WO2006046049A1 - Robot autonome pour le nettoyage d'une surface de revetement de sol - Google Patents

Robot autonome pour le nettoyage d'une surface de revetement de sol Download PDF

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Publication number
WO2006046049A1
WO2006046049A1 PCT/GB2005/004160 GB2005004160W WO2006046049A1 WO 2006046049 A1 WO2006046049 A1 WO 2006046049A1 GB 2005004160 W GB2005004160 W GB 2005004160W WO 2006046049 A1 WO2006046049 A1 WO 2006046049A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
carrier plate
chassis
tank
autonomous robot
Prior art date
Application number
PCT/GB2005/004160
Other languages
English (en)
Other versions
WO2006046049A8 (fr
Inventor
Diane Joyce Burt
Lawrence T. Levine
Alexander W. Mayes
Lamson Nguyen
Original Assignee
Reckitt Benckiser Inc.
Reckitt Benckiser (Uk) Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Reckitt Benckiser Inc., Reckitt Benckiser (Uk) Limited filed Critical Reckitt Benckiser Inc.
Publication of WO2006046049A1 publication Critical patent/WO2006046049A1/fr
Publication of WO2006046049A8 publication Critical patent/WO2006046049A8/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4047—Wound-up or endless cleaning belts
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present invention relates to robotic devices. More particularly the present invention relates to improvements in robotic devices which are used in the treatment of flooring surfaces, especially those used in the cleaning of hard flooring surfaces.
  • various forms of robots which are typically customized to accomplish a variety of specialized tasks, including, inter alia, security robots, robots used in performing one or more functions in manufacturing operations for articles of commerce, lawnmowing robots, vacuuming robots, robots useful in the cleaning of pools, as well as in cleaning of surfaces including household surfaces, including robots used to vacuum flooring surfaces.
  • Cleaning of flooring surfaces is a chore which is desirably avoided by a large number of consumers.
  • the prior art is replete with various devices which have been proposed in. order to alleviate this chore and to minimize the amoxuit of time and/or effort required by persons involved in such a floor cleaning operation.
  • Examples of such devices include, inter alia, mops, brooms, and floor cleaning articles with user removeable and replaceable pads or wipes.
  • powered devices such as electrically powered cleaning and/or polishing apparatus which are useful in the cleaning of hard flooring surfaces. While such devices have advantageous properties and may provide a good cleaning benefit, they nonetheless require constant control by a human operator, viz., consumer, in order to provide a cleaning function.
  • a number of robotic devices which are adapted to the cleaning of various flooring surfaces.
  • a number of these devices are directed to the cleaning of porous flooring surfaces particularly carpeted flooring surfaces which devices operate generally autonomously and will sweep and/or vacuum a carpeted flooring surface once their operation is initiated.
  • a further number of such devices are directed to the cleaning of hard flooring surfaces, e.g., hardwood flooring, linoleum sheet flooring, tile flooring, ceramic tile flooring surfaces.
  • Such devices are typically self- contained units which comprise a drive means, a po ⁇ ver supply source, and a cleaning means which is used in the treatment of the hard flooring surface.
  • all but the most rudimentary devices will also include a controller means which may include one or more sensors which are used to control the movement of the device across the flooring surface being cleaned.
  • a robot which additionally comprises an independently laterally rnoveable carrier means.
  • a robot which further comprises oscillating moveable carrier means.
  • a robot as which further comprises an independently circularly moveable carrier means bearing a carrier plate which carrier plate comprises a floor treatment means.
  • an improved autonomous robot according to any of the foregoing descriptions which comprises a tank which comprises a compressible fluid reservoir.
  • an improved autonomous robot according to any of the foregoing descriptions which further comprises a carrier plate having a plurality of downwardly extending sharp edged projections which carrier plate further comprises a floor treatment means.
  • a robot having an independently circularly moveable carrier means.
  • a robot having a standoff means.
  • the robot of the invention operates autonomously and requires no user input during treatment of the flooring surface.
  • Figure 1 is a perspective view of a preferred, embodiment of a robot according to the first inventive aspect.
  • Figure 2 is a side view of the robot according to the first aspect of the invention.
  • Figure 3 is partial skeletal view of the robot according to Figs. 1 and 2.
