KR20200142473A - Robotic cleaner - Google Patents

Abstract

An autonomous floor cleaner or a floor cleaning robot of the present invention can include an autonomously movable housing and a driving system that autonomously moves the autonomously movable housing over a surface to be cleaned based on an input from a controller. A brush chamber, a waste receiver, and a supply tank can be formed as an integrated assembly which is detachable from the autonomously movable housing.

Description

Robot cleaner {ROBOTIC CLEANER}

The present invention relates generally to an autonomous floor cleaner for cleaning floor surfaces, comprising hard wood, tile and stone.

Autonomous or robotic floor cleaners can move and clean the floor surface without the help of a user or operator. For example, the floor cleaner may be configured to sweep garbage (including dust, hair, and other garbage) into a collection box provided in the floor cleaner or to clean the garbage using a cloth for collecting garbage. The floor cleaner may randomly move around the surface while cleaning the floor surface or may use a mapping/navigation system for guided navigation around the surface. Some floor cleaners are also configured to apply and soak in liquids to clean carpets, rugs, and other floor surfaces.

In one embodiment, the present invention relates to a floor cleaning robot. The floor cleaning robot includes an autonomously movable housing and a unitary assembly detachably mounted to the autonomously movable housing, the integrated assembly including a brush chamber, a garbage container, and a supply tank. Are doing. The floor cleaning robot further includes a brush roll disposed in the brush chamber, at least one fluid distributor in fluid communication with the supply tank, and a fluid transfer pump configured to control the flow of the cleaning fluid with the at least one fluid distributor. Are doing.

1 is a schematic diagram of an exemplary autonomous floor cleaner showing functional systems according to various embodiments described herein.
2 is a schematic diagram of the autonomous floor cleaner of FIG. 1 showing additional functional systems according to various embodiments described herein.
3 is an isometric view of the autonomous floor cleaner of FIG. 1 in the form of a floor cleaning robot according to various embodiments described herein.
4 is an isometric view of the bottom of the floor cleaning robot of FIG. 3.
5 is a side cross-sectional view of the floor cleaning robot of FIG. 3.
6 is a schematic diagram of a dusting assembly of the floor cleaning robot of FIG. 3.
Fig. 7 is an isometric view from below of the floor cleaning robot of Fig. 3 showing the bumper assembly.
Fig. 8 is an isometric view of the floor cleaning robot of Fig. 3 showing a fluid spray nozzle.
9 is a cross-sectional view of a tank assembly of the floor cleaning robot of FIG. 3.
10 is a schematic diagram of a wheel assembly that can be used in the floor cleaning robot of FIG. 1.
11 is a schematic diagram of another wheel assembly that may be used in the floor cleaning robot of FIG. 1.
12 is an isometric view of another floor cleaning robot according to various embodiments described herein.
13 is an isometric view of the floor cleaning robot of FIG. 12 showing the tank assembly.
14 is an isometric view of the tank assembly of FIG. 13 showing a fluid supply tank and a waste container.
Fig. 15 is an isometric view of the tank assembly of Fig. 14 showing the connection device between the fluid supply tank and the waste container.
16 is a front isometric view of another floor cleaning robot according to various embodiments described herein.
17 is a rear isometric view of the floor cleaning robot of FIG. 16.
FIG. 18 is a rear isometric view of the floor cleaning robot of FIG. 16 showing the tank assembly in a partially separated state.
19 is an enlarged view of part XIX of FIG. 18.
FIG. 20 is a rear isometric view of the floor cleaning robot of FIG. 16 with the tank assembly removed for clarity.
21 is a cross-sectional view taken along the line XXI-XXI of FIG. 16.
FIG. 22 is an enlarged isometric cross-sectional view taken along line XXI-XXI of FIG. 16, showing the brush chamber of the floor cleaning robot of FIG. 21;
23 is an isometric view of the bottom of the tank assembly of the floor cleaning robot of FIG. 16;
FIG. 24 is a side view of the tank assembly of FIG. 23 showing the lid in a partially separated state.
25 is an isometric view of the tank assembly of FIG. 24;
FIG. 26 is an isometric view of the lower portion of the tank assembly of FIG. 24 with the lid removed.
FIG. 27 is a cross-sectional view taken along the line XXVII-XXVII in FIG. 17.
28 is an isometric view of another tank assembly that may be used in the floor cleaning robot of FIG. 16.
29 is an isometric view of another tank assembly that may be used in the floor cleaning robot of FIG. 16.
30 is an isometric view of another tank assembly that may be used in the floor cleaning robot of FIG. 16.

The present invention relates generally to an autonomous floor cleaner for cleaning floor surfaces, comprising hard wood, tile and stone. More specifically, the present invention relates to an apparatus, system and method for sweeping and mopping with an autonomous floor cleaner.

1 and 2 show schematic diagrams of an autonomous floor cleaner, such as a floor cleaning robot 10, also referred to herein as a robot 10. The illustrated robot 10 is only one example of a floor cleaning robot configured to sweep the floor, as well as performing a dusting, mopping or otherwise wet cleaning operation cycle, and as a non-limiting example, liquid, steam, Other autonomous cleaners requiring fluid supply or fluid recovery are also contemplated, including autonomous floor cleaners capable of delivering sprays or vapors to the surface to be cleaned.

The robot 10 may include several components of a system of various functions of an autonomously movable device. The robot 10 may comprise a main housing 12 (FIG. 3) adapted to selectively mount the various components of the system to form an integrated movable device. The controller 20 is operably connected to various functional systems of the robot 10 in order to control the operation of the robot 10. The controller 20 may be a microcontroller unit (MCU) including at least one central processing unit (CPU).

In order to guide the movement of the robot 10 on the surface to be cleaned, create and store a map of the surface to be cleaned, and record state or other environmental variable information, the navigation/mapping system 30 is used for the robot 10 ) Can be provided. The controller 20 may receive input from the navigation/mapping system 30 or from a remote device such as a smartphone (not shown) to send the robot 10 over the surface to be cleaned. The navigation/mapping system 30 includes, by way of non-limiting examples, a map for navigation, inputs from various sensors used to guide the movement of the robot 10, and the like, and provides a navigation, mapping, or operation cycle. It may include a memory 31 capable of storing all data useful for performing. For example, the wheel encoder 32 may be disposed on a drive shaft of a wheel coupled to the robot 10 and may be configured to measure a distance traveled by the robot 10. The distance measurement value may be provided as an input to the controller 20.

In the autonomous operation mode, the robot 10 uses inputs from various sensors to change direction as necessary to avoid obstacles or adjust its own course, while cleaning the floor surface, a boustrophedon method. ) Or in an alternating manner (in other words, the robot 10 moves from right to left and the next row from left to right), a spiral trajectory, etc., to be configured to move in any pattern useful for cleaning or sanitation. I can. In the manual operation mode, the movement of the robot 10 may be controlled using a mobile device such as a smartphone or tablet.

The robot 10 also has a sweeper 40 that removes at least debris from the surface to be cleaned, a fluid delivery system 50 that stores cleaning fluid and delivers the cleaning fluid to the surface to be cleaned, and removes wet dust and other garbage from the surface to be cleaned. It may include a mopping or dusting assembly 60 to be removed, and a component of a drive system 70 for autonomously moving the robot 10 over a surface to be cleaned.

The sweeper 40 may include at least one stirrer for whipping the surface to be cleaned. The stirrer may be in the form of a brush roll 41 mounted to be rotated about a substantially horizontal axis with respect to the surface on which the robot 10 moves. A drive assembly including a separate dedicated brush motor 42 may be installed in the robot 10 to drive the brush roll 41. Other stirrers or brush rolls may be installed, including one or more stationary or immobile brushes, or one or more brushes rotating about a substantially vertical axis. Additionally, a garbage container 44 (FIG. 4) such as a garbage bin may be provided to collect dust or garbage from the brush roll 41.

The fluid delivery system 50 includes a supply tank 51 for storing a cleaning fluid and at least one fluid distributor 52 in fluid communication with the supply tank 51 to distribute the cleaning fluid to a surface to be cleaned. can do. The cleaning fluid may be, for example, a liquid such as water or a cleaning solution specially prepared for cleaning hard or soft surfaces. The fluid distributor 52 may be one or more spray nozzles provided in the housing 12, and the nozzles have an orifice of sufficient size to prevent waste from easily clogging the nozzle. As an alternative embodiment, the fluid distributor 52 may be a manifold having a plurality of distributor outlets.

A pump 53 may be installed in a fluid path between the supply tank 51 and the at least one fluid distributor 52 in order to control the flow of fluid to the at least one fluid distributor 52. The pump 53 can be driven by a pump motor 54 to move the liquid at any flow rate useful for the cleaning operation cycle.

