布器モジュール」は、「ノズル」、「噴射ヘッド」、および/または「散布式ブラシ/ワイパー」を意味する場合がある。また、前記液体塗布器モジュールは、床に直接吹き付けたり、流体を有するブラシまたはローラーに吹き付けたり、または床、ブラシ、ローラー、またはパッドに対する浸漬または毛管作用によって流体を塗布することができる。前記液体塗布器モジュール700は、前記筐体200に携行される洗浄液補充容器Sから洗浄液の補充を受け、前記筐体200に配置される1つ以上の噴射ノズルを通して前記洗浄液を送り込む。前記噴射ノズルは、前記第一清掃域Aの後部で前記ロボット筐体200に取り付けられ、各ノズルは洗浄液を前記清掃表面に塗布するよう指向される。好ましい実施例において、一対の噴射ノズルは前記清掃幅Wの遠位左および右端で前記ロボット筐体200に取り付けられる。各ノズルは、前記清掃幅の対向する端に向かって洗浄液を吹き付けるよう指向される。各ノズルは、個別に送り込まれて噴射パターンを噴出し、各ノズルのポンプの動作は、2つのノズルのうち1つが常に洗浄液を塗布するように他方のノズルに対して約180度だけずれている。
前記スクラブモジュール600は、本発明の好ましい実施例によれば、図10の組立分解等角図および図2で示されるロボットの底面図に示される。前記スクラブモジュール600は、前記筐体200に取り付ける個別のサブアセンブリとして構成することができるが、清掃あるいはその清掃要素を使用可能にするために使用者によってそこから取り外すことができる。本発明から逸脱することなく他の配置を構成することが可能である。例えば、代替的な構造において、前記スクラブモジュール600の上部壁は、本質的に前記ロボットの本体の一部/一体となるが、前記スクラブモジュールは示すとおりに開いてブラシ、スキージ、および内部空洞の清掃を可能にする(そのような場合、「スクラブモジュール」は適切な用語のままである)。容易に取り外し可能なスクラブモジュールは、例えばスクラブカートリッジまたは清掃ヘッドカートリッジなどの、「カートリッジ」と呼ぶことができる。前記スクラブモジュール600は、前記筐体200の底側に形成される空洞602内の場所に設置して留める。前記空洞602の外形は、図3における前記筐体200の右側に表示されている。前記スクラブモジュール600の前記清掃要素は、前記液体塗布器モジュール700の後部に位置付けられて濡れた清掃表面上で清掃動作を行う。
前記スクラブモジュール600はまた、前記清掃幅にわたって前記清掃表面から廃液を回収するよう構成される第二回収装置(またあるいは、「湿式真空発生器」)も含み得る。前記第二回収装置は通常、液体塗布器ノズル712、714の後部、前記塗抹ブラシの後部、および前記スクラブ要素の後部に位置付けられる。本発明の好ましい実施例において、スクラブモジュール600は図12Aの断面図で示されている。前記塗抹要素612は、その前縁で前記スクラブモジュールに取り付けられて示され、前記回転スクラブブラシアセンブリ604は、前記スクラブモジュールの中心に搭載されて示されている。前記スクラブブラシアセンブリ604の後部で、スキージ630はその清掃幅全体にわたって前記清掃表面に接触し、前記ロボット100が順方向に前進すると廃液を回収する。真空システムは、前記スキージ内の取り込み口を通して空気を引き込み、前記清掃表面から廃液を吸引する。前記真空システムは、前記ロボット筐体200上に携行される廃棄物貯蔵容器に前記廃液を入れる。前記ロボットは交代して、前記流体の全てまたは一部を再循環させることができ、つまり前記廃液の一部のごみを除去することができ、または前記廃液は、ろ過されまたはろ過されずに、単一の清浄/廃棄物タンクに、戻すことができる。
図14は、乾湿真空モジュール500と、ロボット100の清掃要素とのインターフェースの模式図を表す。乾湿真空モジュール500は、清掃表面から遊離した粒子状物質を吸引する第一の回収装置と、清掃表面から廃液を吸引する第二の回収装置とに接合する。また、乾湿真空モジュール500は、筐体200に取り付けられた統合洗浄液貯蔵容器800にも接合して、遊離した粒子状物質と廃液をその中に収容した1つ以上の廃棄物容器に入れられる。
統合液体貯蔵容器モジュール800の要素は図1、12、14、16および17に示される。図16を参照すると、統合液体貯蔵容器800は、少なくとも2つの液体貯蔵容器またはタンク部分で形成される。1つの容器部分は廃棄物容器部分を備え、第二の容器部分は洗浄液貯蔵容器またはタンク部分を備える。本発明の別の実施例では、2つの貯蔵容器は、筐体200に取り付けられるとともに、ユーザーが、廃棄物容器部分を空にして、洗浄液容器部分に充填するために、筐体から取り外し可能になるように構成された統合ユニットとして形成される。代わりの実施例では、統合貯蔵容器は、ロボット100が洗浄液や廃棄物をロボット100からおよびロボット100に移し替えるために構成されたベース基地にドッキングすると、自律的に充填および空にすることが可能である。洗浄液容器部分Sは、洗浄液の供給分を入れるための密封供給タンクを備える。廃棄物容器部分Wは、第一の回収装置により回収された遊離した粒子状物質を保管するための、および、第二の回収装置により回収された廃液を保管するための、密封廃棄物タンクを備える。
