KR20160085815A - Cleaning pad - Google Patents

Abstract

A pad that is specifically configured for surface cleaning. The pad comprises an absorbent core having the function of absorbing and retaining liquid material and a liner layer in contact with and covering at least one side of the absorbent core. The liner layer has the function of retaining and sucking the liquid material through the liner layer. A cleaning apparatus including such a pad and a method of using such a pad are also described.

Description

Cleaning pad {CLEANING PAD}

Relevant Application Cross-reference

This application is a continuation-in-part of application Serial No. 14 / 077,296, entitled " Autonomous Surface Cleaning Robot ", filed November 12, 2013, entitled & Pads ", U.S. Provisional Patent Application No. 61 / 902,838, and U.S. Provisional Patent Application No. 62 / 059,637, entitled "Surface Cleaning Pad," filed on October 3, Each of the above-cited applications has been assigned to a common applicant in this regard. In addition, the full text of each of the above mentioned patent applications is incorporated herein by reference for all purposes.

Technical field

The present disclosure relates to floor cleaning using a cleaning pad.

Tile floors and countertops need to be cleaned regularly, and some of these cleanings are accompanied by rubbing to remove dry contaminants. Various cleaning mechanisms may be used to clean the hard surface. Most appliances include a cleaning pad that can be removably attached to the appliance. The cleaning pad may be disposable or reusable. In some instances, the cleaning pad may be designed to fit a particular instrument or be designed for more than one instrument.

Traditionally, wet rags are used to remove dust and other dirty spots (e.g., dust, oil, food, spices, coffee, coffee grinds) from the floor surface. Humans generally dip the mop in a container containing water, soap or special floor cleaning solution, and rub the floor with a mop. In some instances, a person may perform a back and forth rub to clean a particular dirty area. Then, the person rinses the mop by soaking the mop in the same water container and continues rubbing the floor. In addition, a person needs to kneel on the floor to clean the floor, which can be cumbersome and exhausting, especially when the floor occupies a large area.

A floor mop is used to rub the floor without a person having to walk to the knee. The mop or pad attached to the autonomous robot can scrub the solids from the surface and prevent the user from bending for surface cleaning, which prevents injury to the user.

An absorbent core containing a fibrous material that absorbs and retains liquid material, and a liner layer (also referred to herein as a "wrap layer" throughout) that covers and contacts at least one side of the absorbent core A surface cleaning pad is described which includes a fibrous material that transports and retains liquid material through the liner layer. In an embodiment, the cleaning pad may be disposable or washable and reusable.

Additional embodiments include the following elements or features in combinations or subcombinations to provide the advantages of absorbing and retaining fluids and suspended objects for small mobile robots weighing less than 2.25 kg. The following elements or features taken as a combination or subcombination are the expansion and elevation of the front edge of the lightweight robot which interferes with the cleaning efficiency and movement pattern of the robot since the maximum downward force, such as one pound force, The pad in the pad described above absorbs about 20 ml of liquid material in about 10 seconds at a pressure of about 0.9 pounds on the pad; A configuration in which the absorbent core in the pad described holds up to about 90% by volume of the absorbed liquid material; A configuration in which the liquid material in the pad described above is substantially evenly distributed throughout the absorbent core; A configuration in which the core material in the pad described above absorbs from about 7 to about 10 times its weight; A configuration wherein the liner layer in the pad described holds up to about 10% of the absorbed liquid material; A configuration in which the absorbent core in the above-described pad is cellulosic fibers; A configuration in which the absorbent core in the pad described above comprises a mixture of cellulose and polymer fibers; In the pad described above, the absorbent core comprises nonwoven cellulose pulp; A structure in which the cellulose pulp is polymer bonded in the above-mentioned pad; In the above-mentioned pad, the polymer is polyethylene and / or polypropylene; A configuration in which the absorbent core in the pad described above includes a surface layer comprising, for example, acrylic latex for fuzz removal; When the pad in the above-described pad absorbs or retains liquid, e.g., does not substantially compress or expand upon wetting; A configuration comprising a backing layer on said pad, said backing layer being attached to said pad, in particular to attach said pad to said cleaning device; In the above-described pad, the back layer includes a card board; The cardboard backing layer in the above-described pad is 0.1 to 0.05 inches thick (0.254 cm to 0.127 cm thick); The cardboard backing layer in the above pad is 0.028 in thickness (0.07 cm thick); A configuration in which the pad is coated with a polymer in the pad described above; A configuration wherein the polymer coating in said pad is from about 0.010 to about 0.040 in thickness (0.0254 cm to 0.1016 cm thick); A composition in which the polymer in the pad described above is any polymer or wax material (such as, for example, polyvinyl alcohol or polyamine) that can seal against liquid penetration, such as water for example. A configuration in which the card board is attached to the pad with an adhesive in the above-described pad; In the pad described above, the absorbent core comprises first, second and third airlaid layers, each airlaid layer having a top surface and a bottom surface, and the bottom surface of the first airlaid layer And a bottom surface of the second airlaid layer is disposed on the top surface of the third airlaid layer; Wherein the liner layer in the pad described above is wrapped around and covers at least two sides of the absorbent core; A structure in which the liner layer in the above-described pad comprises a spunlaced layer; The liner layer in the above-described pad comprises a hydroentangled spunbond or spunlaced layer and the hydroentangled spunbond or spunlaced layer has a reduced thickness indentation at the bottom surface facing the surface, grams per square meter. When the pad 100 is wetted, there is not enough fluid to lubricate the interface between the bottom surface and the bottom surface of the pad. A fully wetted pad will slide over the layer of fluid while the pad is moving over the floor surface, but a completely wetted wrap layer will be pulled over the bottom surface, since the wet pad will slowly absorb the fluid. In embodiments, the spunbond or spunlaced wrap layer is made of hydrophilic fibers that minimize the surface area of the pad exposed to air between the pad and the bottom surface. The wetted pad adheres to the hydrophilic bottom surface if the indent or needle punch is not part of the wrap layer. The surface texture for a spunbond or spunlace in a wrap layer, such as a herringbone indent pattern or a square grid indent pattern, destroys the surface tension, and if not, the surface tension causes the wetted pad to stick to the wetted bottom surface.

In an embodiment of the pad, the liner layer comprises meltblown abrasive fibers attached to the sides of the liner layer that are not in contact with the absorbent core, wherein in the above-described pad, the meltblown fibers are between about 0.1 microns and about 20 microns Diameter, in the above-described pad, the meltblown abrasive fibers cover between about 44% and about 75% of the surface of the liner layer. In pad embodiments, the meltblown abrasive fibers cover between about 50% and about 60% of the surface of the liner layer. The meltblown layer provides a pad with the advantage of breaking the surface tension, and in the absence of this configuration the surface tension causes the wetted wrap layer to adhere to the wetted floor. By adding texture and topography to the bottom facing surface of the pad, the meltblown layer prevents the pad from sticking or being subjected to high drag forces. In addition, the meltblown layer provides a surface texture to the pad that causes the dust and foreign matter to cling to the floor surface or rough up and cause the dirt and foreign matter to loosen for absorption by the airlaid inner core of the pad . In an embodiment of the pad, the meltblown abrasive fiber and liner layer has a total thickness of between about 0.5 mm (millimeter) and about 0.7 mm. In other words, the maximum overlap thickness from the applied meltblown outer layer to the surface of the wrap layer is 0.7 mm. In a pad embodiment, the wrap layer has a thickness between about 0.5 mm and about 0.7 mm. In an embodiment, the wrap layer has a Worldwide Strategic Partners (WSP) 10.1 (0.5) nonwoven material water absorption test specification value of about 600%, in which the pad is thicker by less than 30% after liquid material absorption . In an embodiment, the pad further comprises at least one of a perfume, a detergent, a surfactant, a foaming agent, a polish, a chemical preservative, a foreign-retaining agent (e.g. DRAKESOL) and / or an antimicrobial agent. In an embodiment, the pad has a thickness between about 6.5 mm and about 8.5 mm. In an embodiment, the pad has a width between about 68 mm and about 80 mm and a length between about 165 mm and about 212 mm. In an embodiment, the liner layer has a width between about 163 mm and about 169 mm and a length between about 205 mm and about 301 mm. In an embodiment, the absorbent core comprises a first airlaid layer attached to a second airlaid layer, and a second airlaid layer is attached to the third airlaid layer.

The fluid is aspirated between the three layers and is held uniformly in the vertical direction throughout the stack of airlaid layers without leaking back onto the bottom surface below the cleaning pad while the downward force is applied to the pad. In an embodiment, the pad holds 90% of the fluid applied to the bottom surface and does not leak back the absorbed fluid onto the bottom surface under a force of one pound. The surface tension of the top and bottom surfaces of each airlaid layer helps to retain the fluid aspirated into each layer so that when the top layer is fully saturated any fluid can flow through the bottom surface 11b of the top airlaid layer When the intermediate airlaid layer is completely saturated, without leaking down to the intermediate airlaid layer, no fluid leaks downward through the bottom surface of the intermediate (or second) layer to the bottom layer.

In embodiments, the pad sucks up to eight to ten times its weight in the fluid into a relatively stiff matrix of the airlaid layer, wherein the relatively stiff matrix of the airlaid layer does not deform any dimension when fully wetted , Fluid absorption is achieved through capillary suction rather than compression-release traction because the pad-attached robot acts on a very lightweight, low variable-cycle weight, rather than a heavy human being pinched down and retracted. Each of the airlaid layers lasts the infiltration of the aspirated fluid into the next adjacent airlaid layer so that the initial cycle of fluid application does not result in the ability to swallow all fluids applied to the bottom surface. Vertical stacking of the airlaid layer provides resistance to puddling at the bottom of the airlaid core comprising three airlaid layers. Each of the airlaid layers has its own puddling resistance inner surface to prevent puddling of the absorbed fluid down to the bottom of the bottom surface of the bottom (or third) layer.

In an embodiment, the airlaid layer is non-uniform in density or density, and the outer top and bottom surfaces are harder than the interior of each layer. In an embodiment, as a feature of the manufacturing process, the airlaid layer is of non-uniform surface density such that the outer top and bottom surfaces are smoother and less absorbent than the interior of each layer. By varying the surface density at the outer surface of each airlaid layer, the airlaid layer maintains absorbency and aspirates fluid into each airlaid layer without leaking back through the bottom surface. By integrating these three airlaid layers into the absorbent core of the pad, the pad thus has better fluid retention characteristics than a pad with a single core of thickness corresponding to a core in which the three layers are laminated. The three airlaid layers provide at least three times the amount of surface tension.

In a pad implementation, the three airlaid layers are attached to each other by an adhesive material. In some embodiments, the adhesive material is applied to at least two evenly spaced strips along the length of at least one side of the airlaid layer and covers less than 10% of the surface area of at least one side. In an embodiment of the pad, the adhesive material is sprayed onto the length of at least one side of the airlaid layer and covers less than 10% of at least one side surface area. In an embodiment of the pad, the at least one airlaid layer comprises a cellulosic-based textile material. In some embodiments, at least one airlaid layer, and preferably all three airlaid layers, comprise wood pulp. In some embodiments, at least one of the airlaid layers comprises a biocomponent polymer, a cellulose and a latex, and the polymer is present in an amount of up to about 15% by weight.

A method for constructing a cleaning pad is also described which includes disposing a first airlaid layer on a second airlaid layer, disposing a second airlaid layer on the third airlaid layer, And wrapping the wrap layer around the second and third airlaid layers, wherein the wrap layer comprises meltblown fibers adhered to the fiber composition on an outer surface positioned to interface with the fiber composition and the bottom surface below the wash pad, Abrasive, and the fiber composition is a spun lace or spunbond material.

A further embodiment of a method for constructing a cleaning pad is a method of cleaning a fluid and a suspended matter, when the pad is attached to a miniature mobile robot of a weight of less than 2.25 kg without interfering with the cleaning efficiency of the robot and the front and rear birdsfoot or vine rub pattern, The following elements or characteristics taken in combination or in a subcombination to provide the advantages of absorption and retention of the substrate and rubbing of the foreign object from the floor surface. The following elements or specializations taken in combination or in subcombinations create a pad that aspirates moisture and foreign objects into the absorbent core without the rising and spreading of the front edge of the lightweight robot that prevents the robot from applying maximum downward force on the pad : The method further comprises the step of adhering and optionally arranging the meltblown abrasive fibers on the wrap layer; In the method described above, the meltblown abrasive fibers have a diameter between about 8 microns and about 20 microns; The method further comprises arranging the wrap layer and the meltblown abrasive to have a total thickness between about 0.5 mm and about 0.7 mm; The method further comprises arranging the meltblown abrasive on the wrap layer to provide a covered surface ratio between the wrap layer and the meltblown abrasive between about 44% and 57%; In the above-described pad, the meltblown abrasive fibers cover between about 50% and about 60% of the surface of the liner layer; The method further comprises attaching the first airlaid layer to the second airlaid layer and attaching the second airlaid layer to the third airlaid layer; In the above-described method, the airlaid layer is a cellulose-based textile material; In the above-described method, the first, second and third airlaid layers, the spunlaced layer and the meltblown abrasive are configured to increase in thickness by less than 30% after fluid absorption; The method further comprises configuring the airlaid and wrap layers to have a combined width between about 80 mm and about 68 mm and a combined length between about 200 mm and about 212 mm; The method further comprises constructing an airlaid layer and a wrap layer to have a combined thickness between about 6.5 mm and about 8.5 mm; The method further comprises configuring the airlaid layer to have a combined airlaid width between about 69 mm and about 75 mm and a combined airlaid length between about 165 mm and about 171 mm.