  • Figure 4A is a perspective view of an independently laterally moveable carrier means useful with robots according to the invention.
  • Figure 4B is a side view of the independently laterally moveable carrier means depicted on Fig. 4A.
  • Figures 5A, 5B and 5C depict in partial skeletal view a preferred embodiment of oscillating moveable carrier means useful with robots according to the invention.
  • Figures 6A and 6B depict in partial skeletal view the oscillating moveable carrier means depicted on Figures 5A, 5B and 5C.
  • Figure 7 is a perspective view of a preferred embodiment of a robot according to the first inventive aspect, which further comprises a carrier plate having a plurality of downwardly extending sharp edged projections which carrier plate further comprises a floor treatment means.
  • Figure 8 is a further view of the embodiment depicted on Fig. 7.
  • Figure 9A is a side view of a carrier plate having a plurality of downwardly extending sharp edged projections useful with robots according to the invention.
  • Figure 9B is a side view of the carrier plate depicted on Fig. 9A-..
  • Figure 9C is a plan view of the underside of carrier plate according to Figs. 9 A, 9B having a plurality of downwardly extending sharp edged projectioixs.
  • Figure 10 is a plan view of an alternative embodiment of a carrier plate, depicting the underside having a plurality of downwardly extending sharp edged projections useful with robots according to the invention.
  • Figure 11 is a plan view of a further alternative embodiment of a carrier plate, depicting the underside having a plurality of downwardly extending slxarp edged projections useful with robots according to the invention.
  • Figure 12 is a plan view of yet further alternative embodiment of a carrier plate, depicting the underside having a plurality of downwardly extending srxarp edged projections useful with robots according to the invention.
  • Figures 13 A, 13B depict one embodiment of a compressible fluid reservoir useful in the tank, or as the tank of the invention.
  • Figure 14 depict a further embodiment of a compressible fluid reservoir useful in the tank 51 or as the tank 51 of the robot of the present invention
  • Figure 15 depict a further embodiment of a compressible fluid reservoir useful in the tank 51 or as the tank 51 of the robot of the present invention
  • Figure 16 is a partial skeletal view of a still further compressible fluid reservoir useful in the tank 51 or as the tank 51 of the robot of the present invention
  • Figure 17A is a perspective view of an independently circularly moveable carrier means useful with robots according to the invention.
  • Figure 17B is a side view of the independently circularly moveable carrier means depicted on Fig. 17A.
  • Figure 18A is a perspective view of an alternative embodiment of an independently circularly moveable carrier means useful ⁇ vith robots according to the invention.
  • Figure 18B is a side view of the independently circularly moveable carrier means depicted on Fig. 18 A
  • Figure 19 is a partial skeletal view of the robot according to Fig. 1 which further comprises one embodiment of a standoff means.
  • Figure 20 is a plan view of a robot according to the invention depicting a further embodiment of a standoff means.
  • Figure 21 is a plan view of a robot according to the invention depicting a still further embodiment of a standoff means.
  • Figure 22 is a plan view of a robot according to the invention depicting a yet further embodiment of a standoff means.
  • Figure 23 depicts a side view of a robot according to the invention depicting a further alternative embodiment of a standoff means.
  • the robot 100 comprises a chassis 12 bearing a pair of drive wheels 14, 16 which may be independently operated from one another, said chassis 12 having a forward portion 18 forward of the drive wheels, particularly forward of the axles 14A, 16A of the drive wheels 14, 16 and a rearward portion 20 rearward of the two drive wheels 14, 16 particularly rearward of the axles 14A, 16A of the drive wheels 14, 16, a plurality of " brush elements 22 depending from the forward portion 18 of the chassis 22.
  • the brush elements 22 are individual tufts comprising a plurality of bristles each tuft having a tuft base 24 mounted in chassis 12, and terminating at individual bristle ends 26 which are adapted to contact arid brush a flooring surface.
  • the robot 100 further comprises a housing 28 which is configured to encase one or more of the parts or elements used to construct the robot 100.
  • the robot 100 further comprises a power source 30, a controller interface 42 having one or more user controllable interface elements 44, 46 for modifying the operative characteristics of the robot, a control means 32 for controlling the operative characteristics of the robot 100, a fluid tank 51 within the hou-sing adapted for containing a quantity of a floor treatment composition, a fluid pump 62, a fluid manifold 64 in fluid communication with the fluid tank 51, and a carrier plate 80 depending from the rearward portion of the chassis 20 which carrier plate 80 comprises or bears a floor treatment means 52.