好ましい実施例では、ロボット100は、3点の運搬システム900により、清掃している面を移動するためにサポートされる。移動システム900は、左側に一組の独立した背面の移動駆動輪モジュール902と右側に904を備えて、清掃モジュールの後方で筐体200に取り付けられる。好ましい実施例では、後方の独立した駆動輪902と904は、横軸108と実質的に平行な共通の駆動軸906の周囲で回転するためにサポートされる。しかしながら、各駆動輪が独自の駆動軸方向を持つように、各駆動輪は横軸108に対して方向を変えることができる。駆動輪モジュール902と904は、ロボットをどの目的の方向にも進めるために、マスター制御装置300により、独立して駆動され、制御される。図3では、左の駆動モジュール902は、筐体200の下側から突き出ているのが示され、図4では右の駆動モジュール904が筐体200の上面に取り付けられているのが示される。好ましい実施例では、図3に示すように、左と右の駆動モジュール902と904はそれぞれ、筐体200にピボットするように取り付けられて、板バネ908により清掃面に接触するようになる。板バネ908は、後ろの駆動モジュールそれぞれに斜めに取り付けられて、駆動輪が絶壁を越えて進む場合には清掃面に対して下方にピボットするが、それ以外の場合には清掃面から持ち上げられる。各駆動輪に関連付けられた輪のセンサーは、輪が下にピボットするときを感知して、マスター制御装置300に信号を送信する。
Hgの蒸気圧を持ち、可溶化または遊離効果の量だけ存在する、少なくとも1つの水溶性または水和性有機溶媒、(c)洗浄剤の泥除去を強化するために有効な量だけ存在する、キレート剤としてのエチレンジアミン四酢酸カリウム(EDTAカリウム)、および(d)水を含む。界面活性剤合計は、重量で約0.001〜10%存在できる。少なくとも1つの有機溶媒は、アルカノール、ジオール、グリコールエーテル、およびこれらの混合物から構成されるグループから選択でき、洗浄剤の約1%から50%の重量だけ存在する。EDTAカリウムは洗浄剤の約0.01〜25%の重量だけ存在できる。
本発明のロボットのある実施例では、ロボットの円形の切断面102の直径は、370mmまたは14.57インチ、つまり、およそ35〜40cmまたは12〜15インチであり、ロボット100の清掃面からの高さは、85mmまたは3.3インチ、つまり、およそ70〜100mmまたは3〜4 1/2インチである。このサイズは、家庭のドア入り口、隙間を進み、多数の典型的な椅子、机、持ち運び式台、丸いす、便座、シンク台、およびその他磁器家具の後ろを清掃する。しかしながら、本発明の自律的清掃ロボット100は、例えば、正方形、長方形、三角形、および、立方体、直方体、および三角錐などの容量のある形状など、その他の切断形状だけでなく、その他の切断直径や高さの寸法で作成することができる。ロボットの高さは、10インチのキャビネットの下のトーキック(およそ車椅子でアクセス可能なトーキックまたはヨーロッパ式のトーキック)未満で、4インチのキャビネットのトーキック(アメリカの最小標準)未満であることが好ましい。代わりに、トーキックの中を清掃するロボットのその部分の高さは、ロボットの残りの部分を高くすることにより、そのように制限され得る。
ロボット掃除機のまた別の実施例は、モーター駆動ブラシまたはワイパー、液体を貯蔵する液体区画を入れるタンク、タンクを受け取る架台を含むプラットフォーム、タンクとプラットフォームの間の液体接続、タンクとプラットフォームの真空接続を含む。継ぎ手は、タンクをプラットフォームに機械的に係合するので、継ぎ手の係合は、液体接続と真空接続を密封して、清掃ロボットの実質的に筒状の外面を形成する。清掃ロボットは、液体区画からの液体により少なくとも部分的に濡れた面にブラシをかける。
少なくとも1つの実施例に従い、ロボットは一般的に円形または丸い筐体200(例えば、図3を参照)を含むことができ、少なくとも第一と第二の車輪1100を回転できるように接続することができる。駆動輪1100は、駆動輪1100の運転時に清掃面上でロボットを運ぶために、筐体200の底の位置に置くことができる。さらに、駆動輪1100は、例えば、一般的に清掃面の平面に対して平行である縦の直線に沿って横たわる各駆動輪1100のそれぞれ中央などに置くことができる。本発明のロボットとそのコンポーネントのさまざまな制御手順をここに述べる。さらに、ロボットは、2005年12月2日に提出された米国申請Ser番号11/176,048、10/453,202および11/166986、米国仮申請Ser番号60/741,442のCampbellらによる「Robot
Networking, Theming, and Communication
System」、および、米国特許番号6,594,844など、しかしこれらに限定されない、同業者には知られているさまざまな制御および運転システムを使用して、作業環境を進むことができる。これらの全ての開示は、全体として本明細書において参考として援用される。
Period_from_voltage(電圧からの周期)=61−2.5*V、
Nominal_current(公称電流)=8.4+3.95*V、
Slope(傾き)=1.3302−0.07502*V、
Period=Period_from_voltage+(I−Nominal_current)*Slope、であるので、
RPM=4020/Periodとなる。