Various combinations of optional components, such as a heater 56 or one or more fluid conditioning and mixing valves, may be incorporated into the fluid delivery system 50. The heater 56 may be configured to warm the cleaning fluid before applying the cleaning fluid to the surface to be cleaned, for example. As an embodiment, the heater 56 may be an in-line fluid heater between the supply tank 51 and the distributor 52. As another example, the heater 56 may be a steam generating assembly. The steam generating assembly is in fluid communication with the supply tank 51 so that some or all of the liquid applied to the bottom surface is heated to become steam.

The dusting assembly 60 may be used to disperse the dispensed fluid on the floor surface to remove wet dust and other debris. The dusting assembly 60 may include at least one pad 61 that may be selectively rotatable. For example, the at least one pad 61 may be driven to rotate about a vertical axis crossing the center of each pad 61. A drive assembly including at least one pad motor 62 may be provided as part of the dusting assembly 60. Each pad 61 may be selectively separated for cleaning and maintenance.

The drive system 70 may include a drive wheel 71 to drive the robot 10 over the entire surface to be cleaned. The drive wheels may be driven by a common wheel motor 72 or a separate wheel motor coupled with the drive wheels by means of a transmission device, which may include a gear train assembly or other suitable transmission device. The drive system 70 drives the robot 10 across the floor based on an input from the navigation/mapping system 30 for an autonomous operation mode or an input from a smartphone for a manual operation mode. In order to do so, it is possible to receive an input from the controller 20. The drive wheels 71 can be driven in a forward or reverse direction to move the device forward or backward. In addition, the driving wheels 71 may be operated simultaneously at the same rotational speed for linear motion, or may be independently operated at different rotational speeds to rotate the robot 10 in a desired direction.

The robot 10 may include any number of motors useful for performing movement and cleaning. As an example, five dedicated motors may be installed to rotate each of the two pads 61, each of the brush roll 41, and the two drive wheels 71. In another example, one common motor may rotate both pads 61, the second motor may rotate the brush roll 41, and the third motor and the fourth motor may each drive wheel 71 ) Can be rotated. In another example, one common motor may rotate the pad 61 and the brush roll 41, and the second motor and the third motor may rotate each drive wheel 71.

In addition, in order to control the brush motor 42, the pump motor 54, the pad motor 62, and the wheel motor 72, respectively, the brush motor driver 43, the pump motor driver 55, the pad motor driver 63 ), and a wheel motor driver 73 may be provided. The motor drivers 43, 55, 63, and 73 may function as an interface between the controller 20 and each of the motors 42, 54, 62, and 72 of the motor driver. The motor drivers 43, 55, 63, 73 may also be an integrated circuit chip (IC). Further, it is considered that one wheel motor driver 73 can simultaneously control a plurality of wheel motors 72.

Referring to FIG. 2, the motor drivers 43, 55, 63, and 73 (FIG. 1) may be electrically connected to a battery management system 80 including a built-in rechargeable battery or a removable battery pack 81. As an example, the battery pack 81 may include a lithium ion battery. A charging contact for the battery pack 81 may be provided on the outer surface of the robot 10. A docking station (not shown) may be provided with a corresponding charging contact capable of mating with a charging contact on the outer surface of the robot 10. The battery pack 81 may be selectively removed from the robot 10 so that it can be connected to the main power source through a DC transformer for replenishment of power, that is, charging. When the removable battery pack 81 is inserted into the robot 10, the removable battery pack 81 may be at least partially disposed outside the housing 12 (Fig. 3), or in a non-limiting example and implementation Depending on the form, it can be completely accommodated in a compartment within the housing 12.

The controller 20 is also operatively connected with a user interface (UI) 90 of the robot 10 to receive input from a user. The user interface 90 may be used to select an operation cycle for the robot 10 or to control the operation of the robot 10 in a different manner. The user interface 90 may have a display 91, such as an LED display, to provide a visual notification to the user. A display driver 92 may be provided to control the display 91, and the display driver 92 functions as an interface between the controller 20 and the display 91. The display driver 92 may be an integrated circuit chip (IC). The robot 10 may also have a speaker (not shown) to provide audible notifications to the user. The robot 10 may also be equipped with one or more cameras or stereoscopic cameras (not shown) to capture visual notifications from the user. In this way, the user can transmit a command to the robot 10 by gesture. For example, the user may wave his or her hand in front of the camera in order to instruct the robot 10 to stop or move away. The user interface 90 may also have one or more switches 93 operated by the user to provide input to the controller 20 to control the operation of various components of the robot 10. A switch driver 94 may be provided to control the switch 93, and the switch driver 94 functions as an interface between the controller 20 and the switch 93.

The controller 20 may also be operatively connected with various sensors to receive inputs to the environment and may use sensor inputs to control the operation of the robot 10. The sensor detects various structures of the surrounding environment of the robot 10, including, but not limited to, walls, floors, chair legs, table legs, footrests, pets, consumers, and other obstacles. can do. The sensor input can also be stored in memory or used to develop maps for navigation. Some exemplary sensors are shown in FIG. 2 and described below. It is understood that not necessarily all the sensors shown may be provided, but additional sensors may be provided, and all of the possible sensors may be provided in any combination.

The robot 10 may include a position determination or position estimation system 100. The position estimation system 100 may include one or more sensors, including, by way of non-limiting example, the sensors described above. As one non-limiting example, the position estimation system 100 may include an obstacle sensor 101 for determining the position of the robot 10, such as a stereoscopic camera for sensing distance and position as a non-limiting example. I can. The obstacle sensor 101 may be mounted on the housing 12 (Fig. 3) of the robot 10, for example, in order to determine the distance to the obstacle in front of the robot 10, the housing ( 12) can be mounted on the front. When an object is detected, an input from the obstacle sensor 101 may be used to slow the speed of the robot 10 or adjust the course.

A bump senor 102 may be provided to the position estimation system 100 in order to determine a frontal impact or a side impact on the robot 10. The collision sensor 102 may be integrated with the housing 12 and, for example, the bumper 14 (FIG. 3 ). The output signal from the collision sensor 102 provides an input to the controller to select an obstacle avoidance algorithm.

The position estimation system 100 may also include a sidewall sensor 103 (also known as a wall following sensor) and a cliff sensor 104. The sidewall sensor 103 or the cliff sensor 104 may be an optical sensor, a mechanical sensor, or an ultrasonic sensor, including a reflection sensor or a time-of-flight sensor. The side wall sensor 103 may be disposed near the side of the housing 12 and provides distance feedback and controls the robot 10 so that the robot 10 can move along the vicinity of the wall without contacting the wall. It may include an optical position sensor disposed toward the side. The cliff sensor 104 provides distance feedback and an optics placed toward the floor controlling the robot 10 so that the robot 10 avoids excessive drops such as stairwells or shelves. It may be a position sensor.

The position estimation system 100 also uses a combination of at least one accelerometer, a gyroscope, and, optionally, a magnetometer or a compass, the acceleration of the robot 10, the angular velocity, or the magnetic field around the robot 10. It may also include an Inertial Measurement Equipment (IMU) 105 to measure and report. The inertial measurement equipment 105 may be an integrated inertial sensor disposed in the controller 20, and an accelerometer or a 9-axis gyroscope that detects linear acceleration, rotational acceleration or magnetic field acceleration. Can be The inertial measurement equipment (IMU) 105 may use acceleration input data to calculate changes in speed and posture to manipulate the robot 10 around the surface to be cleaned and transmit it to the controller.

The position estimation system 100 also includes one or more lift-up sensors that detect when the robot 10 is lifted from the surface to be cleaned, for example, when a user picks up the robot 10. up sensor) 106. This information is sent to the controller 20, which can stop the operation of the pump motor 54, brush motor 42, pad motor 62, or wheel motor 73 in response to a detected lift-up event. Is provided as an input to. The lift-up sensor 106 may detect when the robot 10 contacts a surface to be cleaned, for example, when a user puts the robot 10 back on the ground. With this input, the controller 20 can resume the operation of the pump motor 54, the brush motor 42, the pad motor 62, or the wheel motor 73.

The robot 10 may selectively include one or more tank sensors 110 in order to detect the characteristics or status of the supply tank 51 or the garbage container 44. As an example, one or more pressure sensors for sensing the weight of the supply tank 51 or the waste container 44 may be provided. In another example, one or more magnetic sensors may be provided to detect the presence of the supply tank 51 or the waste container 44. This information is, as a non-limiting example, until the supply tank 51 is filled, or until the waste container 44 is emptied, or until the supply tank 51 and the waste container 44 are properly installed. It is provided as an input to the controller 20, which can prevent the operation of the robot 10. The controller 20 may also direct the display 91 to inform the user that either or both of the supply tank 51 and the waste container 44 are absent.

The robot 10 may also include one or more floor condition sensors 111 that detect the condition of the surface to be cleaned. For example, the robot 10 may include an IR dust sensor, a stain sensor, an odor sensor, or a wet garbage sensor. The floor condition sensor 111 provides an input to a controller capable of instructing the operation of the robot 10 based on the condition of the surface to be cleaned, for example, by selecting or changing a cleaning cycle. Optionally, the floor condition sensor 111 may provide an input to the display of the smartphone.