  • the power source 30 mounted within the interior of tlxe housing 28 which provides a power source used to power the robot 100 during autonomous operation may be any of a variety of known-art devices which are used to store energy particularly electrical energy such as one or more batteries.
  • the power source 30 may be composed of non-replenishable batteries, advantageously the power source 30 comprises one or more rechargeable batteries.
  • the power source 30 may be replenished without necessitating the removal from the robot 100 and conveniently such may be accomplished by providing a receptacle or port which may be used to supply an electrical current to the power source 30 from an outside source which electrical current is used to recharge the batteries.
  • the power source 30 may be operated from, or replenished by one or more solar cells wrhich generate an electrical current when exposed to a light source.
  • the robot 100 further comprises a control means 32 for controlling the operative characteristics of the robot.
  • the control means 32 may be an ⁇ y device, assembly or circuit which is capable of receiving at least one input signal which provides information indicative of at least one environmental condition of the robot; 100, and responsive thereto, is capable of transmitting at least one output control signal which capable of controlling the operation of one or both of the motors 34, 36 xvhich are used to drive then- respective wheels 14, 16.
  • control means 32 ma.y be capable of receiving a plurality of input signals as well as being capable of transmitting a plurality of output control signals as well; for example the control means 32 ma;y be capable of receiving a plurality of input signals such as from an a sensor means 38, as well as the instantaneous current load upon one or both of the motors 34, 36, both of which provide information indicative of environmental conditions of the robot 100.
  • the sensor means 38 may be a sensor which detects the distance between the sensor affixed upon or within the robot 100 and the flooring surface at a point adjacent to the nose 40 of the robot 100.
  • Such a sensor 38 can determine if there is a sudden distance differential adjacent to the nose 40 of the robot 100 and when detected provide a signal or response to the control means 32 indicative of such an environmental condition.
  • a sudden distance differential adjacent to the nose 40 may occur, for example, when the nose 40 of the robot 100 sensed a vertical discontinuity in the flooring surface upon which the robot operates 10.
  • One such form of vertical discontinuity which is termed to be a "negative vertical discontinuity" is where the nose 40 of the robot 100 reaches a point adjacent to or extending over the edge or margin of a flooring surface, e.g, such as at the margin of a downward stair or step.
  • a signal or response is detected by the control means 32 which may in turn modify the operation of one or both of the motors 34, 36 such as to cause the robot 100 to halt, move rearwardly or move in a different direction so to avoid the possibility of falling over the edge of the flooring surface or step and into the negative vertical discontinuity.
  • a sensor 38 maybe also capable of sensing the presence of other forms of vertical discontinuities such as upward vertical irregularities in the flooring surface, as well as the presence of upwardly depending elements extending from or resting upon the flooring surface. Such are termed as "positive vertical discontinuities".
  • An example of a positive vertical discontinuity is an upward irregularity in the flooring surface such as a boundary region between a first flooring surface such as a hard flooring surface and an adjacent or adjoining second flooring surface which is higher than that of the first flooring surface, e.g, a carpeted surface, or a threshold in a doorway between adjacent rooms.
  • first flooring surface such as a hard flooring surface
  • second flooring surface which is higher than that of the first flooring surface, e.g, a carpeted surface, or a threshold in a doorway between adjacent rooms.
  • Such an environmental condition would sensed by the sensor 38 as a sudden distance differential adjacent to the nose 40 and a signal or response is detected by the control means 32 which may in turn modify the operation of one or both of the motors 34, 36 such as to cause the robot 100 to halt, move rearwardly or move in a different direction so to avoid the boundary region.
  • the senor 38 would detect such an environmental condition and a signal or response is detected by the control means 32 which may in turn modify the operation of one or both of the motors 34, 36 such as to cause the robot 100 to halt, move rearwardly or move in a different direction so> to avoid such positive vertical discontinuities.
  • the sensor 38 may be any device, circuit or appaxatus which is capable of detecting environmental conditions as described herein, and may by optical, mechanical, opto-mechanical, ultrasonic, or other sensors operating on other principles.