Also described is a surface cleaning apparatus to which the above-described cleaning pad is attached. Additional embodiments include configurations wherein the surface cleaner is a mop or autonomous mobile robot; Wherein the pad is releasably attached to the surface cleaning apparatus through a backing layer attached to the pad in the surface cleaning apparatus described above; And a release mechanism for discharging the pad to which the surface cleaning apparatus is releasably attached in the above-described surface cleaning apparatus, in the above-described surface cleaning apparatus, in which the backing layer includes a card board.

A method of cleaning the surface with the above-described pad is also described, which includes applying a surface cleaning liquid to the surface to be cleaned and passing the surface cleaning pad over the surface. The pad absorbs about 20 milliliters of liquid material in about 10 seconds with a force of about 400 grams on the pad. In some embodiments, the absorbent core retains up to about 90% by volume of the absorbed liquid material. In some embodiments, the absorbed liquid material is distributed substantially evenly throughout the core. In some embodiments, the core material absorbs from about 7 to about 10 times its weight. In some embodiments, the liner layer holds up to about 10% of the absorbed liquid material.

A mobile robot is also described. In an embodiment, the robot includes a robot body defining a forward drive direction, a drive for supporting the robot body to steer the robot across the floor surface, and a cleaning assembly disposed on the robot body. The cleaning assembly includes a pad holder configured to receive a cleaning pad having central and lateral edges, the pad holder including a release mechanism, the release mechanism configured to discharge the pad upon operation of the release mechanism. The robot includes a fluid applicator configured to apply fluid to the bottom surface and a control circuit in communication with the drive and cleaning assembly, wherein the control circuit controls the drive and the fluid applicator during the execution of the cleaning routine. The cleaning routine includes applying fluid to a bottom surface area that is substantially equal to the footprint area of the robot and removing the center and lateral edges of the cleaning pad through the bottom surface area to wet the entire surface area of the cleaning pad with the applied fluid And returning the robot to the bottom surface area in a moving pattern of movement.

A further embodiment further comprises applying a fluid to the bottom surface at an initial volumetric flow rate for the cleaning routine to humidify the cleaning pad, wherein the initial volumetric flow rate is higher than the subsequent volumetric flow rate when the cleaning pad is humidified Mentioned robot. In one embodiment, the first volume flow rate is set to initially spray about 1 mL of fluid every 1.5 ft for the same time period of 1 to 3 minutes, the second volume flow rate is sprayed every 3 ft, Is set to be smaller than the volume of 1 mL. The fluid applicator applies the fluid to the bottom surface area in front of the cleaning pad in the forward drive direction of the mobile robot and the fluid is applied to the bottom surface already occupied by the cleaning pad. In an embodiment, the already occupied floor surface area is stored on the accessible application in the controller circuitry. In an embodiment, the fluid is applied to a bottom surface area where the robot has been backed away from it by a distance of at least one robot footprint shortly before applying the fluid, so that the fluid is applied only to the bottom across which it can go, It does not apply to walls, furniture, carpets or other non-floor areas that trigger bump sensor (crash) switches or proximity sensors on robots. In an embodiment, the execution of the cleaning routine begins from the starting point along the center trajectory, back and forth along the trajectory in the direction of travel away from the starting point to the left of the starting point along the central trajectory, And moving the cleaning pad in the forward and backward buzz-foot motion along the trajectory in a progressive direction away from the point of departure. The robot driving unit includes right and left driving wheels disposed at corresponding right and left portions of the robot body, and the center of gravity of the robot is positioned in front of the driving wheel so that a large part of the total weight of the robot is positioned on the pad holder. Because the pad does not expand during fluid absorption, the weight of the robot is positioned and held over the pad holder throughout the cleaning routine. The total weight of the robot is distributed between the pad holder and the drive wheel at a ratio of 3: 1, and the total weight of the robot without any fluid is between about 1 kg and about 1.5 kg pounds, and about 1.5 kg To 4.5 kg. In an embodiment, both the robot body and the pad holder form a substantially rectangular footprint. Additionally, in an embodiment, the robot further comprises a vibration motor disposed in an upper portion of the pad holder. In some embodiments, the robot further includes a toggle button for actuating the pad holder release mechanism and ejecting the pad. The backing layer on the pad engages the pad holder and the pad holder includes raised protrusions arranged to engage and align with at least one shaped slot of the backing layer along the peripheral edge of the backing layer. In some embodiments, the pad holder includes raised protrusions positioned to engage and align with at least one shaped slot of the backing layer at a location other than along the peripheral edge.

A movable floor cleaning robot including a robot body forming an advancing driving direction and a driving unit supporting the robot body to control the robot across the surface is also described and the driving unit includes a right side and a left side And a left drive wheel. The robot includes a cleaning assembly disposed on the robot body, the cleaning assembly having a pad holder disposed in front of the drive wheel, the pad holder having a top portion and a bottom portion, the bottom portion having a surface area of about 0.5 cm and a surface area of about 1.5 cm < / RTI > to accommodate the cleaning pad. The bottom surface of the pad holder comprises at least 40% of the surface area of the footprint of the robot and the bottom surface has at least one raised protrusion extending therefrom for engaging the mating slot on the pad assembly. In an embodiment, the robot includes an orbital vibrator having an orbital range of less than 1 cm disposed on the upper portion of the pad holder. The pad holder is configured to allow the trajectory range exceeding 80% of the track oscillator to be transferred from the top of the received cleaning pad to the bottom surface of the received cleaning pad. One or more protrusions help to align the pad relative to the pad holder and help maintain the pad in place during oscillation of the orbital vibration while the robot moves back and forth in a front and rear rubbing cleansing pattern. In an embodiment, the pad holder includes a release mechanism configured to eject the pad from the bottom surface of the pad holder in operation of the release mechanism so that the user does not need to touch the used dirty pad for disposal thereof. When the release mechanism is operated with the robot on the trash box, the pad is ejected from the pad holder into the trash can below it.

In some embodiments, the orbital range of the orbiting vibrator is less than 0.5 cm for at least a portion of the clean running. In addition, the robot is driven back and forth while vibrating the cleaning pad. In an embodiment, the robot moves back and forth along the center locus along the trajectory in the advancing direction away from the start point to the left of the start point along the central locus, and from the start point along the central locus to the right And is driven in a buzz-foot motion to move the cleaning pad back and forth along the trajectory in a thin traveling direction. The cleaning pad has a top surface attached to the bottom surface of the pad holder and the top of the pad is substantially immobile to the vibrating pad holder. In an embodiment, the robotic cleaning assembly further includes a reservoir for retaining the volume of fluid and a fluid applicator in fluid communication with the reservoir. The fluid applicator is configured to apply fluid along a forward drive direction in front of the pad holder. The cleaning pad is configured to absorb about 90% of the fluid volume retained in the reservoir without leaking onto the bottom surface beneath the pad, under a downward force of one pound. The pad further comprises a backing layer on the cleansing pad for engagement with the pad holder and one or more protrusions on the bottom of the pad holder are aligned with and aligned with the cut-out forming slots of the backing layer. One or more protrusions help to keep the pad in place during vibration of the orbital vibration and to align the pad with the pad holder while the robot is moving in the front and rear rubbing cleansing pattern. In an embodiment, the pad holder includes a release mechanism configured to eject the pad from the bottom surface of the pad holder in operation of the release mechanism so that the user does not need to touch the used dirty pad for disposal thereof. When the release mechanism is operated with the robot on the trash can, the pad is discharged from the pad holder into the trash can below the trash can.

A method of operating a mobile floor cleaning robot is also disclosed which comprises moving a cleaning pad having a center and cleaning edge supported by a robot along a floor surface supporting the robot, Driving in a forward driving direction; Driving the cleaning pad in a reverse drive direction opposite to the forward drive direction to a second distance to the second position while moving the cleaning pad along the bottom surface; Applying a fluid from a second position to a forward drive direction in front of the cleaning pad, but to a region substantially equal to the footprint area of the robot on the floor surface, rearward of the first position; And returning the robot to the area with a movement pattern that moves the center and lateral edges of the cleaning pad individually through the area to humidify the cleaning pad with the applied fluid.

Further embodiments include the following arrangements: the method described above further comprises driving in a left drive direction or a right drive direction while driving through a fluid applied in an alternating forward and reverse direction after spraying fluid on the bottom surface A configuration comprising; Wherein the fluid on the bottom surface in the method described above comprises atomizing the fluid at a plurality of locations with respect to the forward drive direction; In the above-described method, the second distance is at least equal to the length of one footprint area of the robot; In the above-described method, the movable floor cleaning robot includes a robot main body having a bottom portion while forming a forward drive direction, and a drive system supporting the robot main body configured to operate the robot on the floor surface.

One aspect of the present disclosure provides a mobile robot having a robot body, a drive system, and a cleaning assembly. The cleaning assembly includes a pad holder, a fluid applicator, and a controller. The drive system supports the robot body to steer the robot across the floor surface. A cleaning assembly is disposed on the robot body, comprising a pad holder, a fluid applicator, and a controller, wherein the controller communicates with the drive system and the cleaning system. The pad holder is configured to receive a cleaning pad having central and lateral edges. The pad holder includes a release mechanism configured to discharge the pad upon operation of the release mechanism. The fluid applicator is configured to apply fluid to the bottom surface. The controller controls the drive system and the fluid applicator while executing the cleaning routine. The cleaning routine includes applying a fluid to an area substantially equal to the footprint area of the robot and moving patterns that move the center and lateral edges of the cleaning pad through the area to humidify the cleaning pad with the applied fluid, And returning the robot to the area.

Implementations of the present disclosure may include one or more of the following features. In some embodiments, the cleaning routine further comprises applying fluid to the surface at an initial volumetric flow rate to humidify the cleaning pad, wherein the initial volumetric flow rate is relatively higher than the subsequent volumetric flow rate when the cleaning pad is humidified . In one embodiment, the first volume flow is set to initially spray about 1 mL of fluid every 1.5 ft for the same time period of 1-3 minutes, the second volume flow is sprayed every 3 ft, and each spray of fluid Lt; RTI ID = 0.0 > mL. ≪ / RTI >

In some instances, the fluid applicator applies fluid to the moving direction of the mobile robot and to the area in front of the cleaning pad. In some instances, the fluid is applied to the area previously occupied by the cleaning pad. In some examples, the previously occupied area of the cleaning pad is recorded in a stored map accessible to the controller.

In some instances, the fluid applicator applies fluid to a region where the robot has retracted by a distance of at least one robot footprint length immediately prior to fluid application. The execution of the cleaning routine moves away from the starting point from the starting point along the center trajectory to the left and right along the locus along the center trajectory and along the locus in the going direction away from the starting point to the left of the starting point along the center locus And moving the cleaning pad in the forward and backward buzz-foot motion along the trajectory in the direction of travel.

In some embodiments, the drive system includes right and left drive wheels disposed in corresponding right and left portions of the robot body. The center of gravity of the robot is located in front of the drive wheel so that most of the total weight of the robot is positioned on the pad holder. The total weight of the robot 20 may be distributed between the pad holder and the drive wheel at a ratio of 3: 1. In some examples, the total weight of the robot is between about 2 lbs and about 5 lbs.

In some examples, both the robot body and the pad holder form a substantially rectangular footprint. Additionally or alternatively, the bottom surface of the pad holder may have a width between about 60 mm and about 80 mm and a length between about 180 mm and about 215 mm.

In some embodiments, the robot includes a toggle button for actuating the pad holder release mechanism and ejecting the pad. In some embodiments, the pad includes a backing layer for engaging the pad holder, and the pad holder includes a raised protrusion that is aligned with and aligned with the cut slot of the backing layer.

One aspect of the present disclosure provides a mobile floor cleaning robot having a robot body, a driver, a cleaning assembly, a pad holder, and a controller circuit. The robot body forms a forward driving direction. The driving part supports the robot body so as to control the robot across the floor surface. The cleaning assembly is disposed on the robot body and includes a pad holder, a reservoir, and an atomizer. The pad holder has a bottom surface configured to receive a cleaning pad and arranged to engage the bottom surface, the bottom surface having at least one raised projection extending therefrom.

One or more protrusions help to maintain the pads in place and to align the pads with the pad holders during oscillation of the orbital vibration while the robot is moving in a front and rear rubbing cleansing pattern. In an embodiment, the pad holder includes a release mechanism configured to eject the pad from the bottom surface of the pad holder in operation of the release mechanism so that the user does not need to touch the used dirty pad for disposal thereof. When the release mechanism is operated with the robot on the trash can, the pad is discharged from the pad holder into the trash can below the trash can.