An artificial barrier system 120 may be provided to include the robot 10 within a user-determined boundary. The artificial barrier system 120 includes a barrier housing having at least one signal receiver for receiving signals from the robot 10 and at least one IR transmitter emitting an encoded IR beam in a predetermined direction for a predetermined period of time. It may include an artificial barrier generator (121). The artificial barrier generator 121 may be battery operated operated by a rechargeable battery or a non-rechargeable battery, or may be connected directly to the mains. As one non-limiting example, the receiver includes a microphone configured to sense a predetermined threshold sound level that matches the sound level emitted by the robot 10 when the robot 10 is within a predetermined distance from the artificial barrier generator. Can include. Optionally, the artificial barrier generator 121 may further comprise a plurality of IR emitters near the base of the barrier housing, configured to emit a plurality of short field IR beams around the base of the barrier housing. have. The artificial barrier generator 121 may be configured to selectively emit one or more IR beams for a predetermined period of time only after the microphone detects a critical sound level indicating that the robot 10 is nearby. Accordingly, the artificial barrier generator 121 can save power by emitting the IR beam only when the robot 10 is near the artificial barrier generator 121.

The robot 10 detects the IR signal emitted from the artificial barrier generator 121 and outputs the corresponding signal to the controller 20, so that a plurality of IR transceivers (" IR XCVR") can have 123, which makes it possible to adjust the driving wheel control parameter to adjust the position of the robot 10 to avoid the boundary defined by the artificial barrier-encoded IR beam and the short field IR beam. Based on the received IR signal, the controller 20 prevents the robot 10 from crossing the artificial barrier 122 or colliding with the barrier housing. The IR transceiver 123 is the robot 10. If provided, it may be used to guide towards the docking station.

In operation, an artificial barrier generator 121 so that sound (or light) emitted from the robot 10 greater than a threshold signal level is sensed by a microphone (or photodetector) and emits one or more encrypted IR beams for a predetermined period of time. ). When the IR transceiver 123 mounted on the robot 10 detects the IR beam and outputs a signal to the controller 20, the controller continues to perform the cleaning operation on the surface to be cleaned, and the artificial barrier system 120 The drive system 70 is manipulated to adjust the position of the robot 10 to avoid the barrier 122 set by it.

The robot 10 may be operated in one of a plurality of modes. The plurality of modes may include a wet mode, a dry mode, and a sanitization mode. During the wet operation mode, the liquid from the supply tank 51 is applied to the bottom surface and the brush roll 41 and pad 61 rotate. During the dry mode of operation, the brush roll 41, the pad 61, or a combination thereof rotates and no liquid is applied to the floor surface. During the sanitizing operation mode, the liquid from the supply tank 51 is applied to the floor surface, the brush roll 41 and the pad 61 rotate, and the liquid applied by the robot 10 is applied to the surface of the floor for a predetermined period. You can choose a movement pattern to remain. The predetermined period may be any duration during which the sanitization of the floor surface can be performed, including, by way of non-limiting example, 2 to 5 minutes. However, hygiene treatment can be achieved in a period of less than 2 minutes and as short as 15 seconds.

It is also contemplated that the pump 53 (FIG. 1) can be driven according to a pulse width modulated (PWM) signal 28. Pulse width modulation is a communication method by generating a pulse generating signal. Pulse width modulation can be used to adjust the amplitude of a digital signal to control devices and devices that require power or electricity, such as pump motor 54. The PWM signal 28 can adjust the amount of power given to the pump 53 by cycling the on phase and the off phase of the digital signal at a predetermined frequency and by changing the width of the "on" phase. The width of the "on" phase is also known as the duty cycle, and the duty cycle is expressed as a percentage of the "fully on" state (100%). The pump 53 is essentially a result of the duty cycle and is capable of receiving a steady power input with an average voltage value that may be less than the maximum voltage that can be supplied from the battery pack 81. The PWM signal 28 may be transmitted from the controller 20 and may be configured to provide a set flow rate of the deposited cleaning fluid. As one non-limiting example of operation, the PWM signal 28 periodically applies voltage to the pump 53 for a first predetermined duration, e.g. 40 milliseconds, followed by a second predetermined duration. During, for example, for 2 seconds, the power of the pump can be cut off at a frequency of 50 Hz and a duty cycle of 40%. For example, by increasing either or both of the duty cycle and frequency, a higher flow rate can be achieved. In this way, the controller 20 can provide any suitable or tailored flow rate, including a low flow rate, from the pump 53 receiving power from the battery pack 81.

3 shows an exemplary robot 10 that may include the systems and functions described in FIGS. 1 to 2. As shown in FIG. 3, the robot 10 may include a D-shaped housing 12 having a first end 13 and a second end 15. The first end 13 is a straight edge portion of the D-shaped housing 12 and defines a housing front 11 of the robot 10, which may be formed by a bumper 14. The second end 15 may define a rear housing 16 which is a round portion of the D-shaped housing 12. As shown in FIG. 3, the battery pack 81 and the supply tank 51 may be mounted on the housing 12.

The forward movement of the robot 10 is indicated by arrow 17, and the bumper 14 surrounds the first end 13 of the robot 10 and follows the D-shaped front portion of the robot 10. A side portion 18 is provided. In the example shown, the bumper 14 includes a lower crenellated structure 19 which is described in more detail below. During a collision with an obstacle, the bumper 14 can change its posture or translate to record the detection of the object.

The robot 10 is shown in a bottom perspective view in FIG. 4, and in FIG. 4, the bottom portion 21 of the housing 12 can be seen. The robot 10 has a sweeper 40 with a brush roll 41, at least one wheel assembly with a drive wheel 71, and a dusting assembly, shown as having two circular pads 61 ( 60) may be included. The brush roll 41 may be located in the brush chamber 22. The brush roll 41 and the brush chamber 22 may be disposed close to the first end 13, for example, close to the straight edge portion of the housing 12. Along the bottom surface of the robot 10 and for the forward movement of the robot 10, the sweeper 40 is mounted in front of the pad 61 and the drive wheel 71 is the sweeper 40 and the pad 61 ) Are placed between. Additionally, a waste container 44 may be located adjacent to the brush roll 41 and the brush chamber 22. In the illustrated example, the garbage container 44 is positioned between the brush chamber 22 and the pad 61 in line with the drive wheels 71.

The robot 10 may also include one or more casters 74 installed behind the brush chamber 22. The leg wheel 74 may include, as a non-limiting example, a wheel mounted on an axle or an omnidirectional ball that rolls in various directions. One or more casters 74 may, as an example, be used to maintain a minimum distance between the surface to be cleaned and the bottom portion 21 of the robot 10.

In another example (not shown), a rubber squeegee may be selectively installed on the housing 12, for example, behind the pad 61. In this case, the rubber cleaner may be configured to contact the surface to be cleaned when the robot 10 moves over the entire surface to be cleaned. The rubber vacuum cleaner can wipe the remaining liquid off the surface to be cleaned, thereby giving the surface to be cleaned a moisture and streak-free finish. In the case of dry use, it is possible to prevent the rubbish of the rubber cleaner from being driven out by the brush roll 41 to the rear portion of the robot 10.

5 is a side cross-sectional view of the robot 10. The supply tank 51 and the waste container 44 may be separate components within the robot 10. As an alternative embodiment, the supply tank 51 and the waste container 44 can be integrated into one tank assembly.

The supply tank 51 will include at least one supply reservoir 51R to store liquid for spraying on the surface of the floor to be cleaned by the dusting assembly 60 via the pump 53 (FIG. 1). I can. The waste container 44 may include at least one container reservoir 44R, and may include a container inlet 45 that is directly adjacent to the brush chamber 22 and opens to the brush chamber 22. . The brush chamber 22 may include a partition having an inclined front surface 24 provided at the bottom of the container inlet 45 to guide the waste to the waste container 44. In operation, dust or debris swept away by the rotation of the brush roll 41 is moved through the brush chamber 22, including being moved along the inclined front surface 24 by the brush roll 41 It can be, and can be driven into the garbage container 44 through the container inlet (45).

Optionally, a pad holder 64 may be used to mount the circular pad 61 to the housing 12. In this case, the pad holder 64 may comprise a rotating plate and may form the bottom of the base of the dusting assembly 60. The pad holder 64 may include a bottom cover, and a motor shaft of the pad motor 62 extends through the bottom cover. The pad motor 62 rotates the motor shaft through a suitable transmission device, such as a worm gear assembly capable of rotating the pad holder 64 and, consequently, the pad 61. The coupling between the motor shaft and the rotatably driven pad holder 64 defines a vertical axis of rotation for the pad 61.