  • the sensor 38 as described herein is to be understood as not only encompassing a sensor device, but to also encompass any supporting or ancillary power supply, circuitry, etc. which may be necessary in order to provide a working sensor device capable of transmitting a signal or other information indicative of an environmental condition to the control means 32, or providing a signal or other information indicative of an environmental condition which may be read by the control means 32.
  • the control means 32 may also be capable of receiving other input signals such as sensing the instantaneous current load upon one or both of the motors 34, 36, which may be information indicative of environmental conditions of the robot 100.
  • the robot 100 may encounter a positive vertical displacement within the normally, generally planar flooring surface which is not sensed by one or more other sensors which may be present in the robot 100, which encounter may block or retard the motion of the robot 100, causing a sudden rise of current load of one or both of the motor 34, 36 which respond to the stoppage or drag of robot 100 by the positive vertical displacement.
  • the control means 32 responding to such an environmental condition may cause the robot 100 to halt, move rearwardly or move in a different direction so to avoid the encountered positive vertical displacement.
  • a portion of the robot 100 may contact or collide with a positive vertical displacement, e.g, a chair leg, a part of a furniture article, or a wall which physical contact stops the robot 100 or drags upon the robot 100 and retarding its motion.
  • the sudden rise of current load of one or both of the motor 34, 36 may be sensed by the control means 32 -which responding thereto may output one or more signals which alter the operation of the robot 100.
  • Such a form of feedback- response permits for the production of a robot 100 which requires no external sensors such as sensor 38, but which still may be used in a robot 100 to provide a degree of object avoidance during an autonomous cleaning operation.
  • the control means 32 include a central processing unit or other processing unit, and a memory means which is capable of storing information.
  • the robot 100 includes a controller interface 42 having one or more user controllable interface elements, e.g., switches 44, 46 for modifying the operative characteristics of the robot.
  • the controller interface 42 includes a panel portion of the housing 28 having mounted therein a pair of electrical switches 44, 46 and a plurality of indicator lights 46A, 46B, and 46C.
  • at least one switch is present on the controller interface 42 which permits the user to engage or disengage the operation of the robot 100, which any remaining switches 46 present may be used to alter or establish other operational characteristics of the robot 100. For example the presence or absence of any audible sound effects, or the presence or absence of an on-board light, or the rate of delivery of a liquid floor treatment composition during the autonomous operation of the robot 100 may be established.
  • the robot 100 includes a refill port 53 which permits for a quantity of a floor treatment composition to be supplied to the tank 51 once the contents of the tank have been exhausted as a result of a floor cleaning operation.
  • the refill port 53 is in fluid communication with the tank 51, and as illustrated is desirably conveniently located for the user of the device and passes through title housing 28 to permit refilling of the tank 51.
  • the refill port 53 provide fluid communication through the housing 28 to permit refilling of the tank 51 as it foreseeable that part of all of the housing 28 may be removed in order to permit refilling of the tank 51 by a consumer.
  • the carrier plate 80 may be of any of a number of configurations and may be removably mounted to the chassis 12.
  • the carrier plate 80 may be permanently affixed to the chassis 12.
  • the carrier plate 80 is a single-use carrier plate 80 having a pad or wipe incorporated into its construction on at least its bottom surface 84; this single-use carrier plate 80 is adapted to be periodically replaceable in its entirety by a consumer, and not reloaded with a fresh wipe or pad and thereafter reused.
  • the carrier plate 80 has a top surface 82 and a bottom surface 84. While the top surface 82 may be generally planar in configuration, the bottom surface 84 may be generally planar, or as shown in the figure may be arcuate.
  • the carrier plate 80 is however preferably removably affixed to the rearward portion 20 of the chassis 12 by any suitable means which can be operated by the user of the robot 100 , depicted are a pair of posts 86 which extend upwardly from the top surface 82 of the carrier plate 80 which are insertable, e.g., snap-fit, into corresponding holes in the rearward portion 20 of the chassis 12 or other member or element of the robot 100 as will be described hereinafter.
  • the plate 80 is adapted to bear upon its outer surface 88 user removable and replaceable pads or wipes.