The reservoir is configured to hold a volume of fluid and the atomizer in fluid communication with the reservoir is configured to atomize the fluid along a forward drive direction in front of the pad holder. The control circuit communicates with both the drive system and the cleaning system and executes the cleaning routine. The control circuit executes a cleaning routine that allows the robot to be driven in the forward driving direction from the first position to the first distance and then to be driven a second distance to the second position in the reverse driving direction opposite to the forward driving direction. The cleaning routine allows the robot to spray the fluid on the floor surface from the second position in the forward drive direction in front of the pad holder but behind the first position. In this way, the robot applies fluid only to the transversal floor, not the wall, furniture, carpet or other non-floor areas that trigger the bump sensor (crash) switch on the robot or the proximity sensor. After spraying the fluid on the floor surface, the cleaning routine allows the robot to drive the cleaning pad in the alternating forward and reverse drive directions by rubbing the cleaning pad along the floor surface.

Implementations of the present disclosure may include one or more of the following features. In some embodiments, the drive includes right and left drive wheels disposed in corresponding right and left portions of the robot body. The center of the robot is positioned in front of the drive wheel so that most of the total weight of the robot is located on the pad holder. The total weight of the robot can be distributed between the pad holder and the drive wheel at a ratio of 3: 1. In some examples, the total weight of the robot is between about 2 lbs and about 5 lbs (about 1 to 2.25 kg). The driving portion may include a driving body having a front portion and a rear portion, and a right and left motor disposed on the driving body. The right and left drive wheels may be coupled to the corresponding right and left motors. The drive system may also include an arm extending from a front portion of the drive body. The arm can be pivotally attached to the robot body in front of the drive wheel so that the drive can move vertically relative to the floor surface. The rear portion of the drive body may form a slot sized to receive the guide protrusion extending from the robot body in a slidable manner.

In some embodiments, both the robot body and the pad holder form a substantially rectangular footprint. Additionally or alternatively, the bottom surface of the pad holder may have a width between about 60 mm and about 80 mm and a length between about 180 mm and about 215 mm.

The reservoir may have a fluid volume of about 200 milliliters. Additionally or alternatively, the robot may include a vibration motor or an orbital vibrator disposed in the upper portion of the pad holder.

In some implementations, the robot may include a toggle button for actuating the pad holder release mechanism and ejecting the pad. In some embodiments, the pad includes a backing layer for engaging the pad holder, and the pad holder includes a raised protrusion that is aligned with and aligned with the cut slot of the backing layer.

Another aspect of the present disclosure provides a mobile floor cleaning robot including a robot body, a driver, and a cleaning assembly. The robot body forms a forward driving direction. The drive system supports the robot body to steer the robot across the floor surface. The cleaning assembly is disposed on the robot body and includes a pad holder and an orbital vibrator. The pad holder is disposed in front of the drive wheel, and has a top portion and a bottom portion. The bottom portion has a bottom surface that is arranged within about 0.5 cm and about 1.5 cm of the bottom surface and receives the cleaning pad. The bottom surface of the pad holder comprises at least 40% of the surface area of the footprint of the robot and has at least one raised protrusion extending therefrom. The orbiting vibrator is disposed on the upper portion of the pad holder and has an orbital range of less than 1 cm. The pad holder is configured to allow an orbital range of more than 80% of the orbiting vibrator to be transferred from the top of the retained cleaning pad to the bottom surface of the retained cleaning pad.

In some examples, the orbital range of the orbiting vibrator is less than 1/2 cm during at least a portion of the clean running. Additionally or alternatively, the robot can move the cleaning pad back and forth while the cleaning pad vibrates.

The one or more protrusions help maintain the pad in place and align the pad with the pad holder during oscillation of the oscillations of the orbit while the robot is moving in the front and rear rubbing cleansing pattern. In an embodiment, the pad holder includes a release mechanism configured to eject the pad from the bottom surface of the pad holder in operation of the release mechanism such that the user does not need to touch the dirty pad used to dispose of it. When the robot is held on the trash can and the release mechanism is operated, the pad is discharged from the pad holder into the trash can below.

In some examples, the robot is moved away from the starting point from the starting point along the central trajectory to the left, from the starting point along the central trajectory to the left, along the trajectory from the starting point away from the starting point to the left side of the starting point along the central trajectory And moves to the buzz-foot motion in front and back along the trajectory in the thin traveling direction.

In some examples, the cleaning pad has a top surface attached to the bottom surface of the pad holder, and the top of the pad is substantially immobile to the vibrating pad holder.

In some examples, the pad holder has a release mechanism configured to eject the pad from the bottom surface of the pad holder in operation of the release mechanism. In some examples, the robot has a toggle button for actuating the pad holder release mechanism and ejecting the pad. In some examples, the pad includes a backing layer for engagement with the pad holder, and the pad holder includes raised protrusions aligned with and aligned with the cut slot of the backing layer.

In some examples, the total weight of the robot is distributed between the pad holder and the drive wheel at a ratio of 3: 1. The total weight of the robot may be between about 2 lbs and 5 lbs (about 1 to 2.25 kg).

In some examples, both the robot body and the pad holder form a substantially rectangular footprint. Additionally or alternatively, the bottom surface of the pad holder may have a width between about 60 mm and about 80 mm and a length between about 180 mm and about 215 mm.

The cleaning assembly may further include at least one post disposed on an upper portion of the pad holder sized to be received by a corresponding opening defined by the robot body. The at least one post may have a cross sectional diameter that varies in size along its length. Additionally or alternatively, the at least one post may comprise a vibration attenuating material.

In some embodiments, the cleaning assembly further includes a reservoir for holding a volume of fluid and an atomizer in fluid communication with the reservoir. The atomizer is configured to atomize the fluid along the forward drive direction in front of the pad holder. The reservoir may have a fluid volume of about 200 milliliters.

The driving portion may include a driving body having front and rear portions and a right and left motor disposed on the driving body. The right and left drive wheels are coupled to the corresponding right and left motors. The drive may also include an arm extending from a front portion of the drive body. The arm can be pivotally attached to the robot body in front of the drive wheel to allow the drive wheel to move in a vertical direction with respect to the bottom surface. The rear portion of the drive body may form a slot sized to receive the guide protrusion extending from the robot body in a slidable manner. In one embodiment, the cleaning pad disposed on the bottom surface of the pad holder body absorbs about 90% of the fluid volume retained within the reservoir. The cleaning pad has a thickness between about 6.5 mm and about 8.5 mm, a width between about 80 mm and about 68 mm, and a length between about 200 mm and about 212 mm.

In some examples, the method includes driving a first distance in a forward drive direction defined by the robot to a first position while moving a cleaning pad carried by the robot along a bottom surface supporting the robot. The cleaning pad has a central area and a lateral area on the side of the central area. The method further includes driving the cleaning pad to a second distance in a reverse drive direction opposite to the forward drive direction while moving the cleaning pad along the bottom surface. In this way, the robot applies fluid only to the transversal floor, not the walls, furniture, carpets or other non-floor areas that trigger the bump sensor (crash) switch on the robot or the proximity sensor. The method also includes applying fluid to an area on the floor surface that is substantially the same as the footprint of the robot in front of the cleaning pad, but behind the first location. The method further includes returning the robot to a region of fluid applied in a movement pattern that moves the central and lateral portions of the cleaning pad separately through the region to humidify the cleaning pad with the applied fluid.

In some examples, the method includes driving in an alternating forward and reverse direction after spraying fluid on the bottom surface, while driving in the left or right drive direction. Applying the fluid on the bottom surface may include spraying the fluid in a plurality of directions with respect to the forward drive direction. In some examples, the second distance is at least equal to the length of the footprint area of the robot.

In another aspect of the present disclosure, a method of operating a mobile floor cleaning robot includes the steps of rubbing a cleaning pad held by a robot along a floor surface supporting the robot, moving the cleaning pad in a forward drive direction 1 < / RTI > The method includes rubbing the cleaning pad along the bottom surface and driving a second distance in a reverse drive direction opposite to the forward drive direction to a second position. The method also includes spraying fluid on the bottom surface in a forward drive direction forward of the cleaning pad, but rearward of the first position. The method also includes spraying the fluid on the bottom surface and driving the cleaning pad in an alternating forward and reverse drive directions while rubbing the cleaning pad along the bottom surface.

In some embodiments, the method includes spraying fluid on the bottom surface during driving in the reverse direction or after being driven a second distance in the reverse driving direction. In an embodiment, the method includes driving in a left drive direction or a right drive direction while spraying fluid on a bottom surface and then driving in alternating forward and reverse directions. Spraying fluid on the bottom surface may include spraying the fluid in a plurality of directions with respect to the forward drive direction. In some embodiments, the second distance is equal to or greater than the first distance.

The mobile floor cleaning robot may include a robot body, a driving unit, a pad holder, a storage unit, and an atomizer. The robot body forms a forward drive direction and has a bottom portion. The drive system supports the robot body and steers the robot on the floor surface. The pad holder is disposed on the bottom portion of the robot body and holds the cleaning pad. The pad holder includes a release mechanism configured to eject the pad in operation, and the pad further comprises a backside layer for coupling with the pad holder. The pad holder has a bottom surface with a container protrusion extending therefrom and the container protrusion is sized, shaped and positioned to align with and engage with the cut slot of the backing layer.

The reservoir is received by the robot body and holds fluid (e.g., 200 ml). The atomizer, which is also received by the robot body, is in fluid communication with the reservoir and atomizes the fluid in the forward drive direction in front of the cleaning pad. A cleaning pad disposed on the bottom portion of the pad holder may absorb about 90% of the fluid contained in the reservoir. In some examples, the cleaning pad has a width between about 80 mm and about 68 mm and a length between about 200 mm and about 212 mm. The cleaning pad may have a thickness between about 6.5 mm and about 8.5 mm. The details of one or more embodiments of the present disclosure are set forth in the following description and the accompanying drawings.

In some embodiments, the fluid applicator is an atomizer comprising at least two nozzles that distribute the fluid, evenly across the bottom surface, with two strips of applied fluid. The two nozzles are configured to atomize the fluid at different angles and distances from the other nozzles. In some embodiments, the two nozzles are vertically stacked in the recesses of the fluid applicator and are angled horizontally and spaced apart from one another, so that one nozzle can be used as a front source of applied fluid 173a And the other nozzle is located in the front of the robot but at the rear of the fluid applied to the area closer to the robot than the area of applied fluid dispensed by the top notch, Spray fluids of relatively shorter length forward and downward to leave a source.

In an embodiment, the nozzles or nozzles dispense the fluid in a region having a dimension of one robot width and at least one robot length. In some embodiments, the top and bottom nozzles are configured to allow the two separate portions of the applied fluid not to extend the entire width of the robot to pass through the outer edge of the strip of fluid applied in forward and backward angled rubbing motion as described herein Lt; RTI ID = 0.0 > strips < / RTI > In an embodiment, the applied strip of fluid covers a combined length of the robot length and a width of 75-95% of the robot width. In an embodiment, the applied strip of fluid may be substantially rectangular or oval in shape. In an embodiment, the nozzles complete each spray cycle by sucking the volume of the small fluid at the opening of the nozzle so that no fluid leaks from the nozzle subsequent to the moment of each spray.

In some embodiments, the pad comprises a cardboard backing layer attached to the top surface of the pad. The cardboard backing layer projects beyond the longitudinal edge of the pad and the projecting longitudinal edge of the cardboard backing layer is attached to the pad holder of the robot. In one embodiment, the cardboard backing layer is between 0.02 in. And 0.03 in. Thick (0.05 cm and 0.762 cm thick), between 68 and 72 mm wide, and between 90 and 94 mm. In one embodiment, the cardboard backside layer 85 is 0.026 in thickness, 70 mm wide, and 92 mm long. In one embodiment, the cardboard backing layer is coated on both sides with a water resistant coating, such as a combination of wax or a polymer or a water resistant material such as wax / polyvinyl alcohol / polyamine, and the cardboard backing layer is not degraded upon wetting.

In an embodiment, the pad is a disposable pad. In another example, the pad is a reusable microfiber cloth pad having the same absorbent properties as those described herein with respect to the embodiment. In the example with a washable and reusable microfibre cloth, the top surface of the fabric includes a fixed rigid backing layer molded and positioned like the cardboard backing layer described with respect to the embodiment. The rigid backing layer is made of a heat-resistant washable material, which can withstand mechanical drying without degradation or melting of the backside. The rigid backing layer is dimensioned and has notches as described herein for use interchangeably with the embodiment of the pad holder described with respect to the embodiments herein.

In another example, the pad is a disposable dry cloth and comprises a single layer of needle punched spunbond or spunlaced material with exposed fibers for capturing hair. The dry pad further includes a chemical treatment that adds tack-free properties to the pad to retain dust and foreign objects. In one embodiment, the chemical treatment is a material such as that sold under the trade name DRAKESOL.

In some examples, the pad is secured to the autonomous robot via a pad holder attached to the robot. The pad release mechanism adjusts the upward or pad fixing position. The pad release mechanism includes a retainer or lip that holds the pad in place by gripping the projecting longitudinal edges of the cardboard backing layer secured to the top of the pad. In an embodiment, the tip or end of the pad release mechanism includes a moveable retention clip and an ejection protrusion, wherein the ejection protrusion can slide upward through a slot or opening in the pad holder, If the cardboard is pushed downward on the floor, release the fixed pad.

Other aspects, features, and advantages are apparent from the appended claims, the description and the drawings.