In order to remove the pad 61 for cleaning, the dusting assembly 60 may include an optionally removable element. As one non-limiting example, the selectively removable element may be the pad 61, in which case the user or consumer may remove the pad 61 for cleaning or replacement. As another non-limiting example, the removable element comprises a removable element such as a pad holder 64 connecting the pad 61 to the pad motor 62. In this case, the consumer may disengage the removable element (e.g., pad holder 64) through any suitable separation means and then remove the pad 61 from the removable element for cleaning or replacement. I can. As an example, the removable element is disengaged from the robot 10 via an actuator 65 connected directly to a mechanical catch and latch assembly. It is also contemplated that the pad holder 64 may be rotatable with the pad 61 within the dusting assembly 60.

As an alternative embodiment, or in addition to the above optional removable element, a cleaning station (not shown) may be provided to assist in cleaning or replacing the pad 61 of the dusting assembly 60. . The robot 10 may be placed in a cleaning station and may be used or assisted in cleaning work on the pad 61. As an example, the cleaning station may include a surface having a plurality of bosses or nubs for stirring the bottom of the pad 61. The robot 10 may operate the self-cleaning mode, and in this self-cleaning mode, the pad 61 is provided with the plurality of protrusions or nodes in order to perform a stirring process of mechanically cleaning the pad 61 It rotates while in contact with.

6 shows additional details of the dusting assembly 60. The robot 10 may optionally include a pad-lifting assembly 66 that selectively and automatically lifts the pad 61 from the floor surface whenever the robot 10 completely stops. In the example shown, a dusting assembly 60 comprising a rotating pad 61 is placed in a movable frame comprising a spring 67 that is pressed to provide a vertical gap between the pad 61 and the floor surface. Are combined. The user may, for example, operate the microswitch 68 to move the dusting assembly 60 to a lowered position in which the pad 61 contacts the floor surface from an elevated position in which the pad 61 is not in contact with the floor surface. By pressing the button 75 that displaces the furnace downward, the cleaning operation cycle can be initiated. The dusting assembly 60 may be optionally held in a lowered position by a clasp 69 that is selectively movable by another actuator 65 such as a solenoid. The robot 10 moves the clasp 69 after the cleaning operation cycle so that the spring 67 pushes the dust shaker assembly 60 to move the dust shaker assembly 60 back to the raised position, so that the dust shaker assembly 60 ) May be configured to operate the actuator 65 to disengage. In this way, the pad 61 may not come into contact with the floor surface during drying, thereby preventing streaking and staining on the floor surface immediately below the pad 61.

In another example (not shown), the pad-lifting assembly 66 is an actuator, such as a solenoid, configured to cause a linear motion to extend the leg wheel 74 downward from the first raised position to the second lowered position. It may include a leg wheel 74 coupled to. The casters 74 can move downwards to contact the surface of the floor and at that point lift at least the rear portion of the robot 10 until the pads 61 are no longer in contact with the floor surface. In another example, the robot 10 may selectively engage a pad-lifting assembly 66 to lift the pad 61 off the floor surface upon completion of a predetermined cleaning operation cycle.

In another example (not shown), the robot 10 may change the speed and direction of rotation of the pad 61. The robot 10 may select a speed and rotation according to an operation cycle in order to assist or improve the movement or cleaning of the robot 10. As an example, the pads 61 can be rotated in the opposite direction so that the front edge of each pad 61 rotates away from the fluid distributor 52 (Figure 1) or spray nozzle 57 (Figure 8). have. The rotational speed may include any speed useful for carrying out a cleaning operation cycle, including, by way of non-limiting example, in the range of 80 to 120 rotations per minute. However, slower and faster rotational speeds may be advantageous for specialized cleaning modes.

7 shows the underside of the robot 10 with the bumper 14 shown in further detail. The lower portion of the bumper 14 may include a crenellated structure 19 in which a merlon 25 and a crenel 26 are alternately arranged. In other words, the lower part of the bumper 14 is a series of protruding introductions that direct the trash into the opening (bulb 26) arranged along the lower tip edge of the bumper 14 between adjacent convex walls 25. It has a convex wall (25). This configuration allows trash to pass through the gun barrel 26, and through a sensor in the front bumper 14, the robot 10 can detect surface changes, such as a change from a hard surface to a carpet or carpet. Allows you to The convex wall 25 may be formed in a substantially trapezoidal cross-section, and the short bottom portion of the trapezoid forms the tip edge of the bumper 14 with respect to the forward movement of the robot 10. In this way, the garbage will be moved along the leg of the trapezoidal convex wall 25 to the sweeper 40 (e.g., brush roll 41 and brush chamber 22) disposed behind the bumper 14. I can. In another example (not shown), in order to prevent the collected garbage from unintentionally spilling out of the garbage container 44 while transporting or removing the collected garbage to the waste container, the garbage container 44 is provided with a flapper. ) Can be included.

8 is an isometric view of the robot 10 showing additional details of the fluid delivery system 50. In the illustrated example, the distributor 52 includes a spray nozzle 57 connected to allow fluid to flow to the supply tank 51 (FIG. 3) through a pump 53. The spray nozzle 57 may be positioned between adjacent pads 61 as shown in FIG. 8. As an example, the cleaning fluid ejected from the spray nozzle 57 can be sprayed directly onto the floor surface, and the rotating pad 61, including during the wet operation mode of the robot 10, as described above. , Sprayed cleaning fluid can be absorbed and removed to the floor surface.

A cross-sectional view of the waste container 44 and the supply tank 51 is shown in FIG. 9. The supply tank 51 may also include a valve 58 having an outlet 59 connected to allow fluid to flow to a downstream portion of the fluid delivery system, such as a spray nozzle 57 (FIG. 8 ). . As an example, the valve 58 may be formed of a plunger valve detachably mounted on an open neck of the bottom portion of the supply tank 51. A mechanical closing member 29, such as a threaded cap, can secure the valve 58 to the supply tank 51 and can be easily removed to refill the supply tank 51 if necessary. . In the illustrated example, the supply tank 51 includes one supply reservoir 51R for storing water or a mixture of water and detergent. In another example (not shown), the supply tank 51 may include a first reservoir for storing water and a second reservoir for storing detergent. The robot 10 may include a plurality of supply tanks, a supply tank having a plurality of reservoirs or chambers, or a similar one, or a combination thereof to store the cleaning fluid in the robot 10. I think there is.

10 is a schematic view of the wheel assembly 76 of the robot 10 with parallel linkage 77 and tension springs 78. In the illustrated example, the wheel assembly 76 includes one or more drive wheel subassemblies. The drive wheel subcomponent comprises at least one drive wheel 71 connected to the wheel housing 79 via at least one linkage device 77. The at least one linkage device 77 may comprise any element useful for lifting or lowering the wheel 71 relative to the wheel housing 79. The wheel housing 79 is connected to the housing 12 or chassis of the robot 10. Additionally, tension spring 78 may include a first end 83 connected to a sensor installed in housing 12, such as housing 12 or lift-up sensor 106 (FIG. 2 ). The second end 84 of the tension spring 78 is any suitable part of the robot 10, as a non-limiting example, an exemplary first position 85 on the housing of the wheel motor 72, or at least It can be connected to an exemplary second location 86 just above one connection device 77.

While the robot 10 is moving, when the driving wheel 71 crosses an obstacle such as a threshold or an electric wire, the pad 61 maintains contact with the floor surface with the help of a tension spring 78 , The drive wheel 71 can partially ascend to the wheel housing 79 while the connecting device 77 can rotate. While the robot 10 is moving, if the driving wheel 71 does not come into contact with the floor surface, the driving wheel 71 may descend from the wheel housing 79 and the robot 10 may be lifted from the floor surface. Indicates that it is open.

11 is a schematic view of another wheel assembly 76B similar to the wheel assembly 76 above. One difference is that the wheel assembly 76B includes a compression spring 78B that presses the drive wheel 71 down towards the surface to be cleaned. Another difference is that the wheel assembly 76B may comprise a non-parallel first connector and a second connector 77A, 77B connecting the drive wheel 71 to the wheel housing 79. Non-parallel connecting devices 77A, 77B, as an example, when the robot 10 crosses an obstacle such as a flooring threshold or an electric wire, the driving wheel 71 is moved in a suitable direction or path of movement. It can be used in combination with the compression spring (78B) to direct it to. Compression spring 78B is in either the first position 85B of the housing of the wheel motor 72 or the non-parallel coupling device 77A, 77B as indicated by the second position 86B. Can be connected directly.

Referring now to FIG. 12, there is shown another autonomous floor cleaner such as another floor cleaning robot 210 that may include the various functions and systems described in FIGS. 1 to 2. The robot 210 is similar to the robot 10; Accordingly, similar parts will be indicated by giving a similar reference number plus 200, and the description of the similar parts of the robot 10 also applies to the robot 210, except in the case specified.

The robot 210 may include a D-shaped main housing 212 adapted to selectively mount the components of the system to form an integrated movable device. One difference is that the robot 210 may include a sweeper 240 that does not include a dusting assembly as described above.