R1(またはR2)全体の電圧=(5V[上記のピンに加えられた電圧]−感知
電圧)/2
R1(またはR2)全体の電流=(R1全体の電圧)/R1、および/または
感知抵抗=(感知電圧)/(R1全体の電流)。
図36〜41は、このような操作や保守のために物理的に構成された清掃ロボットの操作や保守の方法を表す。また、ロボットの部品の重なり/組立順序および/またはロボットの物理的構成の依存性に関する情報も含む。図37〜41は、清掃ロボットの容易に認識される手の位置、運動、その他の物理的動作、および、容易に認識される方向、位置、および構成を示し、本開示は、これらの図面から容易に認識されるすべてを含む。
Claims (9)
- 前端および後端、ならびにそれらによって定義される首尾軸を有するロボット本体と、
右および左駆動モジュールと、
10cmから40cmの清掃幅に沿って配置され、表面処理ロボットが清掃面を順方向に移動する際に該清掃面に接触する雑巾が取り付けられるスクラブ要素と、を備える表面処理ロボットであって、
前記右および左駆動モジュールの各々は、
外径を有するカップ形状の車輪と、
外径、および前記カップ形状の車輪の外径に適合する内径を有する円環状の気泡ゴムタイヤと、を備え、
前記右および左駆動モジュールは、前記表面処理ロボットが清掃面を順方向に移動するときに、前記スクラブ要素の後部に配置され、
前記表面処理ロボットの全質量は、2kgから10kgであり、
濡れた状態の前記清掃面における前記タイヤの静止摩擦係数は、0.25から0.47であることを特徴とする、表面処理ロボット。 - 前記清掃幅が、前記表面処理ロボットの全質量の1kgにつき1cmから10cmである、請求項1に記載の表面処理ロボット。
- 前記清掃幅が、前記表面処理ロボットの全質量の1kgにつき6cmから10cmである、請求項1または2に記載の表面処理ロボット。
- 前記表面処理ロボットの高さは70mmから100mmである、請求項1から3のいずれか一項に記載の表面処理ロボット。
- 前記タイヤの半径方向の厚さは1.5mmから3.5mmである、請求項1から4のいずれか一項に記載の表面処理ロボット。
- 前記タイヤは、20μmから400μmの気泡サイズを有する独立気泡タイヤである、請求項1から5のいずれか一項に記載の表面処理ロボット。
- 前記車輪は、該車輪が清掃面から持ち上げられた場合に、該清掃面に向かって移動するよう付勢される、請求項1から6のいずれか一項に記載の表面処理ロボット。
- 前記表面処理ロボットは、該表面処理ロボットの重心を前記右および左駆動モジュールの接触線へとずらすように配置された重りをさらに備える、請求項1から7のいずれか一項に記載の表面処理ロボット。
- 前記清掃幅は、前記首尾軸を横断する横軸に対して実質的に平行に延在し、前記車輪は、該横軸と実質的に平行な共通駆動軸周りに回転するよう支持される、請求項1から8のいずれか一項に記載の表面処理ロボット。
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US65483805P | 2005-02-18 | 2005-02-18 | |
US60/654,838 | 2005-02-18 | ||
US11/134,213 US20060184293A1 (en) | 2005-02-18 | 2005-05-21 | Autonomous surface cleaning robot for wet cleaning |
US11/134,212 US20060200281A1 (en) | 2005-02-18 | 2005-05-21 | Autonomous surface cleaning robot for wet and dry cleaning |
US11/133,796 | 2005-05-21 | ||
US11/134,212 | 2005-05-21 | ||
US11/133,796 US20060190132A1 (en) | 2005-02-18 | 2005-05-21 | Autonomous surface cleaning robot for dry cleaning |
US11/134,213 | 2005-05-21 | ||
US11/207,574 | 2005-08-19 | ||
US11/207,575 | 2005-08-19 | ||
US11/207,620 | 2005-08-19 | ||
US11/207,575 US8392021B2 (en) | 2005-02-18 | 2005-08-19 | Autonomous surface cleaning robot for wet cleaning |
US11/207,620 US7389156B2 (en) | 2005-02-18 | 2005-08-19 | Autonomous surface cleaning robot for wet and dry cleaning |
US11/207,574 US7620476B2 (en) | 2005-02-18 | 2005-08-19 | Autonomous surface cleaning robot for dry cleaning |
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