1A is an exploded view of an exemplary cleaning pad.
1B is an exploded view of the wrap layer of the exemplary cleaning pad of FIG.
1C is a cross-sectional view of an exemplary cleaning pad.
1D is a cross-sectional view of an exemplary cleaning pad in which the airlaid layer comprises a SAP.
Figure 2a is a schematic diagram of an exemplary arrangement of operations for a spunlaced process.
Figure 2B is a perspective view of a hydraulic entanglement process for forming a spunlaced layer for use in an exemplary cleaning pad.
Figure 3 is a perspective view of an apparatus for making an abrasive meltblown layer for use in an exemplary cleaning pad.
4 is a perspective view of an autonomous mobile robot for cleaning using an exemplary cleaning pad.
5 is a perspective view of a mop using an exemplary cleaning pad.
6 is a bottom view of an exemplary cleaning pad.
Figure 7 is a schematic diagram of an exemplary arrangement of operations for constructing a cleaning pad.
8A is a perspective view of an exemplary cleaning pad.
Figure 8b is an exploded perspective view of the exemplary cleaning pad of Figure 8a.
8C is a top view of an exemplary cleaning pad.
8D is a bottom view of an exemplary attachment mechanism for a pad as described herein.
8E is a side view of an exemplary attachment mechanism for a pad as described herein at a secure location.
8F is a top view of an exemplary attachment holder for a pad as described herein.
8G is a cutaway side view of an exemplary attachment mechanism for a pad as described herein in the release position.
9A-9C are top views of an exemplary autonomous mobile robot when spraying fluid to a floor surface.
9D is a top view of the exemplary autonomous mobile robot when rubbing the floor surface.
9E is a bottom view of an exemplary cleaning pad.
9F is a top view of the exemplary autonomous mobile robot when rubbing the floor surface.
9G is a top view of the exemplary autonomous mobile robot when rubbing the floor surface.
Figure 10 is a schematic diagram of the robot controller of the exemplary autonomous mobile robot of Figure 4;
Like numbers refer to like elements throughout.

Referring to Figures IA, IB and 1C, in some embodiments, the disposable cleaning pad 100 comprises a plurality of absorbent airlaid layers 101,102, 103, which are stacked and optionally coupled together , And an outer nonwoven layer 105, which may have an abrasive meltblown element 106 disposed thereon. In some examples, the cleaning pad 100 comprises at least one airlaid layer 101, 102, 103. As shown, the cleaning pad 100 includes first, second and third airlaid layers 101, 102 and 103, but additional airlaid layers are also possible. The number of airlay layers 101, 102, and 103 may depend on the amount of cleaning fluid 172 that the cleaning pad 100 needs to absorb. Each airlaid layer 101, 102, 103 has top surfaces 101a, 102a, 103a and bottom surfaces 101b, 102b, 103b. The bottom surface 101b of the first (or top) airlaid layer 101 is disposed on the top surface 102a of the second airlaid layer 102 and the bottom surface 101b of the second airlaid layer 102 102b are disposed on the top surface 103a of the third (or bottom) airlaid layer 103. The fluid is aspirated between the three layers and is uniformly retained in the vertical direction throughout the stack of airlaid layers without leaking back onto the bottom surface below the cleaning pad 100 while the downward force is applied to the pad 100 do. In an embodiment, the pad 100 holds 90% of the fluid applied to the floor surface 10 under a force of one pound, and the pad 100 does not leak the fluid that has been absorbed back onto the floor surface 10. The surface tension of the top and bottom surfaces of each airlaid layer is such that when the top layer 101 is fully saturated any fluid is directed downward through the bottom surface 101b of the top airlaid layer 101 to the intermediate airlaid layer 102 The fluid aspirated into each layer so that no fluid leaks down to the bottom layer through the bottom surface 102b of the middle (or second) layer 102 when the intermediate airlaid layer 102 is completely leaked and does not leak Helping to retain.

In an embodiment, the pad 100 sucks up to eight to ten times its weight into a relatively rigid matrix of the airlaid layers 101, 102, 103, and the fluid absorption absorbs the capillary aspiration Because the robot 400 to which the pad is attached is not a cycle in which a heavy human is pushed down and pulls in the opposite direction but is very light and low variable cycle weight. Each of the airlaid layers 101,102 and 103 lowers the downward passage of the sucked fluid into the next adjacent airlaid layer 101,102,103 so that the initial cycle of fluid application is the fluid It does not result in the ability to swallow everything quickly. The vertical stacking of the airlaid layers 101, 102, 103 provides resistance to puddling at the bottom of the airlaid core comprising the three airlaid layers 101, 102, 103. Each of the airlaid layers 101,102 and 103 has its own puddle jersey to prevent puddling of the absorbed fluid through the downward path at the bottom of the bottom surface 103b of the bottom (or third) And has bottom surfaces 101b, 102b, and 103b.

In an embodiment, the airlaid layers 101, 102, 103 are made of non-uniform hardness or density in the vertical direction such that the outer top and bottom surfaces are harder than the interior of each layer. In an embodiment, the airlaid layer 101, 102, 103 is of non-uniform surface density such that the outer top and bottom surfaces are smoother and less absorbent than the interior of each layer. By altering the surface density at the outer surfaces 101b, 102b and 103b of each of the airlaid layers 101,102 and 103 the airlaid layers 101,102 and 103 are kept absorbent and the bottom surfaces 101b and 102b , 103b without any reverse leakage through the airlaid layer. By incorporating three such airlaid layers 101, 102, 103 into the absorbent core of the pad 100, the pad 100 is thus superior to a pad having a single core thickness equivalent to a three-layer laminated core And has fluid retention characteristics. The three airlaid layers 101, 102, 103 provide at least three times the amount of surface tension to retain the fluid aspirated into the absorbent core of each of the airlaid layers 101, 102,

The wrap layer 104 wraps around the airlaid layers 101, 102 and 103 and prevents the airlaid layers 101, 102 and 103 from being exposed. The wrap layer 104 includes a wrap layer 105 (e.g., a spun lace layer) and an abrasive layer 106. The wrap layer 105 is wrapped around the first, second and third airlaid layers 101, 102 and 103. The wrap layer 105 has a top surface 105a and a bottom surface 105b. The upper surface 105b of the wrap layer 105 covers the airlaid layers 101, 102, The wrap layer 105 can be a flexible material having natural or artificial fibers (e.g., spun lace or spunbond). The abrasive layer 106 is disposed on the bottom side portion 105b of the wrap layer 105. [ The fluid applied to the bottom 10 under the cleaning pad 100 passes through the wrap layer 105 into the airlaid layers 101, 102, The wrap layer 105 wrapped around the airlaid layers 101, 102, and 103 is a transmission layer that prevents exposure of the raw absorbent material of the airlaid layer. When the wrap layer 105 is too absorbent, the pad 100 is adsorbed on the bottom 10 and is difficult to move. By way of example, the robot may not be able to overcome the attraction force while attempting to move the cleaning pad 100 across the bottom surface 10. In addition, the wrap layer 105 picks up dirt and foreign objects loosened by the wear outer layer 106 and removes the cleaning fluid 172 on the surface 10 that air dries without leaving strike marks on the floor 10, Can leave a pale luster. The luster of the cleaning solution is between 0.5 and 3.5 ml / m < ² >, dried within a period of less than 3 minutes, preferably within about 2 and 3 minutes.

The disposable cleaning pad 100 relies on capillary action (also known as suction) to absorb fluid on the bottom surface 10. Capillary action occurs when a liquid can flow in a confined space without an external force such as gravity. The capillary action allows the fluid to move within the space of the porous material due to the forces of adhesion, aggregation and surface tension. Attachment of the fluid to the wall of the vessel causes an upward force on the liquid edge and results in an upwardly-directed meniscus. The surface tension acts to hold the surface completely. Capillary action occurs when the adhesion to the wall is stronger than the cohesive force between fluid molecules.

In some instances, the airlaid layers 101, 102, 103 are textile-like materials consisting of fluff pulp, a type of wood pulp / chemical pulp formed from long fiber softwood. Chemical pulp is produced by applying heat to the combination of wood chips and chemicals in larger vessels to destroy lignin (the organic material that binds cells in the wood). Textile-like materials formed from fluff pulp can be very bulky, porous and ductile and have good water absorption properties. Textile-like materials can be cleaned and reused without scratching the floor surface, retaining its strength when wet.

1D, in some embodiments, the airlaid layer 101,102, 103 is formed of a superabsorbent polymer 108 (e.g., sodium polyacrylate) for wettability and an absorbent layer . Polymers include plastic and rubber materials, which are organic compounds that are chemically based primarily on carbon, hydrogen, and other non-metallic elements. Polymers generally have a larger molecular structure, which is typically low density and extremely flexible. The superabsorbent polymer 108 (also known as a slush powder) absorbs and retains a large amount of fluid relative to its mass. The function of the water-absorbing SAP 108 depends on the ionic concentration of the aqueous solution. The superabsorbent polymer 108 absorbs up to 500 times its weight in deionized and distilled water (30-60 times its volume) and can be 99.9% liquid. The absorbency of the SAP 108 is significantly reduced to about 50 times its weight when it is added to a 0.9% saline solution. The valence cation in the brine solution prevents the superabsorbent polymer 108 from bonding with water molecules. The superabsorbent polymer 108 expands to allow the cleaning pad 100 to expand as well. Various instruments 400 and 500 may use the cleaning pad 100 and in some instances the instruments 400 and 500 may not support the expandable cleaning pad 100. [ For example, expansion of the pad 100 may disrupt the physics of the miniature lightweight robot 400 such that the miniature robot 400 tilts upward and applies less force to the pad 100 for removal of debris from the floor 10 . Thus, the less superabsorbent polymer 108 may be used to meet the cleaning pad absorbency requirements. In one embodiment, the pad 100 may include pockets in the middle section along the length of the pad, allowing the superabsorbent polymer to extend within these pockets, and when the superabsorbent polymer expands, .

In some embodiments, the airlaid layer 101, 102, 103 comprises a cellulose pulp nonwoven material bonded to the biocomponent fibers through air. In some instances, the fibers of the wood pulp cellulose are thermally bonded to the biocompatible polyethylene and / or polypropylene, which has a low melting point. This mixture forms a solid absorbent core, which retains its formed shape and distributes the absorbed fluid evenly, thereby preventing the cleaning fluid from accumulating at the lowest point in the bed and preventing additional fluid buildup. The airlaid layers 101, 102, 103 may be made from bleached wood pulp that looks similar to the thickness layer of the cardboard. The pulp enters a hammer mill with blades on the rotor, which strikes a thick layer of pulp and divides it into individual fibers. Individual fibers enter a dispenser having a screen rotor that looks like a flour sieve. The fiber is formed into a sheet on another screen to which a vacuum is applied, wherein the sheet is mixed with the sheet of biocompatible fibers. The blast hot air melts the biocomponent to combine with the air raid.

The airlaid layer is arranged to distribute the substantially uniformly absorbed liquid throughout the core without puddling the liquid anywhere in the core layer. The mobile robot 400 uniformly sprays the fluid 172 to the front of the robot and the pad 100 picks up the applied solutions 173a and 173b with an even distribution along the length thereof when the pad 100 is moved forward. In one embodiment, the airlaid layers 101, 102, 103 are bonded with a spray adhesive applied evenly over the surfaces of the airlaid layers 101, 102, In one embodiment, the adhesive is a polyolefin and is applied in a thin and uniform manner to obtain reliable attachment without creating ridges and stiff areas. In addition, the spray adhesive creates a uniformly bonded surface interface and allows the fluid to flow into the airlaid layers 101,102, 103 without a large mechanical barrier (e.g., a stitching portion or a relatively large impermeable glue patch or ridge) And this uniformly bonded surface interface between the airlaid layers 101, 102, 103 prevents puddling between the layers 101, 102, 103.

A very small amount of an acrylic latex binder is sprayed on both surfaces in a deficient manner to help bind the outer layer and minimize sloughing and reduce fluff formation. Lint formation is a condition that occurs when fine loosening of cotton, linen or fibers is explicit on the object or fabric. The airlaid layers 101, 102 and 103 may comprise 15% of a biocomponent polymer, 85% of a cellulose and an upper latex to remove fluff formation.

The wrap layer 105 may be made of any material that is thin and absorbs fluid. Additionally, the wrap layer 105 may be smooth to prevent scratching of the bottom surface 10. In some embodiments, the cleaning pad 100 may include one or more of the following detergents, that is, one or more of the following detergents, which function to attack waterlogged and mineral deposits, including, for example, surfactants and, among others, Alkylpolyglycosides, dialkyldimethylammonium chlorides, polyoxyethylene castor oil, linear alkylbenzene sulfonates, glycolic acid, and the like.

In some instances, the wrap layer 105 is a spun lace nonwoven material. The spun lace may also be known as hydraulic entanglement, water entanglement, jet entanglement or hydraulic needle ring. The spun lace entangles the web of loose fibers typically formed by the card on a perforated or patterned screen or porous belt moving to form a sheet structure by exposing the fibers to multiple passes of a fine high- . Hydraulic entangling processes allow the formation of special fabrics by adding fibrous materials such as tissue paper, airlaid, spun lace and spunbond nonwovens to synthetic nonwoven webs. These materials provide the performance advantages required for multiple wipe applications due to their improved performance or costly construction.