Another difference is that the robot 210 can be driven in the opposite direction compared to the robot 10, and in this case, the arrow 217 indicates the moving direction of the robot 210 while it is operating. More specifically, a first end 213 forming a straight edge portion of the D-shaped housing 212 may define the rear surface 216 of the housing, and a round edge of the D-shaped housing 212 The forming second end 215 may define the front surface 211 of the housing.

Another difference is that the robot 210 may include an integrated or integrated tank assembly 246. Referring to FIG. 13, the integrated tank assembly 246 may include a supply tank 251 and a waste container 244. Tank assembly 246 is shown partially removed from housing 212. It is contemplated that the tank assembly 246 may be selectively removed by the consumer such that the supply tank 251 and the waste container 244 are removed together in a single action. For example, the tank assembly 246 includes a hook-and-catch mechanism in which the hook 247 of the tank assembly 246 is coupled with the catch 248 of the housing 212 of the robot 210. It may include. A handle 249 may be provided on the tank assembly 246, in which case the user can hold the handle 249 and rotate the tank assembly 246 to separate the tank assembly 246 from the housing 212. .

It is also contemplated that the tank assembly 246 may at least partially define the brush chamber 222. For clarity, brush rolls are not shown in FIG. 13; However, any suitable stirrer comprising one or more brush rolls may be provided. As described above, the brush chamber 222 may be opened to the garbage container 244. In the illustrated example, when the robot 210 moves in the direction indicated by arrow 217, a brush roll (not shown) may be disposed behind the housing 212. Optionally, bumper 214 may form second end 215 of housing 212.

14 shows the tank assembly 246 in a state separated from the supply tank 251 and the waste container 244. The supply tank 251 may be disposed above the waste container 244. It is also contemplated that the waste container 244 may be selectively removable from the supply tank 251. Any suitable mechanism may be used, such as a second hook and catch mechanism (not shown) between the supply tank 251 and the waste container 244. A release button 295 or other actuator may optionally be provided for selective separation of the waste container 244 from the tank assembly 246.

15 shows the removal of the waste container 244 from the supply tank 251. For example, for complete removal and cleaning of the waste container 244, the waste container 244 can be rotated downward away from the supply tank 251 to access the container storage 244R. The consumer can remove the tank assembly 246 in a single action to fill the supply tank 251 with cleaning fluid and remove the trash from the garbage container 244. It can also be seen that the removal of the supply tank 251 and the waste container 244 can improve usefulness.

Referring now to FIGS. 16-17, there is shown another autonomous floor cleaner such as another floor cleaning robot 410 that may include the various functions and systems described in FIGS. 1 to 2. The robot 410 is similar to the robot 10; Accordingly, similar parts will be indicated by giving a similar reference number plus 400, and the description of the similar parts of the robot 10 also applies to the robot 410, except when specified.

Robot 410 may include a D-shaped main housing 412 adapted to selectively mount the components of the system to form an integrated movable device. The D-shaped main housing 412 has a first end 413 and a second end 415. The robot 410 may be driven in the opposite direction compared to the robot 10, and in this case, the arrow 417 indicates the moving direction of the robot 410 while the robot 417 is operating. More specifically, the first end 413 forming the straight edge portion of the D-shaped housing 412 may define the rear surface 416 of the housing, and the round edge of the D-shaped housing 412 is The forming second end 415 may define the front surface 411 of the housing. Optionally, a bumper (not shown) may be installed at the second end 415.

Another difference is that the robot 410 may include a vacuum collection or recovery system for removing liquid and waste from the floor surface and storing the recovered liquid and waste in a waste container 444 (or collection tank). Details of one embodiment of the vacuum collection or recovery system of the robot 410 are described in more detail below.

Another difference is that the illustrated robot 410 does not include a mopping and dusting assembly as described above, but in other embodiments, the robot 410 is provided with one or more vertically rotating dusting pads as described above. can do.

Another difference is that the robot 410 includes an integrated or integrated tank assembly 446. The integrated tank assembly 446 may include at least a supply tank 451 and a waste container 444. It is also contemplated that the waste container 444 may be selectively removable from the supply tank 451. A cover 427 defining the brush chamber 422 may be formed with the tank assembly 446 or may be coupled to the tank assembly 446, and the housing 412 with the tank assembly 446 as one device. ) Can be removed from.

Referring to FIG. 18, it is contemplated that the tank assembly 446 can be selectively removed by the consumer so that the supply tank 451, the waste container 444, and the brush chamber 422 are removed together in a single measure. A handle 449 may be provided on the tank assembly 446, in which case the user can hold the handle 449 and rotate the tank assembly 446 to separate the tank assembly 446 from the housing 412. . It is believed that the handle 449 can serve two purposes. First, when the tank assembly 446 is attached to the housing 412, the handle 449 can be used to carry the entire robot 410. Second, if the tank assembly 446 is not attached to the housing 412, the handle 449 can be used to carry the tank assembly 446.

Tank assembly 446 can be attached to housing 412 using any suitable mechanism. In one exemplary embodiment, with further reference to FIG. 19, the robot 410 can completely separate the tank assembly 446 from the housing 412 for movement about axis A of the tank assembly 446. It may include a pivot connector, shown in Fig. 19, as a hook and catch mechanism to enable it. The hook and catch mechanism may include a hook 447 in the tank assembly 446 that engages the catch 448 in the housing 412 of the robot 410. Two hooks 447 may be provided on either side of the rear portion of the tank assembly 446 or on the cover 427, and corresponding catches 448 may be provided on both sides of the first end 313 or on the housing 412. ) May be provided on the rear surface 416 of the housing. As an alternative embodiment, a hook 447 may be provided in the housing 412 and a catch 448 may be provided in the tank assembly 446.

Additionally, a latch 433 may secure a portion of the tank assembly 446 to the housing 412. Of course, in other embodiments of the robot 410, the tank assembly 446 may be secured to the housing 412 using only a hook and catch mechanism or only a latch mechanism. The latch 433 includes a latch actuator, such as a latch button 434 that is pressed by a user to disengage the tank assembly 446. The latch 433 is a regular latch from the housing 412 of the tank assembly 446, such as a spring-biased latch actuated through any suitable latch, catch, or latch button 434. There may be other mechanical fixtures capable of connecting the tank assembly 446 and the housing 412 while allowing for regular separation.

In FIG. 18 the tank assembly 446 is shown partially removed from the housing 412. The tank assembly 446 can be removed from the housing 412 by pressing the latch button 434 and rotating the tank assembly 446 about axis A defined by the hook and catch mechanism, as shown in FIG. I can. Once the hook 447 leaves the catch 448, the tank assembly 446 can be lifted upwards from the housing 412. This process can be done with one hand. Optionally, the consumer can press the latch button 434 with the thumb of the same hand or another finger, so that the consumer can hold the handle 449 with one hand and activate the latch 433 with the same hand. So that the handle 449 can be placed close enough to the latch button 434, that is, close enough to the latch button 434. Having the tank assembly 446 removable from the top side of the housing 412 is that the tank assembly 446 can be removed even when the robot 410 is placed on a charging cradle or docking station. It also provides the benefit of charging the robot 410 or connecting it to a docking station.

Having a latch 433 in the housing 412 and a handle 449 in the tank assembly 246 can provide some additional benefits to the tank removal process. The consumer must press the housing 412 downward and simultaneously exert an opposite force to lift the tank assembly 446 upward. This leads to a clean breakaway between the two assemblies and helps to keep the housing 412 in place while removing the tank assembly 446. This can be particularly helpful if the robot 410 is on a filling pedestal or docking station when the consumer removes the tank assembly 446. The tank assembly 446 can be removed without touching any electrical connections required to charge the battery (not shown).

The tank assembly 446 combines the supply tank 451, the waste container 444, and the brush chamber 422 into one integrated assembly or module. These parts of the robot 410 are inspected most frequently, and providing them in one device allows the consumer to easily remove them. After the cleaning operation, the garbage container 444 is emptied and washed together with the brush chamber 422, since these two parts constitute a liquid and garbage collection path. The supply tank 451 will also probably need to be refilled after each operation.

As shown in FIG. 20, removing the tank assembly 446 from the housing 412 exposes the brush roll 441 and allows the consumer to easily access the brush roll 441. With the tank assembly 446 removed, the consumer can remove the brush roll 441 by lifting one end of the brush roll upward, as indicated by arrow B in FIG. 20. The consumer can then take the brush roll 441, optionally with the tank assembly 446, to the sink for inspection. Brush roll 441 can be washed after cleaning operation; Optionally, the user can also remove hair and other debris by hand.

After the inspection, the user may optionally dry either or both of the brush roll 441 and the tank assembly 446, and then, in order to prepare the robot 410 for the next cleaning operation, the brush roll 441 and The tank assembly 446 can be easily reassembled back to the housing 412. As noted above, during inspection or during drying of the inspected component, the housing 412 may be connected to or filled with a docking station.