  • the pad or wipe is in the form of a flexible, generally planar sheet which is suitably dimensioned so to cover the bottom surface 84 of the carrier plate 80 and to be sufficiently long to extend upwardly and overlap at least a part of the top surface 82 of the carrier plate, whereupon suitable retention means are present.
  • a carrier plate 80 While the reuse of a carrier plate 80 is highly economical and convenient, requiring only the periodic replacement of a wipe or pad, it is to be contemplated that a single-use carrier plate 80 may be produced and used with the robot 100 . Such a single- use carrier plate 80 would have incorporated in its construction a pad or wipe on at least its bottom surface 84 and would be periodically replaceable in its entirety by a consumer, and not reloaded with a fresh wipe or pad.
  • the floor treatment means is a wipe or pad formed of a material, preferably a fibrous material such, as fabric substrates which may include nonwoven or woven fabric substrates.
  • fabric substrates are known commercially in this field, and can be resin bonded, hydroentanged, thermally bonded, meltblown, needlepunched or any combination of the former.
  • fabric substrates may be a combination of wood pulp fibers and textile length synthetic fibers formed by well known dry-form or wet-lay processes. Synthetic fibers such as rayon, nylon, orlon and polyester as well as blends thereof can be employed.
  • the wood pulp fibers advantageously comprise about 30 to about 60 percent by weight of the nonwoven fabric, preferably about 55 to about 60 percent by weight, the remainder Toeing synthetic fibers.
  • the wood pulp fibers provide for absorbency, abrasion and soil retention whereas the synthetic fibers provide for substrate strength and resiliency.
  • the floor treatment means 52 may be preimpreganted with a floor treatment composition.
  • the pad or wipe is in the form of a flexible, generally planar siteset which is suitably dimensioned so to cover the bottom surface 84 of the carrier plate 80 and to be sufficiently long to extend upwardly and overlap at least a part of the top surface 82 of the carrier plate.
  • the floor treatment means may also be a film forming material such as a water soluble polymer.
  • a film forming material such as a water soluble polymer.
  • Such self-supporting film substrates may be sandwiched between layers of fabric substrates and heat sealed to form a useful substrate.
  • the free standing films can be extruded utilizing standard, equipment to devolatilize the blend. Casting technology can be used to form and dry films, or optionally a liquid blend can be saturated into a carrier and then dried in a variety of known methods.
  • Figure 2 is a side view of the robot 100 according to the first aspect of the invention depicted in prior Figure 1, showing in more particular detail the arrangements of the elements comprising the robot 100.
  • Figure 3 is partial skeletal view of the robot according to Figs. 1, 2 depicting in more detail the interior of the robot and a preferred arrangement of various components. As is visible from this Figure 3, the placement of the power source 30 permits for tiie placement of the tank 51 within the robot 100.
  • the robot 100 periodically or continuously dispenses a quantity of a floor treatment composition which is a liquid composition via one or more openings on the fluid manifold 64, preferably directly onto the flooring surface and in the near proximity but forward of the portion of the fibrous material which contacts the flooring surface.
  • a floor treatment composition inter alia, a cleaning liquid composition, a disinfecting liquid composition, a cleaning and disinfecting liquid composition, a floor polishing composition, a floor waxing composition, a floor-wax stripping composition, may be dispensed during a floor treatment operation, preferably directly to the flooring surface beneath the fluid manifold 64 then present under the robot 100.
  • fluid manifold 64 is depicted in the figures as a fluid conduit having a plurality of holes or orifices through which the floor treatment composition may be dispensed, it is to be understood that according to certain preferred embodiments that the fluid manifold 64 may comprise one or more, preferably two or more nozzles or orifices through which the floor treatment composition is dispensed. Such nozzles include spray nozzles which will provide to the dispensed floor treatment composition a circular, semi-circular, or elliptical spray pattern onto the flooring surface proximate to such spray nozzles.
  • the tank 51 may be of any configuration as describe in more detail hereinafter, but is desirably a generally planar, horizontal chamber which has a refill port 31, and which is in fluid communication with a pump 62 which is used to withdraw and/or meter the amount of fluid delivered to the fluid manifold 64 and ultimately to the flooring surface being treated using the robot 100.
  • the tank 51 may be generally rigid and (when empty) hollow, or the tank 51 may incorporate a fluid reservoir 50 within its interior. In all cases, the tank 51 is not considered to be a user removeable element of the robot 100 but is permanently installed.