Referring to FIGS. 2A and 2B, the spunlace process 200 includes a precursor web forming process 202a. Precursor webs generally consist of staple fiber textiles. These webs can be single fiber webs or can be made of many different fiber blends. Typical four fiber choices are polyester, viscose, polypropylene and cotton. Variations of each of these fibers, such as organic cotton and Lyocell materials and Tencel rayon, can also be used. Biodegradable PLA (polylactic acid) fibers may also be used.

The precursor web forming process 202a may comprise forming an airlaid card, which may be used to provide more isotropic web as a result of the higher transverse orientation of the fibers. Carding is a method of forming a thin web of parallelized fibers. Higher bulk can also be obtained using this type of carding system. Once the web of staple fibers has been formed, the second layer of fibers can be placed on top of the base by air forming the cellulosic fibers or by "laminating " a preformed nonwoven web such as a tissue, spunlace or spunbond. In some instances, the spunbond is combined with a nonwoven material and combined with an airlaid layer, thus the resultant fabric removes the carding step of hydraulically entangling the cellulose pulp fibers with the continuous fibers. This fiber composition is then passed through a fiber entangling process 204 consisting of a row of high-pressure water jets 210, which replicates the conventional mechanical needling process and allows them to entangled individually to form the web 212 Entangle

The spunlace process 200 includes applying a fiber entangling process 204 to the fiber composition. The fiber entangling process 204 jet forms water from the heat of the high pressure water jets 210 to replicate the conventional mechanical needling process and entangle the fibers individually to cause them to entangled to form the web 212 . The web 212 (after proceeding through the web forming and carding process 202) is disposed on a conveyor belt 214 that is rotated by two or more pulleys 216. During and / or after each water injection process, the web 212 passes through a drum having a suction portion 218 that draws water out of the fibers, allowing the fibers to maintain movement to the next high-pressure jet 210 .

The integrated nonwoven substrate 215 is subsequently dried through an air dryer in an air dryer process 206 and thereafter wound in a winding process 208.

The wrap layer 105 can be thermally embossed and printed. Embossing and debosing is a process for creating raised or recessed designs in fabrics or other materials. Relatively lower molten fibers such as polypropylene may be used to achieve better thermal embossing. The coefficient of friction of the wrap layer 105 varies based on the surface type and wettability. In an embodiment, the dry pad 100 moving on the glass has a coefficient of friction of about 0.4 to about 0.5, and the wetted tile has a coefficient of friction of about 0.25 to about 0.4. The wrap layer 105 may include hydro embossing, which imparts a three-dimensional image on the fabric. Hydro-embossing is generally less expensive than thermal bonding. In one example, the wrap layer 105 is embossed in a herringbone pattern. A wrap layer 105 wrapped around a series of airlaid layers 101, 102, and 103 enables the formation of an absorbent core that is locked to the absorbed fluid. The layering of the airlaid core layers 101, 102, 103 allows capillary action and retention within each individual layer 101, 102, 103 and across the combined core. In addition, the airlaid layers 101, 102, and 103 constituting the core of the pad are prevented from further suppressing absorption, and maintain their shape while uniformly distributing the fluid throughout each fluid retention layer.

The wear-resistant layer 106 is formed of a thermoplastic material melted through a fine, generally circular die capillary tube as molten thread or filament into a converging high velocity gas stream that cuts filaments of molten thermoplastic material to reduce its diameter And meltblown fibers 107 which are formed by extrusion. Thus, the meltblown fibers 107 are supported by a high velocity gas stream and are disposed on the surface from which the fibers are collected, thus forming a web of randomly distributed meltblown fibers 107.

In some instances, the abrasive meltblown layer 106 is a layer of meltblown fibers 107 that provide a rough surface. The meltblown fibers 107 are formed at a high throughput by a meltblown process 300 (see FIG. 3), which produces spittle or hairy fibers, It is formed by the polymer drooled from the die orifice due to the different conditions it passes through. The abrasive layer 106 is formed on top of the wrap layer 105 (e.g., another meltblown layer, spunbond layer, or spunlaced layer). The wrap layer 105 may be a herringbone hydro embossed nonwoven material, which is comprised of a certain proportion of viscose (rayon) fibers mixed with polyester fibers. In some instances, the wear-and-melt layer 106 has a basis weight (also known as gram-age) equal to 55 g / m ² (grams per square meter). The wrap layer 105 may have a basis weight between about 30 gsm (grams per square meter) and about 65 gsm. In another example, the wrap layer may have a basis weight between about 35-40 gsm. Basis is a measure used both in the textile and paper industries to measure the mass of a product per unit area. In one embodiment, the wrap layer 105 is a hydroentangled spunbond or spunlaced material formed to have an indentation (not shown) therein, which allows the fluid and suspended dust to flow into the airlaid layers 101, 102, Allowing more direct passage therethrough and reducing the amount of cohesive adsorption between the wrap layer 105 and the bottom surface 10 when the pad 100 is wetted. In one embodiment, the indentation is a herringbone pattern. In another embodiment, the indentations are sized and spaced to be between 0.50 and 1.0 mm squares, and form a grid of squares spaced apart in a grid shape by a length of 2.0-2.5 mm. In one embodiment, the indentation is sized and spaced to be a 0.75 mm square spaced apart in a grid-like manner by a length of 2.25 mm. In another embodiment, the wrap layer 105 may have needle punched holes therein to improve the suction function of the wrap layer 105 and to reduce agglomeration between the wet wrap layer 105 and the bottom surface 10. [ Spunbond or spunlaced material. The herringbone, square, and needle punch depressions prevent the generation of negative pressure outside the wrap layer when the fluid is evaporated and / or aspirated from the back of the liner. Without some of the texture on the wrap layer 105 or free movement inside the wrap layer 105, the fluid applied to the bottom surface 10 can not replace the inhaled fluid and causes adsorption between the bottom and the pad 100 . A combination of hydro-embossed indentations, surface textures and patterns (such as herringbone) or needle punch depressions or hole-shaped surface textures and a low density spunbond or spunlaced material of 35-40 gsm results in adsorption between the floor and the pads prevent. The meltblown layer 105 also helps prevent this attraction force.

Additionally, when the pad 100 is wet, there is insufficient fluid to lubricate the interface between the bottom surface 10 and the bottom surface of the pad. The fully wetted pad 100 slides on the layer of fluid while the robot 400 is moving, but the wet pad 100 is not fully wet when it slowly absorbs the fluid, and the fully unlubricated wrap layer 106 And is dragged onto the bottom surface 10. In an embodiment, a spunbond or spunlaced wrap layer 105 is made of hydrophilic fibers that minimize the surface area of the pad 100 exposed to air between the bottom surface 10 and the pad 100. When the indent or needle punch is not part of the wrap layer 100, the wet pad 100 adheres to the hydrophilic bottom surface 10. The application of the surface texture to the spunbond or spunlais of the wrap layer 105 destroys the surface tension which causes the wetted pad 100 to adhere to the wetted bottom surface 10 otherwise.

The weight of the abrasive meltblown layer 106 allows the abrasive meltblown layer 106 to act as an absorber layer and allow fluid to be absorbed through the meltblown layer 106 and the airlaid layers 101, 103). ≪ / RTI > In some examples, the meltblown layer 106 covers about 60 to about 70% of the surface area of the spunlaced wrap layer 105; in another example, the meltblown layer 106 is a spunbond or spunlaced wrap Covering about 50-60% of the surface area of the layer 105.

The meltblown fibers 107 may have other arrangements and configurations on the spunlaced wrap layer 105. In some instances, the meltblown fibers 107 are optionally arranged on the wrap layer 105. The meltblown fibers 107 are arranged in one or more sections 109a-e on the cleaning surface 109. [ The cleaning surface 109 is the bottom surface of the cleaning pad 100 in contact with the bottom surface 10. One or more sections 109a-e on the cleaning surface 109 have a covered ratio between the wrap layer 105 of greater than 50% and the meltblown abrasive fiber 107. The meltblown layer provides the pad with the advantage of breaking the surface tension and the surface tension causes the wetted wrap layer to adhere to the wetted floor in other cases. By adding texture and topography to the bottom facing surface of the pad, the meltblown layer prevents the pad from sticking or receiving high drag. The meltblown layer also provides the pad with a surface texture for causing dust and foreign matter to stick or dry on the floor surface and for loosening the dust and foreign matter for absorption by the airlaid inner core.

3, the meltblown process 300 is a process for extruding and drawing a molten polymer resin into a high velocity air 310 heated to form a fiber or filament 107. As shown in FIG. The fiber / filament 107 is cooled and then formed into a web 106 at the top of the moving screen 320. This process 300 is similar to a spunbond, but the fibers 107 produced here are in a range of diameters between 0.1 and 20 μm (eg, 0.1 to 5 μm) and are much finer. In addition, meltblowing is considered a spun-melt or spun-laced process. The process illustrated in FIG. 3 illustrates an extrusion die 312 (beam) that extrudes meltblown polypropylene fibers into a continuous porous conveyor to form a nonwoven web 106. It consists of six major components: extruders, metering pumps, extrusion dies, web formation, web integration and winding. Other processes are possible.

There are two basic die designs 312 used by the meltblown technology: single-row die and multi-row die. The key difference between these two designs is the die throughput and the amount of air used. In multi-row dies, greater throughput can be achieved. A multi-row die typically has from two to eighteen rows of holes and about three hundred holes per inch, while a conventional single row die has from about 25 to about 35 holes per inch. Each die design 312 may be used to form the meltblown fibers 107. The throughput for this process is much smaller than the 200+ kg / hr / m obtained for the spunbond or spun lace with its much larger fiber diameter. Conventional dies can basically extrude from 70 to 90 kg / hr / m, while multi-row dies can achieve about 160 kg / hr / m.

In some embodiments, the meltblown fibers 107 have a diameter between about 0.1 microns and about 5 microns with an average of about 2.5 microns. Throughput and air flow have the greatest effect on the reduction of fiber diameter, the distance of the die from the forming table, and the melt and air temperature have little effect. Optimizing process variables and using metallocene polypropylene can yield meltblown webs with an average diameter in the range of 0.3 to 0.5 占 퐉 with a maximum fiber diameter of less than 3 占 퐉. The wrap layer 104 having this size of meltblown fibers 107 can provide a barrier to fluid leakage from the cleaning pad 100 by providing excellent breathability to very high hydrohead webs. The meltblown fibers 107 can be produced using homopolymer polypropylene, but many other resins, such as polyethylene, polyester, polyamide and polyvinyl alcohol, can likewise be extruded by a meltblown process. In some embodiments, the meltblown layer 106 is formed from a polymeric acid (PLA), a biodegradable nonwoven fabric.

In some instances, the airlaid layers 101, 102, 103, wear layer 104 and wrap layer 104 (i.e., cleaning pad 100) have a combined width W between about 68 mm and about 80 mm _T ) and a combined length (not shown) between about 200 mm and about 212 mm. In some instances, the cleaning pad 100 including the airlaid layers 101, 102, 103, the wear layer 104 and the wrap layer 105 has a combined thickness T _T between 6.5 mm and about 8.5 mm, . Additionally, or alternatively, the airlaid layer 101, 102, 103 may have a combined airlaid width (W _A1 + W _A2 + W _A3 ) of between about 69 mm and about 75 mm and between about 165 mm and about 171 mm (L _A1 + L _A2 + L _A3 ). The cleaning pad 100 may be moved back and forth between the mechanisms 400 and 500 because the mechanisms 400 and 500 cause the back and forth movement of the cleaning pad 100 mimicking the rubbing action when the robot 400 traverses the bottom surface 10. [ (E. G., A robot or a mop)

In some embodiments, when the cleaning pad 100 cleans the bottom surface 10, it absorbs the cleaning fluid 172 applied to the bottom surface 10. The cleaning pad 100 can absorb a sufficient amount of fluid without changing its shape. Thus, when the cleaning pad 100 is used with the cleaning robot 400, the cleaning pad 100 has a substantially similar dimension after cleaning the bottom surface 10 and after cleaning the bottom surface 10. The cleaning pad 100 may increase in volume when it absorbs fluid. In some instances, the thickness (T _T ) of the cleaning pad increases by less than 30% after fluid absorption.

In some embodiments, the wrap layer 104 has the specifications listed in Table 1 below.

ASTM D3776M-09A and ASTM D5034-09 are tabularized tests from the American Society for Testing and Materials (ASTM). ASTM D3776M-09A covers the scale of fabric mass (weight) per unit area and can be applied to most fabrics. ASTM D5034-09, also known as the Grab test, is a standard test method for breaking strength and breaking elongation of textile fabrics. WSP 120.6 and WSP 10.0 (05) are standardized tests produced by World Strategic Partners to test the properties of nonwoven fabrics.