Still referring to FIG. 20, in addition to the supply tank 451, the fluid delivery system may include at least one fluid distributor 452 in fluid communication with the supply tank 451 to apply the cleaning fluid to the surface. The illustrated fluid distributor 452 is a manifold having a plurality of distributor outlets. Other configurations of the fluid distributor 452 are possible. The fluid distributor 452 may optionally be disposed in front of the brush chamber 422 to dispense liquid in front of the brush roll 441, with respect to the front and rear portions 411 and 416 of the robot 410. have.

A pump 453 is installed in the fluid path between the supply tank 451 and the fluid distributor 452 and is connected to the inlet of the fluid distributor 452 by a first conduit 435. The second conduit 436 connects the pump 453 to the valve receiver of the housing 412 in order to connect the supply tank 451 and the fluid to flow when the tank assembly 446 is installed in the housing 12. 437). As described above, the pump 453 may be driven according to the pulse width modulation (PWM) signal 28 (FIG. 1).

The recovery system includes a recovery path passing through the robot 410 having an air inlet and an air outlet, a waste container 444 for receiving liquid and waste collected for later disposal, and operating air through the recovery path. It may include a suction source 438 in fluid communication with the brush chamber 422 and the garbage container 444 to generate the flow. The suction source 438 may include a vacuum motor arranged to allow a fluid to flow upstream of the air outlet, and may form a part of the recovery path. Optionally, a pre-motor filter and/or a post-motor filter (not shown) may be provided in the recovery path. The recovery path may also include various conduits, ducts, or tubes for fluid communication between the various components of the vacuum collection system.

The suction source 438 may be located downstream of the garbage receiver 444 in the recovery path. The suction source 438 may include a motor air inlet 439 connecting the waste container 444 to the suction source 438. In another embodiment, the suction source 438 may be arranged to allow fluid to flow upstream of the waste container 444.

21 is a side cross-sectional view of the robot 410. The supply tank 451 may include at least one supply reservoir 451R to store liquid for spraying on the surface of the floor to be cleaned through the pump 453. The waste container 444 may include at least one container reservoir 444R, and may include a separator 487 that separates liquid and waste from the working air stream.

The recovery system of robot 410 may include a dirty inlet defined by suction conduit 489. The dirty inlet or suction conduit 489 may be any kind of suction inlet suitable for the various applications described herein, including collecting waste and liquid from brush roll 441. In the illustrated embodiment, the dirty inlet or suction conduit 489 receives the brush roll 441 and connects the brush chamber 422 to the separator 487 from the brush chamber 422 to allow fluid to flow. It consists of an elongated duct that extends. Suction conduit 489 sucks waste and excess liquid from brush roll 441. The brush chamber 422 helps to confine the airflow that travels through the suction conduit 489 to the waste container 444. Suction conduit 489 may extend to separator 487 or may be formed integrally with separator 487.

The garbage container 444 may be located behind the supply tank 451 with respect to the direction 417 of the forward movement of the robot 410. The brush chamber 422 is disposed proximate the first end 413, for example, close to the straight edge portion of the housing 412 forming the housing rear surface 416.

In addition to the drive wheels 471 and the casters 474, the robot 410 may also include one or more additional wheels 482 proximate the first end 413 of the housing 412. The additional wheel 482 may be used, as an example, to maintain a minimum gap between the surface to be cleaned and the underside of the housing rear surface 416. The casters 374 may be disposed proximate the second end 415 of the housing 412 to maintain a minimum gap between the surface to be cleaned and the underside of the housing front 11.

22 is a cross-sectional view of the brush chamber 422. The brush chamber 422 substantially surrounds the front, rear, and upper sides of the brush roll 441 and is defined by a cover 427. The brush chamber 422 is open from the bottom of the brush roll 441 to contact the surface of the brush roll 411 to be cleaned. In the illustrated embodiment, a cover 427 extends over the housing 412 so that the housing 412 is not exposed to the brush roll 441, and in particular not exposed to sucked waste and liquids. This prevents garbage from accumulating in the housing 412. Rather, trash that has not been sucked into the trash container 444 may instead be accumulated in the cover 427 and the suction conduit 489 extending to the trash container 444. These portions can be removed with the tank assembly 446 so that any dust collected by the robot 410 will be cleaned out of the sink or other waste container. In other words, all surfaces of the robot 410 forming the recovery path are removable and can be easily cleaned.

In some embodiments, the brush chamber 422 includes a scraper 496, which removes liquid and debris from the brush roll 441 so that the liquid and debris are removed by the suction conduit 489. Stay in brush chamber 422 so that it can be removed. The scraper 496 may be mounted in the brush chamber 422 or installed in the brush chamber 422, and may extend toward the brush roll 441 so as to contact a portion of the brush roll 441. More specifically, the scraper 496 is configured to come into contact with the front portion of the brush roll 441 determined by the direction 417 of the forward movement of the robot 410. As the brush roll 441 rotates, the scraper 496 may scrape liquid and garbage from the brush roll 441. In addition, the scraper 496 can help to redistribute the liquid evenly along the length of the brush roll 441, which can help reduce the appearance of streaks on the surface to be cleaned.

As an example, the scraper 496 may be an elongated rib, a wiper, or a blade extending substantially over the horizontal length of the brush roll 441. The scraper 496 may have a thin or narrow edge 497 in contact with the brush roll 441, and may optionally be tapered to become a thin or narrow edge 497. Optionally, the edge 497 may be disposed substantially at right angles to a portion of the brush roll 441 where the edge abuts. As an alternative embodiment, the edge 497 may be disposed at an angle to the brush roll 441.

The scraper 496 may be installed inside the cover 427 to protrude into the brush chamber 422. The scraper 496 may be formed integrally with the cover 427 or may be formed separately from the cover 427 and attached within the cover 427 using any suitable connection method.

Optionally, the scraper 496 can be made rigid, that is, stiff and stiff, so that the scraper 496 is not bent or bent by abutting the brush roll 441. As an example, the scraper 496 may be formed of a hard thermoplastic material, such as polymethyl methacrylate (PMMA), polycarbonate, or acrylonitrile butadiene styrene (ABS). As an alternative embodiment, the scraper 496 may be flexible, that is, bend or resilient, so as to bend according to the contour of the brush roll 441.

During dry operation mode, liquid and dust are introduced into the brush chamber 422 to prevent scattering of dry dust when the brush roll 441 is rotating, as well as to reduce streak marks on the surface to be cleaned. For wiping, a rubber squeegee 498 may be installed in the brush chamber 422, behind the brush roll 441. The rubber cleaner 498 may be disposed in the cover 427, behind the brush roll 441, and is configured to contact the surface to be cleaned when the robot 410 moves over the entire surface to be cleaned. When the robot 410 moves forward, moisture or garbage that comes into contact with the rubber cleaner 498 is mixed in the air flow moving to the garbage container 444 through the suction conduit 489. The rubber cleaner 498 includes a nub or rib on a rearward-facing surface that facilitates the passage of liquid and waste under the rubber cleaner 498 when the robot 410 moves backward. can do. The opposite side of the rubber cleaner 498, or the side facing forward, effectively moves the surface moisture to confine the surface moisture in the brush chamber 422 to entrainment in the airflow when the robot 410 moves in the forward direction. It can be a smooth surface. The rubber cleaner 498 bends easily according to the external shape of the surface to be cleaned, but in order to remain undeformed by the normal operation of the robot 410, it can be flexibly, in other words, bent or elastic well. have. Optionally, the rubber cleaner 498 is a rubber copolymer such as ethylene propylene diene monomer (EPDM) rubber, polyvinyl chloride (PVC), nitrile butadiene rubber, or in the art. It may be formed of a resilient polymeric material, such as any material known to have sufficient stiffness to remain substantially undeformed during normal operation of the robot 410. FIG. 22 shows a state in which the rubber cleaner 498 is not bent, but when the robot 410 moves forward in the direction indicated by arrow 417 during operation, the rubber cleaner 498 contacts the floor surface. It should be noted that 498) can bend backwards.

20 and 23, when the tank assembly 446 is assembled or reassembled with the housing 412, one or more connections between the components of the tank assembly 446 and the components of the housing 412 This is done. For example, the supply tank 451 may be connected to the pump 453 and the waste container 444 may be connected to the suction source 438.

The supply tank 451 may further include a valve 458 connected to the valve receiver 437 of the housing 412. When the tank assembly 446 is installed in the housing 412, the valve 458 is opened by engagement with the valve receiver 437, and liquid can flow to the pump 453 through the conduit 436. As an alternative embodiment, a direct connection can be made between valve 458 and pump 453 as soon as tank assembly 446 is installed in housing 412. As yet another alternative embodiment, various other fluid connectors, conduits, ducts, or tubes may be installed to transport liquid from the supply tank 451 to the inlet of the pump 453.

When the waste container 444 is connected to the air inlet 439 of the suction source 438 or is formed in the housing 12 and the waste container 444 is installed in the housing 412, the suction source 438 and fluid It may include an air outlet 499 communicating. The connection made between the air outlet 499 and the inlet 439 may be made to be fluid sealed and may include a suitable sealant. As an alternative embodiment, a variety of other fluid connectors, conduits, ducts, or tubes may be installed to convey the working air from the waste container 444 to the inlet of the suction source 438.