  • the tank 51 and (when present) any fluid reservoir 50 comprise an element which may be refilled by the user of the robot 100 via a refill port 31, without however withdrawing the tank 51 and when present any fluid reservoir 50 from the robot 100.
  • the tank 51 may comprise a 51 a fluid reservoir 50 in its interior which may be a pouch or sac which is non-pressurized., and which contains a quantity of the floor treatment composition.
  • a pouch, or sac may be flexible and deformable such that when it is subjected to an external, compressive force the floor treatment composition is expelled through an orifice or valve which may also be present.
  • the non- pressurized tank 51 or fluid reservoir 50 need not be pressurized in order to dispense its contents but rather, gravity or the use of a pump associated with the intermediate fluid conduit 60 or fluid manifold 64 may be used to withdraw the floor treatment composition from within the tank 51.
  • the tank 51 preferably takes the form of a rigid walled container, such as hollow canister or vessel, which contains a quantity of the floor treatment composition.
  • the tank 51 may also be a rigid walled container which contains within its interior as a fluid reservoir 50 a non-pressurized pouch or sac containing a quantity of the floor treatment composition, as well as a refill port 31 which may also include a valve, such as a one-way valve to allow refilling of the fluid reservoir 50.
  • the tank 51 is a fluid reservoir 50 a non-pressurized pouch or sac containing a quantity of the floor treatment composition, as ⁇ vell as a refill port 31, and does not comprise any rigid sidewalls.
  • the tank 51 may also be present a further member or element which, when moved relative to the fluid reservoir 50 causes the pressurization of the non-pressurized pouch or sac.
  • the tank 51 may be a pressurized container, such as an aerosol container which contains a quantity of the floor treatment composition and a conventional propellant.
  • a conventional propellant such as a ref ⁇ llable or non-refillable tank 51.
  • the tank 51 may be refilled by supplying it with a quantity of a floor treatment composition and a propellant, e.g., pressurized air, pressurized gas or a known- art propellant composition.
  • a propellant e.g., pressurized air, pressurized gas or a known- art propellant composition.
  • yet other embodiments and formats of a tank 51, or a tank 51 containing a deformable or compressible fluid reservoir 50 may also be used in the robot 100, although not specifically elucidated herein.
  • a robot which additionally comprises an independently laterally moveable carrier means.
  • an independently laterally moveable carrier means which comprises a lateral drive motor 140 mounted upon a part of the chassis 12, having a driveshaft and gear 142, said gear having gear teeth in engagement with corresponding gear teeth of a rack plate 144 which is laterally slidably mounted to the chassis 12.
  • a slideable mount is provided by a pair of depending studs 146 which depend from the chassis 12, extend through a pair of slotted holes 147 passing through the rack plate 144 and terminate in caps 148.
  • the dimensions of the slotted holes 147 limit the overall possible lateral displacement of the rack plate 144, and of the carrier plate 80 which is removably affixed to the rack plate 144.
  • the carrier plate 80 has a top surface 82 and a bottom surface 84. While the top surface 82 may be generally planar in configuration, the bottom surface 84 may be generally planar, or as shown in the figure may be arcuate.
  • the carrier plate 8O is removably affixed to the rack plate 144 by any suitable means which can be operated by the user of the robot 100 , depicted are a pair of posts 86 which extend upwardly from the top surface 82 of the carrier plate 80 which are insertable, e.g., snap-fit, into corresponding holes in the rack plate 144.
  • the plate 80 is adapted to bear upon its outer surface 88 user removable and replaceable pads or wipes.
  • any suitable retention means e.g, physical elements such as clips, hook-and-loop fasteners, pins, springs, elastic bands, or adhesives such as light or medium duty adhesives, to at least the bottom surface 84 of the carrier plate 80.
  • the pad or wipe is in the form of a flexible, generally planar sheet which is suitably dimensioned so to cover the bottom surface 84 of the carrier plate 80 and to be sufficiently long to extend upwardly and overlap at least a part of the top surface 82 of the carrier plate, whereupon suitable retention means are present.
  • a single-use carrier plate 80 may be produced and used with the robot 100 .