Referring to Figures 1A-1D, 3, 4, 6, and 9A-9C, the cleaning pad 100 is configured to rub the bottom surface 10, Absorbed. In some instances, the cleaning pad 100 is attached to a cleaning mechanism such as the mobile robot 400 or the handheld mop 500. The cleaning mechanisms 400 and 500 may include atomisers 462 and 512 that atomize the cleaning fluid 172 on the bottom surface 10. The instruments 400 and 500 may be configured to detect any specks absorbed by the pad 100 (e.g., dust, oil, food, spices, spices, etc.), along with applied fluids 172 that cause the speckles 22 to dissolve and / Coffee, and coffee grounds. Some of the stains have viscoelastic properties that indicate both viscous and elastic properties (e.g., honey). The cleaning pad 100 is absorbent, and the meltblown fibers 107 The cleaning pad 100 has an outer surface 105a that includes an optional applied abrasive layer 106 that includes an abrasive layer 106. As the devices 400 and 500 move about the bottom surface 10, The bottom surface 10 is rubbed with the abrasive side portion 105b comprising the layer 106b and the abrasive with the abrasive cleansing element on the bottom surface 10 only with a lighter amount of force than is required by rubbing the rag with the non- Absorbs the sprayed cleaning solution.

Referring to Figure 4, in some implementations, the instrument 400 is a small, lightweight, autonomous mobile robot 400 that is less than 5 pounds in flow and navigates the floor surface 10 for cleaning. The mobile robot 400 may include a body 400 supported by a drive system (not shown) that can steer the robot 400 across the floor surface 10 based on drive commands having x, y, (Not shown). As shown, the robot main body 410 has a square shape. However, body 410 may include other shapes including but not limited to a circular shape, an oval shape, a teardrop shape, a rectangular shape, a combination of square or rectangular forward and circular backward, or any combination of these longitudinally asymmetric shapes Shape. The robot body 410 has a front portion 412 and a rear portion 414. The body 410 also includes a bottom portion (not shown) and a top portion 418. The bottom portion of the robot body 410 is connected to one or more rear clipping sensors (not shown) at one or both of the two rear corners of the robot 400 to prevent the robot 400 from falling off the ridge- Further comprising one or more front-cliff sensors disposed on one or both of the front corners. In an embodiment, the cliff sensor may be a mechanical drop sensor, such as a down-collimated IR (infrared) pair, a dual emitter, a single receiver or dual receiver, a single-emitter IR light based proximity sensor, Sensor. In some instances, one or more front and rear Cliff sensors are angled relative to the front and rear corners, respectively, so that they cut across the corners and span between the sidewalls of the robot 400, Covers the corners to detect in advance a change in floor height that exceeds a threshold value accommodated by the reversible robot wheel drop. Arranging the Cliff sensor proximate to the corners of the robot 400 ensures that as soon as the robot 400 protrudes below the bottom of the floor they are triggered and prevent the robot wheel from advancing above the falling edge.

In some embodiments, the front portion 412 of the body 410 has a movable bumper 430 for detecting a collision in the longitudinal direction A, F or in the lateral L, R direction. The bumper 430 has a shape complementing the robot main body 410 and extends to the front of the robot main body 410 so that the overall dimension of the front portion 412 is wider than the rear portion 414 of the robot main body 410 (As shown, the robot has a square shape). The bottom portion of the robot main body 410 supports the cleaning pad 100. In an embodiment, the pad 100 extends beyond the width of the bumper 430, so that the robot 400 can be pushed into and out of the tough tough to reach the surface, So that the surface or cracks are cleaned by the extended edges of the pad 100 while the robot 400 is moving in a wall-following motion. The embodiment of the pad 100 extending beyond the width of the bumper 430 allows the robot 400 to exceed the reach of the robot body 410 and to clean the interior of the crack and gap. In an embodiment, such as those shown in Figs. 1A-1D and 8A-8C and 9E, the pad 100 has a bluntly cut end 100d, so that the airlaid layers 101,102, Are exposed at both ends 100d of the pad 100. [ Instead of the wrap layer 105 that is sealed at the end portion 100d of the pad 100 and compresses the end portion 100d of the airlaid layers 101, 102 and 103, the entire length of the pad 100 is used for fluid absorption and cleaning It can be used for. Any portion of the airlaid core is not compressed by the wrap layer 105 and, therefore, can not absorb the fluid 172. In addition, the disposable pad 100 used in this embodiment does not have the suction wetted floppy end of the sealed wrap layer 105 at the completion of the rinse run. All fluids 172 are reliably absorbed and retained by the airlaid core to prevent any dropping and prevent the user from undesirably contacting the dirty wetted end of the pad 100.

As shown in Figs. 4 and 9A to 9G, the robot 400 can be driven back and forth so as to cover a specific portion of the floor surface 10. As the robot 400 is driven back and forth, it cleans the traversing space and thus provides a strong rub to the bottom surface 10. [ The reservoir 475 housed by the robot body 410 holds the cleaning fluid 172 (i.e., cleaning solution) and can hold 170-230 mL of fluid. In an embodiment, the reservoir 475 holds 200 mL of fluid. The robot 400 may include a fluid applicator 462 connected to the reservoir 475 by a tube. The fluid applicator 462 may be an atomizer having at least one nozzle 464 that distributes fluid over the bottom surface 10. [ The fluid applicator 462 may have a plurality of nozzles 464 each configured to atomize the fluid at a different distance and angle than the other nozzles 464. In some examples, the robot 400 includes two nozzles 464 vertically stacked in the recesses in the fluid applicator 462, which are in fluid communication with a fluid 173a In which the other nozzle 464b is dispensed by the upper nozzle 464a, while spraying a relatively longer length of the fluid 172a forwardly and downwardly to cover the area in front of the robot 400 to the front supply portion of the robot 400, To spray a relatively shorter length of fluid 172b forwardly and downwardly to leave a rear supply of fluid 173b applied on the area ahead of, but closer to, robot 400 than the area of fluid 173a It is separated from each other. In an embodiment, the nozzles 464 or nozzles 464a, 464b may be fluid (172, 172a, 172b) with an area pattern in which the dimensions extend into one robot width W _R and at least one robot length L _R ). In some embodiments, top nozzle 464a and bottom nozzle 464b allow the pad 100 to pass through the outer edges of the strips of fluids 173a, 173b applied in an anteroposterior, ramming motion as described herein Apply fluids 172a and 172b to two separate spaced strips of applied fluid 173a and 173b that do not extend to the entire width W _R of the robot 400. In an embodiment, the fluid is applied a combined length of 75-95% of the strip width of 75-95% of the robot width (W _R) (W _S) and remotely length (L _R) of the (173a, 173b) (L _S ). In some embodiments, the robot 400 only sprays on the traversed area of the bottom surface 10.

In addition, the back and forth movement of the robot 400 destroys the stain on the surface bottom 10. Destroying the stain is then absorbed by the cleaning pad 100. In some instances, the cleaning pad 100 picks up enough sprayed fluid to avoid uneven strake when the cleaning pad 100 picks up too much liquid, e.g., fluid 172. In the case of too little fluid absorption, the robot 400 may leave fluid and wheel traces. In some embodiments, the cleaning pad 100 may leave some fluid residue, which may be any other cleaning agent or water, including a solution comprising a cleaning agent to provide visible gloss on the surface to be rubbed. In some instances, the fluid comprises an antimicrobial solution, for example, an alcohol-containing solution. Thus, a thin layer of residue is intentionally not absorbed by the cleaning pad 100 to allow the fluid to kill a higher percentage of bacteria. Thus, the cleaning pad 100 provides a slight increase in overall pad thickness (T _T ) without rises or expansions. This characteristic of the cleaning pad 100 prevents the robot 400 from pitching up or backwardly tilting when the cleaning pad 100 extends. The cleaning pad 100 is strong enough to support the front of the robot. In some instances, the cleaning pad 100 absorbs up to 90% or 180 ml of the total fluid contained in the robotic reservoir 475. In some instances, the cleaning pad has about 55 to about 60 ml of fluid, and the fully saturated wrap layer has about 6 to about 8 ml of fluid 172. In some examples, the fluid retention rate in the airlaid core 101, 102, 103 for the outer wrap layer 105 is from about 9: 1 to about 5: 1.

The pad 100 and the robot 400 are sized and shaped such that transfer of fluid from the reservoir to the absorbent pad 100 maintains a front-to-back balance of less than 5 lb of the robot 400 during dynamic motion. The fluid distribution is such that the robot 400 propels the pad 100 on the bottom surface 10 without interference between the pad 100 which is gradually saturating and the fluid reservoir 475 diminarily occupied, Lifts the rear portion 414 and pitches the front 412 of the robot 400 downward, thereby applying the movement restraining downward force to the robot 400. [ The robot 400 can move the pad 100 across the bottom surface 10 even when the pad 100 is fully saturated with fluid. The robot 400, however, includes the ability to track the amount of fluidized floor surface 10 and / or the amount of fluid remaining in the reservoir 475, and that the pad 100 needs replacement and / Or storage 475 provides audible and / or visual alerts that recharging is required. In an embodiment, when the pad 100 is fully saturated, the robot 400 stops moving, remains in place on the floor surface, and holds the floor to be cleaned left after the pad 100 is replaced.

9A through 9G detail the spraying, pad wetting, and rubbing motion of one embodiment of the mobile robot 400. In some embodiments, the robot 400 applies fluid 172 only to areas of the floor surface 10 that the robot 100 has already traversed. In one example, fluid applicator 462 has a plurality of nozzles 464a, 464b, each configured to spray fluids 172a, 172b in a different direction than the other nozzles 464a, 164b. The fluid applicator 462 may apply fluid 172 downwardly rather than outwardly and may drop or spray fluid 172 directly in front of the robot 100. In some instances, the fluid applicator 462 is a microfibre cloth or strip, a fluid dispersion brush or sprayer.

9A-9D and 9F-9G, in some implementations, the robot 400 moves in the forward direction F toward the obstacle 20 and subsequently moves in the backward or reverse direction A, The cleaning operation can be performed. As shown in Figs. 9A and 9B, the robot 400 can be driven in the forward driving direction at the first distance Fd to the first position L1. The nozzles 464a and 464b move in the forward direction F of the robot 400 when the robot 400 moves backward to the second position L2 by a second distance Ad, At the same time at least a distance D across the region of the bottom surface 10 on the bottom surface 10 in the forward and / or downward direction forward of the robot 400 after the robot 400 has moved, A short length of fluid 172b is sprayed. In one example, the fluid 172 is applied to an area substantially equal to or less than the area footprint AF of the robot 400. The robot 100 has already confirmed the existence of the empty floor surface 10 for accommodating the cleaning fluid 172 because the distance D extends at least the length L _R of the robot 400 The robot 400 can move the bottom floor 10 where the traversing floor 10 area is not occupied by an obstacle or furniture to which the cleaning fluid 172 is applied or the furniture, the wall 20, the cliff, the carpet, . By moving in the forward direction F and then back again prior to applying the cleaning fluid 172, the robot 400 identifies floor changes and wall-like boundaries and prevents fluid damage to these articles.

As shown in Figures 4, 9B and 9C, in some examples, the fluid applicator 462 is a sprayer 462 that includes at least two nozzles 464a, 464b, Distribute the fluid 172 evenly across the bottom surface 10 with two strips of fluid 173a, 173b. The two nozzles 464a and 464b are configured to atomize the fluid at different angles and distances from the other nozzles 464a and 464b, respectively. In some instances, the two nozzles 464a, 464b are stacked vertically in the recesses in the fluid applicator 462, are angled from horizontal and spaced apart from one another, so that one nozzle 464a is applied to the fluid The other nozzle 464b is sprayed with a relatively longer length of fluid 172a forward and downward to cover the area in front of the robot 400 with a forward feed of the nozzles 464a and 173a, A relatively shorter length of fluid 172b is sprayed forward and downward to leave a rear supply of fluid 173b applied in front of the region of fluid 173a, but on a region closer to the robot 400 . In an embodiment, the nozzles 464 or nozzles 464a, 464b are fluid (172, 172a, 172b) with an area pattern whose dimensions extend over at least one robot length L _R and one robot width W _R ). In some embodiments, top nozzle 464a and bottom nozzle 464b are connected to two separate strips of applied fluid 173a, 173b that do not extend to the entire width W _R of robot 400, 172a, 172b so that the pad 100 passes through the outer edges of the strips of fluids 173a, 173b applied in forward and aft angled rubbing motion as described herein. In an embodiment, the fluid is applied a combined length of 75-95% of the strip width of 75-95% of the robot width (W _R) (W _S) and remotely length (L _R) of the (173a, 173b) (L _S ). In an embodiment, the strip of applied fluid 173a, 173b may be substantially rectangular or oval in shape. In an embodiment, nozzles 464a and 464b complete each spray cycle by adsorbing a small volume of fluid at the nozzle openings so that no fluid 172 leaks from the nozzles subsequent to each spraying moment.

9D, 9F, and 9G, in some examples, the robot 400 may be driven back and forth to cover a specific portion of the bottom surface 10 to wet and / or clean the cleaning pad 100 at the beginning of a rinse run. Or the floor surface 10 is rubbed. The robot 400 is driven back and forth and cleans the traversing region and thus provides a complete rub against the bottom surface 10. The robot 400 vibrates the pad 100 attached in an orbit of 12-15 mm to rub the floor 10 and applies a downward force of less than one pound to the pad.

In some instances, the fluid applicator 462 applies fluid 172 to a region in front of the cleaning pad 100 in the direction of movement of the mobile robot 100 (e.g., in the forward direction F). In some instances, fluid 172 is applied to the area previously occupied by cleaning pad 100. In some examples, the area occupied by the cleaning pad 100 is recorded in a stored map that can be accessed by the robot controller 150 as shown in the drawing of FIG. The robot 400 may include a cleaning system 1060 for cleaning or treating the floor surface 10.