With reference to FIGS. 24-25, the tank assembly 446 may optionally include an openable and/or removable lid 500 to further assist the user in cleaning the tank assembly 446. The lid 500 may form a lid or a closing portion for the waste container 444, and may optionally include a supply tank 451. The lid 500 may be fixed to the lower portion 501 of the tank assembly 446. The lower portion 501 may include at least a waste container 444, or at least a container storage 444R of the waste container 444. In the illustrated embodiment, the lower portion 501 further includes a cover 427, a brush chamber 422, a suction conduit 489, and a separator 487. In some embodiments, for example, by rotating the lid 500 about a pivot axis away from the waste container 444 or the lower portion 501 to open the container reservoir 444R, the lid ( 500) may be made openable while remaining attached to the waste container 444 or the lower portion 501. In another embodiment, the lid 500 may be made openable by allowing the lid 500 to be completely removable from the waste container 444 or the lower portion 501.

Lid latch 502 may secure lid 500 to lower portion 501 of tank assembly 446. The lid latch 502 includes a latch button 503 pressed by the user to disengage the lid 500 from the lower portion 501. The lid latch 502 is a rule from the lower portion 501 of the lid 500, such as any suitable latch, catch, or spring-biased latch actuated through the latch button 503. There may be other mechanical fasteners capable of connecting the lid 500 and the lower portion 501 while allowing for regular separation. A latch receiver 504 may be provided on lid 500 to receive lid latch 502 and secure lid 500 to lower portion 501.

In addition, the tank assembly 446 allows the lid 500 to be moved about an axis C, shown as a hook and catch mechanism that allows the lid 500 to be completely separated from the lower portion 501. It may include a pivot connector. The illustrated hook and catch mechanism includes a hook 505 in the lower portion 501 that engages the catch 506 in the lid 500. A plurality of hooks 505 and catches 506 may be provided. As an alternative embodiment, a hook 505 may be provided on the lid 500 and a catch 506 may be provided on the lower portion 501. In another embodiment, to allow the lid 500 to rotate between the open and closed positions, without the lid 500 being completely separated from the lower portion 501, the tank assembly 446 is axially C) may be pivotally mounted on the lower portion 501 around the center.

24-25, the lid 500 is shown with the lid 500 partially removed from the lower portion 501. The lid 500 can be removed by pressing the latch button 503 and rotating the lid 500 around the axis C away from the lower portion 501 as indicated by arrow D. Once the hook 505 leaves the catch 506, the lid 500 can be separated from the lower portion 501. After the lid 500 is removed, the recovered liquid and dust may be poured out of the waste container 444. The entire lower portion 501 may then be washed, including the inner surface of the garbage container 444 and the inner surface of the brush chamber 422.

As shown in FIG. 25, in one embodiment, separator 487 moves the working air stream with entrained liquid and/or waste to waste container 444 through separator outlet opening 488. In order to do so, it may be a conduit or duct with a bend that diverts the working air flow with the entrained liquid and/or waste by approximately 90 degrees. The liquid and/or waste will collide with the various walls of separator 487 and fall into receiver reservoir 444R. Other angles of the curved portion of the separator 487, for example, 90 degrees to 180 degrees are possible. Liquids and waste collect in the receiver reservoir 444R, and the working air stream travels through the air outlet 499 to the suction source 438. Separator 487 may be oriented such that the air flow entering waste container 444 through separator outlet opening 488 is located away from air outlet 499.

26 shows an alternative embodiment of the lower portion 501 of the tank assembly 446 with the lid 500 removed. In some embodiments, the waste container 444 may have a discharge spout 507 to assist in carrying liquid and waste out of the container reservoir 444R. The discharge spout 507 may help to show the user how to tilt the waste container 444 in order to optimally empty the waste container 444. The discharge spout 507 may be provided at a corner 508 of the waste container 444 disposed far from the brush chamber 422. Optionally, the discharge spout 507 may be covered by the lid 500 (FIG. 25) when the lid 500 is closed, and exposed to be visible when the lid 500 is opened.

Referring to FIG. 27, as described above, the suction conduit 489 sucks garbage and excess liquid from the brush roll 441. The brush chamber 422 helps to confine the airflow that travels through the suction conduit 489 to the waste container 444. In the illustrated embodiment, the brush chamber 422 includes side ends 509 and a suction conduit 489 is in fluid communication with a portion of the brush chamber 422 between the side ends 509. The suction conduit 489 is, in particular, a middle portion 510 of the brush chamber 422 centered between the side ends 509 such that each side end 509 is at substantially the same distance from the suction conduit 489. ) May be in fluid communication with, or otherwise disposed with respect to the side ends 509.

The brush chamber 422 may taper to be smaller (eg, shorter) at the side end 509. This taper shape helps develop airflow over the entire length of the brush roll 441 and improves recovery. At least, the inner surface of the upper wall 511 of the brush chamber 422 may be tapered toward the side end 509. The upper wall 511 can be gently inclined toward the suction conduit 489 to substantially continuously increase the height of the brush chamber 422 toward the suction conduit 489. In the illustrated embodiment, the brush chamber 422 has a height H1 at one or both ends of the side ends 509 and a height H2 that is higher than the height H1 at the suction conduit 489. As shown in FIG. 27, if the suction conduit 489 is in fluid communication with the middle portion 510 of the brush chamber 422 centered between the side ends 509, the height H2 is the side end 509 It can be measured in the middle part 510 of the brush chamber 422 in the center between them.

In an alternative embodiment of the robot 410 shown in FIGS. 16 to 27, the tank assembly 446 may combine the waste container 444 and the brush chamber 422 into one integrated assembly or module. The supply tank 451 can be separated from the tank assembly 446 so that it can be removed from the housing 412 separate from the tank assembly 446. The supply tank 451 may be configured to be removable from the housing 412 before or after the tank assembly 446. As an alternative embodiment, the supply tank 451 and the tank assembly 446 are configured such that the supply tank 451 must be removed prior to removal of the tank assembly 446, or vice versa, prior to removal of the supply tank 451. 446) may have an interlocking mounting arrangement to be removed.

Some alternative embodiments of the tank assembly 446 for the robot 410 are shown in FIGS. 28-30. The tank assembly 446 is similar to the tank assembly 446 described above with respect to Figs. 16 to 27, and thus similar parts will be designated with similar reference numerals, and similar to the tank assembly 446 and the robot 410. The description of the part also applies to the tank assembly 446 shown in FIGS. 28-30, except where specified.

Referring to FIG. 28, the illustrated tank assembly 446 differs in that it includes a completely removable lid 500 that is separated from the supply tank 451. Accordingly, the lower portion 501 may include a supply tank 451 in addition to the waste container 444, the cover 427, and the brush chamber 422. Another difference is that at the rear side of the tank assembly 446, a lid latch 502 that secures the lid 500 to the lower portion 501 of the tank assembly 446 is accessible, and the lid 500 is centered around a pivot axis. It can be lifted from the lower part 510 without rotating it.

Another difference is that the tank assembly 446 includes a pivoting handle 449 which is substantially flush with the top surface of the tank assembly 446 and is intended for a gripping user. It is possible to rotate relative to the tank assembly 446 to rotate upward from the top surface of the tank assembly 446. The pivot handle 449 may be provided on the upper surface of the supply tank 451 separated from the lid 500.

Referring to FIG. 29, the tank assembly 446 shown in FIG. 28 is the tank shown in FIG. 28 in that it has a supply tank 451 integrated with the lid 500 and a pivot handle 449 on the lid 500. It is different from the assembly 446.

Referring to FIG. 30, the illustrated tank assembly 446 has a lid latch 502 accessible from the top of the tank assembly 446 in front of the garbage container 444, and that of the garbage container 444. It differs from the tank assembly 446 shown in FIG. 28 in that it provides a finger press-in part 512 at the rear. The consumer holds the handle 449 with one hand and uses the other hand to lift the lid 500 from the lower part 501 and at the same time, The lid latch 502 can be activated with a thumb.

There are several advantages of the present invention resulting from the various embodiments or features of the apparatus, systems, and methods described herein. For example, the above-described embodiments provide an autonomous cleaning robot that sweeps and wipes a floor surface in a single path, including a single path in a "forward" or "backward" direction. The present invention provides one autonomous floor cleaner that uses just in front of the dusting assembly. This eliminates the need for two floor cleaning devices to completely clean or a robot to clean in multiple paths.

Another advantage of embodiments of the present invention relates to the consistency and robustness of the liquid distribution system. In contrast to prior art water wicking pads, the disclosed pumps and spray nozzles provide fluid at a constant low flow rate that does not degrade over time. The low flow rate of the used liquid results in a clean floor surface that becomes substantially dry after contact with the rotating pad of the dusting assembly. The use of a pulse width modulated signal as described herein can also provide a fluid delivery rate that is adjusted as needed for various floor surfaces, including adjustment of fluid residence time.