In some instances, the robot 400 may be located on an external storage medium that can be accessed by the robot 400 via wired or wireless means during a rinse run, or on a map stored on a non-volatile memory 1054 of the robot 400 Lt; RTI ID = 0.0 > location < / RTI > The robot 400 sensor 5010 may include one or more range lasers and / or a camera for configuring a map of the space. In some instances, the robot controller 1050 may be used to position and position the robot 400 in positions sufficiently distant from the floor changes and / or obstacles prior to application of the cleaning fluid 172, The map of the obstacle 10 is used. This has the advantage of applying fluid 172 to the area of the bottom surface 10 which has no known obstacles thereon.

In some instances, the robot 100 moves back and forth to rub the floor surface 10 to which the fluid 172 has been applied and / or to wet the cleaning pad 100. The robot 400 may move into the buzz-foot pattern through the footprint area AF on the floor surface 10 to which the fluid 172 is applied. As shown, in some implementations, the buzz foot cleansing routine may be performed in the forward direction F and the backward or in the reverse direction A along the center locus 1000 and in the left 1010 and right 1005 trajectories And moving the robot 100 in the advancing direction F and the backward direction A, respectively. In some examples, the left trajectory 1010 and the right trajectory 1005 are arcuate trajectories that extend outwardly from the starting point along the central trajectory 1000 to an arc. The left trajectory 1010 and the right trajectory 1005 may be linear traces extending outwardly straight from the central trajectory 1000. [

Figures 9d and 9f show two buzz foot trajectories. 9D, the robot 400 moves from the position A to the forward direction F along the central locus 1000 until it meets the wall 20 at position B and triggers a sensor 5010, such as a bump sensor . The robot 400 then moves in the backward direction A along a central trajectory at a distance equal to or greater than the distance covered by the fluid application. By way of example, robot 400 moves backward along central trajectory 1000 by at least one robot length l to position G, which may be the same position as position A. [ The robot 400 applies fluid 172 to the area substantially equal to or less than the footprint area AF of the robot 100 and returns to the wall 20 where the cleaning pad 400 is fluid 172 And cleans the bottom surface 10. From position B, the robot 100 returns to position B and retreats along either the left trajectory 1010 or the right trajectory 1005 before covering the remaining trajectory. At each time the robot 400 moves forward and backward along the center locus 1000, the left locus 1010 and the right locus 1005, the cleaning pad 100 passes through the applied fluid 172, Dust, foreign matter, and other particulate matter from the bottom surface 10 to which the fluid 172 is applied, and absorbs dirty fluid from the bottom surface 10 into the cleaning pad 100. The rubbing movement of the humidified pad in combination with the solvent characteristics of the cleaning fluid 172 destroys and loosens dried stains and dust. The cleaning fluid 172 applied by the robot 400 suspends the loosened foreign object so that the cleaning pad 100 absorbs the suspended foreign object and sucks it from the floor surface 10.

In the example of Fig. 9F, the robot 400 similarly moves from position A, which is the starting position, to position B, which is the wall position, along the center locus 1000 via the applied fluid 172. Fig. The robot 400 is moved by the cleaning pad 100 prior to covering the left and right trajectories 1010 and 1005 extending to positions D and F by the cleaning fluid 172 distributed along the trajectories 1010 and 1005 And retreats out of wall 20 along center trajectory 1000 to position C, which may be the same position as position A. In one example, at each time when the robot 400 extends along the outward trajectory from the center locus 1000, the robot 400 is moved to the position shown by positions A, C, E, and G as shown in FIG. And returns to the position along the center locus. In some embodiments, the robot 400 is moved in the backward direction (A) along one or more distinct trajectories to move the cleaning fluid 172 and the cleaning pad 100 in an effective and efficient coverage pattern across the floor surface The sequence of movement in the forward direction (F) can be changed.

In some instances, the robot 100 may move to a buzz-foot pattern to humidify all portions of the cleaning pad 100 at the beginning of a rinse run. 9E, the bottom surface 100b of the cleaning pad 100 has a center region PC and right and left lateral edge regions PR, PL. When the robot 100 starts a cleaning run or cleaning routine, the cleaning pad 100 dries, disperses the cleaning fluid 172 along the bottom surface 10 to reduce friction and also rub the foreign object therefrom It needs to be humidified.

Thus, the robot 400 applies the fluid at a higher volumetric flow rate at the beginning of the cleaning run so that the cleaning pad 100 is easily humidified. In one embodiment, the first volume flow rate is set by spraying about 1 mL of fluid initially every 1.5 ft for 1-3 minutes of the same time period, the second volume flow rate is set to spray every 3 ft, Fluid spray is less than 1 mL in volume. In an embodiment, the robot 400 applies fluid 172 every 1 to 2 ft at the beginning of the run to saturate the wrap layer 105 of the pad 100 at the beginning of a clean run. After the same time period and / or distance for a period of 2 to 10 minutes, the robot 400 applies fluid at intervals of every 3 to 5 feet, because the pad 100 is humidified and rubs the floor 10 It is because. As shown in Figure 9G, in some instances, at the beginning of a rinse run, the robot 400 drives the cleaning pad 100 through the applied fluid 172, so that the bottom surface of the cleaning pad 100 The central region PC of the cleaning pad 100b and the left and right lateral edge regions PR and PL of the cleaning pad 100 each pass through the individually applied fluid 172, The entire cleaning pad 100 is wetted along the entire bottom surface 100b of the cleaning pad 100 to be contacted.

9G, the robot 400 moves in the forward direction F and then in the backward direction A along the center locus 1000 and passes through the applied fluid 172 to the center of the pad 100 Lt; / RTI > The robot 400 is then driven in the forward direction F and in the backward direction A along the right trajectory 1005 to move the left lateral region PL of the cleaning pad 100 through the applied fluid 172. [ Lt; / RTI > The robot 100 is driven in the forward direction F and the backward direction A along the left trajectory 1010 and the right side lateral region PR of the cleaning pad 100 is fed through the applied fluid 172 It passes. At the beginning of a rinse run the robot applies a larger amount of fluid 172 to the surface 10 more frequently by applying the fluid 172 at a relatively high initial volumetric flow Vi and / And / or the amount of fluid 172 that is more frequently fixed to the surface 10 to quickly wet the cleaning pad 100. Humidifying the cleaning pad reduces friction and also allows the pad 100 to dissolve more foreign matter 22 without requiring more frequent application of the fluid 172. In an embodiment, the coefficient of friction of the wrap layer 105 of the pad 100 varies from 0.3 to 0.5 depending on the degree of wetting of the pad 100 and the material of the bottom 10. In one embodiment, the drying pad 100 moving on the glass has a coefficient of friction of about 0.4 to 0.5, and the wetted tile has a coefficient of friction of about 0.25 to 0.4.

Once the wrap layer 105 of the cleaning pad 100 is humidified, the robot 400 continues its clean running and subsequently applies the fluid 172 to the second volume flow rate Vf. This second volumetric flow rate Vf is relatively lower than the initial flow rate Vi at the beginning of the rinse run because the rinse pad 100 has already been humidified and the rinse fluid is flowing across the surface 10 during rubbing Because it moves effectively. In one embodiment, the initial volumetric flow rate Vi is set by spraying about 1 mL of fluid initially every 1.5 ft for a time period of 1 to 3 minutes, and the second volume flow rate Vf is set to be every 3 ft , Each fluid spray having a volume of less than 1 mL. The robot 400 is moved to a volume flow rate such that the cleaning pad 100 of the dimensions measured in the airlaid layer 101, 102, 103 is not sufficiently wet to capacity internally internally to wet the bottom surface 100b (V). The bottom surface 100b of the cleaning pad 100 is initially wetted without the water absorbent interior of the pad 100 being logged with water so that the cleaning pad 100 remains completely absorbent for the cleaning run. The back and forth movement of the robot 400 destroys the speckle 22 on the bottom surface 10. The broken spots 22 are then absorbed by the cleaning pad 100.

In some instances, the cleaning pad 100 sufficiently picks up the atomized fluid 172 to avoid uneven strake. In some instances, the cleaning pad 100 leaves a residue of the solution to provide visible gloss to the rubbing bottom surface 10. In some instances, the fluid 172 includes an antimicrobial solution, and therefore a thin layer of residue is not intentionally absorbed by the cleaning pad 100 to allow the fluid 172 to kill a higher percentage of germs .

In one embodiment, the pad may be directional. The perfume may be incorporated or applied to at least one of an airlaid core layer, a liner, or a combination of an airlaid layer and a liner. The perfume can be inert in the preactivating phase and emits direction by being activated by the fluid so that the pad only creates direction during use and in other cases does not produce any direction while stored. In another embodiment, the pad comprises a detergent or a surfactant, which may be incorporated into or applied to one or more of an airlaid core layer, a liner, or a combination of an airlaid layer and a liner. In one embodiment, the detergent is applied to only the back surface (unexposed, non-wetted side) of the liner that contacts the lowest airlaid core member so that the detergent is ejected onto the cleaning surface through the porous liner upon contact with the fluid. The detergent may be a detergent and / or a foaming agent having a visible luster indicative of application of the detergent to the cleaning surface. In another embodiment, the pad comprises at least one chemical preservative applied to or applied within the cardboard backing element. The preservative is selected to prevent the growth of wood spores that may be present in the wood-based backing element. Some embodiments of the pad may include all of these features-a combination of some of these features, including conventional fragrances, cleaning agents, antimicrobial agents and preservatives-or, for example, non-encapsulated fragrance.

Referring to Figure 5, in some examples, the instrument 500 is a mop 500. The mop 500 includes a body 502 that supports a reservoir 504 that holds a cleaning fluid 172 (e.g., cleaning solution). The handle 506 is disposed on one side of the main body 502. The handle includes a controller 508 for controlling the release of fluid from the reservoir 504. A movable rotatable base 510 is disposed on the other end of the body 502 opposite the handle 506. [ The base 510 includes a fluid applicator 512 connected to the reservoir 504 by a tube (not shown). The fluid applicator 512 may be an atomizer having at least one nozzle 514 that distributes fluid over the bottom surface 10. [ The nozzle 514 is sprayed forward and downwardly of the base 510 toward the bottom surface 10. The user controlling the controller 508 may spray the fluid 172 as needed. The fluid applicator 512 may have a plurality of nozzles 514 each configured to atomize the fluid in a different direction than the other nozzles 514.

Referring to Figures 6, 8E-8G, retainers 600, 600a, 600b may be disposed on mechanisms 400, 500 that support cleaning pad 100. The retainers 600, 600a, 600b are disposed on the bottom portions of the mechanisms 400, 500 for retaining the cleaning pad 100. [ In one embodiment, the retainer 600 may include a hook-and-loop fastener, and in other embodiments, the retainer 600 may include a clip or retention bracket, ≪ RTI ID = 0.0 > and / or < / RTI > retention brackets. Other types of holders may be used to connect the cleaning pad 100 to instruments 400 and 500 such as snaps, clamps, brackets, adhesives and the like, So that the user does not have to touch the dirty used pad to remove the pad from the cleaning mechanism 400,

FIG. 7 provides an exemplary arrangement of operations for the method 700 of constructing the cleaning pad 100. The method 700 includes a step 710 of placing a first airlaid layer 101 on a second airlaid layer 102 and a step 710 of forming a second airlaid layer 102 on the third airlaid layer 103. [ (Step 720). The method 700 further includes the step 730 of wrapping the wrap layer 104 around the first, second and third airlaid layers 101, 102, 103. The wrap layer 104 includes a spunlaced lap layer 105 and a meltblown abrasive 107 attached to the spunlaced lap layer 105.

In some examples, the method 700 further includes attaching and optionally arranging the meltblown abrasive article 107 onto the spunlaced wrap layer 105. Additionally or alternatively, the meltblown abrasive fiber may have a diameter between about 0.1 microns and about 20 microns. The method 700 further comprises arranging the spunlaced lap layer 105 and the meltblown abrasive article on the spunlaced lap layer 105 to have a total thickness of between about 0.5 mm and about 0.7 mm. In some examples, the meltblown abrasive 107 creates a thickness gap of 0.5 mm between the bottom 10 and the wrap layer 105. Due to this thickness clearance, the pad 100 can pick up 1.5 mm diameter bubbles of fluid disposed on the floor 10 with surface tension without the need for force. The lowest point of the layer of embossed cover 105 is only 0.5 mm from the bottom 10 and the remainder of the surface area of the wrap layer 105 is 3 mm from the bottom 10.

The method 700 includes forming a meltblown layer 106 on the spunlaced lap layer 105 to provide a covered surface ratio between the spunlaced lap layer 105 and the meltblown abrasive 107 between about 60% and about 70% And arranging the fine abrasive 107 in the polishing pad. In some examples, the method 700 includes attaching a first airlaid layer 101 to the second airlaid layer 102 and attaching a second airlaid layer 102 to the third airlaid layer 103 And attaching. The airlaid layers 101, 102, and 103 may be made of a cellulosic-based textile material (e.g., a material comprising fluff pulp).