Another advantage of embodiments of the present invention relates to the construction of the brush roll of the sweeper, the wheel of the drive mechanism and the rotating pad of the dusting assembly. By aligning the edges of the brush roll, rotating pad and wheel as described and shown above, the contamination of the wheel and rotating pad is reduced, thereby improving the driving and cleaning performance of the floor cleaning robot. .

Another advantage of embodiments of the present invention relates to the use of a pulse width modulated signal to drive the operation of one or more components, such as a fluid pump. These pulse-width modulated signals include low flow rates, without the use of variable resistors (which could generate an undesired amount of heat) or other more complex methods of reducing the voltage supplied to the pump by the battery pack. In order to drive the pump at various flow rates, it provides a reduction in circuit complexity.

Another advantage of embodiments of the present invention relates to the ease of access to one or more tanks in an autonomous floor cleaner, including that the integrated or integrated tank assembly is selectively removable from the robot housing. The removal of a single device can improve the ease of filling the supply tank or cleaning the waste container without the need to operate the entire robot for cleaning or filling operations.

Another advantage of embodiments of the present invention includes a housing movable over a surface to be cleaned, a supply tank configured to store a cleaning fluid, and an integrated assembly detachably mounted to the housing, the integrated assembly being removed from the movable housing. It is configured to be selectively separated, and the integrated assembly has a brush chamber, a brush roll disposed in the brush chamber, at least one fluid distributor, and a waste container connected to the brush chamber to allow fluid to flow, cleaning the floor It relates to the device. The at least one fluid distributor may be in fluid communication with the supply tank, and a fluid transfer pump may be installed to control the flow of the cleaning fluid from the supply tank to the at least one fluid distributor.

Another advantage of embodiments of the present invention relates to the construction of a latch, a handle, and a pivot connector for an integrated or integrated tank assembly. In some embodiments disclosed herein, forces are provided that act in opposite directions for the user to actuate the latch and lift the tank assembly upward from the housing. This leads to a smooth separation between the two assemblies and helps to keep the housing in place while removing the tank assembly.

Another advantage of embodiments of the invention relates to the construction of the brush chamber and the suction conduit leading to the waste container. In some embodiments disclosed herein, the brush chamber tapers to become smaller and smaller in the direction away from the suction conduit, which can help develop airflow and improve recovery over the entire length of the brush roll. have.

Various embodiments disclosed herein represent autonomous floor cleaners or floor cleaning robots, and embodiments of the present invention are, by way of non-limiting examples, upright aspirations having a base and an upright body directing the base across the surface to be cleaned A device (e.g., a deep cleaner or carpet cleaner), a canister extraction device with a cleaning device connected to a wheeled base by a vacuum hose, hand by the user to clean a relatively small area. It can be used in other types of surface cleaning devices and floor care devices, including portable aspirating devices configured to be transported to the floor, or commercial extractors. Further, embodiments of the present invention may be used in a surface cleaning device that includes a fluid recovery system but does not include a fluid supply system, or a surface cleaning device that includes a fluid supply system but does not include a fluid recovery system. Further, embodiments of the present invention may be used in a surface cleaning device other than a suction cleaner such as a steam cleaner or a vacuum cleaner. Steam cleaners generate steam by heating water to boil for delivery to the surface to be cleaned, either directly or through a cleaning pad. Some steam cleaners collect liquid from a cleaning pad or use suction power to aspirate the liquid. Vacuum cleaners are typically used to collect relatively dry debris (which may include dirt, dust, stains, dirt, hair, and other debris) from a surface, rather than transferring or aspirating liquid.

While the present invention has been specifically described with respect to some specific embodiments of the invention, it should be understood that this is merely illustrative and not limiting. Appropriate variations and modifications are possible within the scope of the disclosure and drawings without departing from the spirit of the present invention defined in the appended claims. Accordingly, certain dimensions and other physical features of the various embodiments disclosed herein should not be considered limiting, unless explicitly stated otherwise in the claims.

Claims (18)

As a floor cleaning robot,
An autonomously movable housing;
A drive system for autonomously moving the autonomously movable housing over a surface to be cleaned based on an input from a controller;
It is detachably mounted on the autonomously movable housing, and is configured to be selectively separated from the autonomously movable housing,
Brush chamber,
A waste container connected to the brush chamber to allow fluid to flow, and
Supply tank configured to store cleaning fluid
Integrated assembly comprising a;
A brush roll disposed in the brush chamber;
At least one fluid distributor in fluid communication with the supply tank and configured to dispense a cleaning fluid;
A fluid transfer pump configured to control a flow of cleaning fluid from the supply tank to the at least one fluid distributor; And
A latch securing the integrated assembly to the autonomously movable housing;
Floor cleaning robot comprising a. The method of claim 1, wherein the brush chamber is rotatably connected to the autonomously movable housing by a pivot connector, actuating the latch, and rotating the integrated assembly about a pivot axis defined by the pivot connector. And then configured to selectively separate the integrated assembly from the autonomously movable housing by lifting the integrated assembly to separate the brush chamber from the autonomously movable housing. The method of claim 2, wherein the pivot connector
A catch in one of the integrated assembly and the autonomously movable housing; And
A hook on the other of the integrated assembly and the autonomously movable housing,
And the hook is configured to engage the catch in order to rotatably connect the integrated assembly to the autonomously movable housing. The integrated assembly according to claim 1, wherein the latch comprises a latch actuator provided in the autonomously movable housing, and the integrated assembly is moved autonomously by pressing the latch actuator downward and then lifting the integrated assembly upward. Floor cleaning robot, characterized in that configured to be selectively separated from the possible housing. The method of claim 1, wherein the integrated assembly comprises a handle, the handle being proximate to the latch so that a user can operate the latch with one hand and hold the handle to lift the integrated assembly upward. Floor cleaning robot, characterized in that. The floor cleaning robot according to claim 1, wherein the brush chamber is defined by a cover extending over the autonomously movable housing so that the autonomously movable housing is not exposed to the brush roll. The method of claim 1, further comprising a suction conduit extending from the brush chamber to be in fluid communication with the waste container and a suction source in fluid communication with the suction conduit to generate a working air flow through the waste container. Floor cleaning robot. The method of claim 7, wherein the brush chamber includes both side ends and an intermediate portion between the both side ends, and the suction conduit joins the brush chamber at the intermediate portion, and the brush chamber Floor cleaning robot, characterized in that it tapers to become smaller at the end. The floor cleaning robot according to claim 7, further comprising a scraper configured to remove liquid and garbage from the brush roll, wherein the scraper is provided in the brush chamber and abuts the brush roll. 8. The floor cleaning robot of claim 7, wherein the waste container comprises a separator configured to separate liquid and waste from the working air stream, wherein the suction conduit and the separator form part of the integrated assembly. . The method of claim 7, wherein the suction source comprises a vacuum motor installed in the autonomously movable housing, the vacuum motor has a motor air inlet, and the garbage container flows the suction source and the fluid through the garbage container. And an air outlet connected to the motor air inlet when the integrated assembly is mounted on the autonomously movable housing to enable connection. The method of claim 7,
The integrated assembly is moved autonomously so that the autonomously movable housing includes an air inlet receiver in fluid communication with the suction source, and the garbage container connects the waste container to the suction source so that fluid flows. Including an air outlet that is connected to the motor air intake when mounted on a possible housing; And
In order for the autonomously movable housing to include a valve receiver in fluid communication with the fluid transfer pump, and for the supply tank to connect the supply tank to the fluid transfer pump to allow fluid to flow, the integrated assembly is autonomously A floor cleaning robot comprising a valve connected to the valve receiver when mounted on a movable housing. The container according to claim 1, wherein the integrated assembly comprises an openable lid selectively secured to a lower portion of the integrated assembly and movable between a closed position and an open position, the lower portion comprising at least a container reservoir of the garbage container. Floor cleaning robot, characterized in that. 14. The floor cleaning robot according to claim 13, wherein the openable lid comprises the supply tank. The floor cleaning robot according to claim 13, wherein the openable lid is completely detachable from the lower portion. The method of claim 13, wherein the waste container includes a discharge spout, and the discharge spout is covered by the lid when the lid is in the closed position and exposed to be visible when the lid is in the open position. Floor cleaning robot. The cleaning fluid of claim 1, wherein the at least one fluid distributor and the fluid transfer pump are mounted on the autonomously movable housing, and the at least one fluid distributor is disposed on a surface to be cleaned on which the autonomously movable housing moves. Floor cleaning robot, characterized in that positioned to dispense. The method of claim 17, further comprising a rubber cleaner mounted on the integrated assembly and installed on a first side of the brush roll in proximity to the brush roll, wherein the at least one fluid distributor is opposite to the first side. A floor cleaning robot, characterized in that it is installed on the second side of the brush roll in proximity to the brush roll.

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