In some implementations, the method 700 may be applied to the first, second, and third airlaid layers 101,102, 103, the spunlaced wrap layer 105, the meltblown abrasive after less than 30% And may be configured to increase the thickness. The method 700 may further comprise embossing the spunlaced layer 105. The method 700 may also include placing sodium polyacrylate in one or more airlaid layers 101, 102,

In some examples, the method 700 may be applied to the airlaid layers 101, 102, 103 and the wrap layer 102 to have a combined width between about 80 mm and about 68 mm and a combined length between about 200 mm and about 212 mm. (104). ≪ / RTI > The method 700 may further comprise configuring the wrap layer 104 and the airlaid layers 101, 102, 103 to have a combined thickness between about 6.5 mm and about 8.5 mm. The method 700 includes constructing the airlaid layer 101, 102, 103 to have a combined airlaid length between about 165 mm and about 171 mm and a combined airlaid width between 69 mm and about 75 mm . ≪ / RTI >

8E-8G illustrate an exemplary release mechanism for pad 100 as described herein. Figures 8a-8c illustrate a side view of a pad 100 having cores of three airlaid layers 101,102, 103 bonded and contained within a wrap layer 105 attached to the top surface of the top airlaid layer 101, FIG. In addition, the embodiment of Figs. 8A-8C includes a cardboard backing layer 85 attached to the top surface of the pad 100. Fig. The cardboard backing layer 85 protrudes beyond the longitudinal edge of the pad 100 and the protruding longitudinal edge 86 of the cardboard backing layer 85 contacts the pad holder 82 of the robot 100 Respectively. In one embodiment, the cardboard backing layer 85 is between 0.02 "and 0.03" thick, between 68 and 72 mm wide, and between 90 and 94 mm long. In one embodiment, the cardboard backing layer 85 is a water-resistant coating, such as a wax or polymer, on both sides. In one embodiment, the cardboard backing layer 85 is 0.026 "thick, 70 mm wide and 92 mm long. Or a combination of water-resistant materials such as wax / polyvinyl alcohol, polyamines, and the cardboard backing layer 85 is not degraded upon wetting.

In an embodiment, the bottom surface 100b of the pad 100 may include one or more hair capture strips 100c to capture and collect loose hairs during cleaning. In the embodiment of Figure 9e, the two hair capture strips 100c are shown in phantom lines to illustrate the optional features of this feature. In an embodiment having one or more hair capture strips 100c, the strips or strips 100c may be formed as a single strip either at the bottom of the pad or at the longitudinal edge of the pad or on the outer longitudinal edge of the pad 100 Lt; / RTI > Each hair capture strip 100c is less than 30% of the total surface area of the bottom surface 100b of the pad 100 and preferably less than 20% of the surface area of the bottom surface 100b of the pad 100 to be. Hair capture strip 100c may be a strip of material added to wrap layer 105 that includes loose fibers having a catch feature, such as a Velcro® hook, coarse edge fibers, or fibers with a fusing tip.

8A and 8G, the pad 100 as described herein can be secured to the autonomous robot via a pad holder 82 that can be attached to the robot 400. As shown in Figs. An exemplary pawl release mechanism 83 is also shown in the upper or pad anchoring position. The pad release mechanism 83 includes a retainer 600a or a lip that holds the pad 100 firmly in place by gripping the projecting longitudinal edges 86 of the cardboard backside layer 85. The tip or end 84 of the pad release mechanism 83 includes a moveable retention clip 600a and an ejection projection 84 that are inserted into the holder 82, 8A. As shown in FIG. 8B, the pad layer 82 is pushed downward to release the pad 100 as shown in FIG. 8G, as shown in a downwardly layered state on the backing layer 85, Lt; RTI ID = 0.0 > or < / RTI > The relationship between the pad and pad holder 82 is also shown in the top view of Figure 8f. In one embodiment, the pad release mechanism 83 is activated by a toggle button 477 located below the handle 419 of the robot 400, as shown in Fig. The toggle movement is indicated by the dotted double arrows 478. Toggling of the toggle button 477 moves the spring actuator that rotates the pad release mechanism 83 to move the retaining clip 600a in a direction away from the cardboard backside layer 85, The discharge protrusion pushes the pad 100 out of the holder.

8A and 8B, in the embodiment, the cardboard backside layer 85 is formed on the bottom of the pad holder 82, as shown in FIG. 8D, with a raised projection 94 and a cardboard And may include a notch 88 centered along the projecting longitudinal edge 86 of layer 85. In another embodiment, the cardboard backing layer 85 includes a first set of cutouts 88 centered on the projecting longitudinal edges 86 of the cardboard backing layer 85 and a cardboard backside layer 85, And a second set of notches 90 on the lateral edges of the second set. The notches 88 and 90 are asymmetrically centered along the lateral center axis PCA _{lat of the} pad 100 and the longitudinal center axis PCA _lon of the pad 100, 94 on the lower lateral lateral center axis PCA _lat and on the lower longitudinal central axis HCA _lon of the pad holder 82. The pad holder 82 of the embodiment of Fig. 8d includes three raised protrusions 92, 94. This allows the user to pad the pad 100 in either of two identical directions (180 degrees opposite each other), while allowing the pad holder 82 to more easily release the pad 100 when the release mechanism 83 is triggered. So that it can be installed. Another embodiment of the pad holder includes four protrusions 92, 94, the locations of which correspond to the four notches 88, 90 on the cardboard backing layer of Figure 8C. In yet another embodiment, the pad holders 82, 100 each include a configuration that includes any other number of raised protrusions and corresponding notches, or retains the pad in place and enables selective release.

In Figure 8d the raised projections 94 on the longitudinal edge of the pad holder 82 are covered by the retaining bracket 600a so that the retaining bracket has a virtual appearance Respectively. Both the protrusions 92 and 94 fulfill the yoke attachment of the disposable pad 100 to the bottom of the pad holder 82 so that the alignment of the pad 100 relative to the holder 82 is accurate and the pad 100) relative to the pad holder 82 to prevent lateral and / or transverse sliding.

Because the cutouts 88, 90 extend into the surface area of the cardboard backing layer 85, they each interface with more lateral and longitudinal surface areas of the raised protrusions 92, 94, Is retained in place against rotational forces by the tie-projection retaining system. The robot 100 moves into a rubbing motion as described above, and in an embodiment, the pad holder 82 vibrates the pad for additional rubbing. In an embodiment, the robot 400 vibrates the attached pad 100 in a 12-15 mm orbit to rub the floor 10 and applies a downward propulsion force of less than one pound to the pad. By aligning the notches 88, 90 of the cardboard backside layer 85 with the projections 92, 94, the pad 100 is held stationary relative to the holder during use and the application of a rubbing motion, Is transferred directly from the pad holder 82 without loss of movement transmitted through the layer of pad.

In an embodiment, the pads of Figs. 1A-1D and Figs. 8A-8C are disposable pads. In another embodiment, the pad 100 is a reusable microfiber cloth pad having the same absorbent properties as those described herein with respect to the embodiment. In embodiments having a washable and reusable microfibre cloth, the top surface of the fabric includes a fixed stiffening back layer formed and positioned like the cardboard backing layer of the embodiment of Figs. 8a-8c. The rigid backing layer is comprised of a heat resistant washable material, which may be a machine dried without melting or deteriorating the backing. The rigid backing layer has cutouts as described herein, which can be used interchangeably with the embodiment of the pad holder 82 described with respect to the embodiment of Figures 8A-8G, and is dimensioned accordingly.

In another example, the pad 100 is intended to be used as a disposable dry cloth and comprises a single layer of needle-punched spunbond or spunlaced material with exposed fibers for capturing hair. The dry pad 100 embodiment further includes a chemical treatment that adds the sticky characteristics of the pad 100 to retain dust and foreign objects. In one embodiment, the chemical treatment is a material such as that sold under the trade name DRAKESOL.

A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. Accordingly, other implementations are within the scope of the following claims. By way of example, the operations described in the claims may be performed in a different order and still achieve the desired results.

Claims (29)

Surface cleaning pad,
An absorbent core comprising a fibrous material that absorbs and retains liquid material,
A liner layer in contact with and covering at least one side of the absorbent core, the liner layer comprising a liner layer comprising a fibrous material to absorb and retain liquid material through the liner layer. The surface cleaning pad of claim 1, wherein the core material absorbs from about 7 to about 10 times its weight. The surface cleaning pad of claim 1, wherein the liner layer retains up to about 10% of the absorbed liquid material. The cleaning pad of claim 1, wherein the absorbent core comprises non-woven cellulose wood pulp. The cleaning pad of claim 1, wherein the absorbent core further comprises a surface layer comprising an acrylic latex. The cleaning pad of claim 1 wherein the pad comprises a cardboard backing layer secured to the pad and the cardboard backing layer is coated with a hydrophobic polymer configured to adhere the pad to the cleaning device and less than 0.1 cm thick. 2. The method of claim 1, wherein the absorbent core comprises first, second and third airlaid layers, each airlaid layer having a top surface and a bottom surface, Wherein the bottom surface of the second airlaid layer is disposed on the top surface of the third airlaid layer. 8. The cleaning pad of claim 7, wherein the layers are adhered to each other by an adhesive material. 9. The cleaning pad of claim 8, wherein the adhesive material is applied to at least two evenly spaced strips along the length of at least one side of the airlaid layer and covers less than 10% of the surface area of at least one side. 9. The cleaning pad of claim 8, wherein the adhesive material is sprayed over a length of at least one side of the airlaid layer and covers no more than 10% of the surface area of at least one side. The cleaning pad of claim 1, wherein the liner layer is wrapped around at least four sides of the absorbent core. The cleaning pad of claim 1, wherein the liner layer comprises a spunlaced layer. The cleaning pad of claim 1, wherein the liner layer comprises a hydroentangled spunbond layer and the hydroentangled spunbond layer has a basis weight of 35-40 gsm with indentations of reduced thickness on the surface facing the bottom. The cleaning pad of claim 1 wherein the liner layer comprises meltblown abrasive fibers attached to the sides of the liner layer that are not in contact with the absorbent core. 15. The cleaning pad of claim 14, wherein the meltblown fibers have a diameter between about 0.1 microns and about 20 microns. 15. The cleaning pad of claim 14, wherein the meltblown abrasive fibers cover between about 44% and about 75% of the surface of the liner layer. 15. The cleaning pad of claim 14, wherein the meltblown abrasive fibers and liner layer have a total thickness of about 0.5 mm and about 0.7 mm on the surface of the liner layer. The cleaning pad of claim 1, wherein the liner layer has a thickness between about 0.5 mm and about 0.7 mm. The cleaning pad of claim 1, wherein the pad is thicker by less than 30% after absorption of the liquid material. The cleaning pad of claim 1, wherein the pad further comprises at least one of a perfume, a detergent, a surfactant, a foam, a polish, a chemical preservative, an adhesive composition and / or an antimicrobial. The absorbent core of claim 1 wherein the pad has a thickness between about 6.5 mm and about 8.5 mm, a width between about 68 mm and about 80 mm and a length between about 165 mm and about 212 mm, . A movable floor cleaning robot,
A robot main body for forming a forward drive direction,
A driving unit for supporting a robot body to control a robot across a surface, the driving unit including right and left driving wheels disposed at corresponding right and left portions of the robot body,
A cleaning assembly disposed on the robot body,
The cleaning assembly
A pad holder disposed in front of the drive wheel and having a top portion and a bottom portion, the bottom portion having a bottom surface configured to receive the cleaning pad while being arranged within about 1/2 cm and about 1½ cm of the surface, The bottom surface comprising at least 40% of the robot footprint surface area and the bottom portion having a raised protrusion extending therefrom;
And an orbiting electric motor having an orbital range of less than 1 cm disposed in the upper portion of the pad holder,
The pad holder is configured to be able to transmit the trajectory range of the track vibrator exceeding 80% from the top of the received cleaning pad to the bottom surface of the received cleaning pad, the pad holder having a release mechanism, And configured to eject the pad from the bottom surface of the pad holder in operation. 23. The cleaning assembly of claim 22, wherein the cleaning assembly comprises:
A reservoir for retaining fluid volume, and
Further comprising a fluid applicator in fluid communication with the reservoir and configured to apply fluid along a forward drive direction in front of the pad holder. 23. The robot of claim 22, wherein the cleaning pad is configured to absorb about 90% of the fluid volume retained in the reservoir. 23. The robot of claim 22, further comprising a backside layer on the cleaning pad for engaging the pad holder. 26. The robot of claim 25, wherein at least one raised protrusion on the bottom of the pad holder is positioned to engage and align with a shaped slot cut from the backing layer. 23. The robot of claim 22, wherein the total weight of the robot not having any fluid is between about 1 kg and about 1.5 kg, and the total weight of the robot having fluid is between about 1.5 kg and 4.5 kg. 23. The robot of claim 22, wherein the robot applies fluid to the bottom surface at an initial volumetric flow rate to humidify the cleaning pad, wherein the initial volumetric flow rate is relatively higher than the subsequent volumetric flow rate when the cleaning pad is humidified. 29. The method of claim 28, wherein the initial volumetric flow rate is set to spray 1 mL of fluid every 30 cm for a period of about 1 to 3 minutes, the second volumetric flow rate is set to spray every 3 ft, Spray is a robot with volume less than 1 mL.

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