  • Such a single-use carrier plate 80 would, have incorporated in its construction a pad or wipe on at least its bottom surface 84 and would be periodically replaceable in its entirety by a consumer, and not reloaded with a fresh wipe or pad.
  • Figure 4B depicts in side view of the independently laterally moveable carrier means depicted on Fig. 4A, namely the rack plate 144 positioned between the chassis 12 and the plate 80 which is slidable laterally with respect to the forward path of the robot. More clearly visible are the relationship of the depending studs 146, chassis 12, slotted holes 147 passing through the rack plate 144, caps 148, carrier plate 80, and floor treatment means 52. As is understood from Figures 4A, 4B the carrier plate 80 depends from the rearward portion of the chassis and is independently laterally moveable with respect to the chassis 12 of the robot 100 and moves transversely with respect to the forward directional path of the robot 100 .
  • FIG. 4A, 4B is provided merely by way of illustration and that other elements and mechanisms may be to provide a independently laterally moveable carrier plate which may be used in place of the specific embodiment illustrated and yet fall within the scope of the present invention.
  • the position of the laterally moveable carrier and the carrier plate 80 is not necessarily limited to being positioned within the rearward portion 20 of the chassis 12, but may be positioned anywhere with respect to the chassis 12 of the robot 100 . It is contemplated that in certain embodiments the laterally moveable carrier and the carrier plate 80 is positioned in the forward portion 18 of the robot.
  • a robot which further comprises oscillating moveable carrier means.
  • the oscillating moveable carrier means comprises a drive motor 150 mounted upon a part of the chassis 12, having a driveshaft 152 extending outwardly from both end of the drive motor 150.
  • a driveshaft 152 At each end of the driveshaft 152 is provided an axially mounted circular plate 154 having extending outwardly from a place near its periphery a pin 156 offset from the axis of the driveshaft 152; this arrangement provides a crank arm for the rotating driveshaft 152.
  • Extending from the pins 156 is a linkage 158 affixed at its other end to a connector pin 162 which depends from a pivot plate 160.
  • the pivot plate 160 is pivotable about a pivot pin 164 which depends from part of the chassis 12.
  • the carrier plate 80 which is removably affixed to the pivot plate 160 and depends therefrom.
  • the carrier plate 80 has a top surface 82 and a bottom surface 84. While the top surface 82 may be generally planar in configuration, the bottom surface 84 may be generally planar, or as shown in the figure may be arcuate.
  • the carrier plate 80 is removably affixed to the pivot plate 160 by any suitable means which can be operated by the user of the robot, depicted are a pair of posts 86 which extend upwardly from the top surface 82 of th.e carrier plate 80 which are insertable, e.g., snap-fit, into corresponding holes in the pivot plate 160.
  • the plate 80 is adapted to bear upon its outer surface 88 user removable and replaceable pads or wipes. Such may be affixed by any suitable retention means, e.g, physical elements such as clips, hook-and-loop fasteners, pins, springs, elastic bands, or adhesives such as light or medium duty adhesives, to at least the bottom surface 84 of the carrier plate 80.
  • the pad or wipe is in the form of a flexible, generally planar sheet which is suitably dimensioned so to cover the bottom surface 84 of the carrier plate 80 and to be sufficiently long to extend upwardly and overlap at least a part of the top surface 82 of the carrier plate, whereupon suitable retention means are present.
  • a carrier plate 80 While the reuse of a carrier plate 80 is highly economical and convenient, requiring only the periodic replacement of a ⁇ vipe or pad, it is to be contemplated that a single-use carrier plate 80 may be produced and used with the robot 100. Such a single-use carrier plate 80 would have incorporated in its construction a pad or wipe on at least its bottom surface 84 and would be periodically replaceable in its entirety by a consumer, and not reloaded with a fresh wipe or pad.
  • Figure 5 A illustrates a first "rest” position wherein the carrier plate 80 is perpendicular to the directional path of the robot 100. According to the illustrated embodiment this is conveniently established by ensuring that the distances between the connector pins 162 and the driveshaft 152 are equal.
  • This "rest” position may be established by the control means 32 which is in electrical communication with the drive motor 150.
  • the drive motor 150 may be actuated causing the driveshaft 152 and dependent circular plate 154 and pin 156 to rotate about the driveshaft.
  • FIG. 6A illustrates the relationship of the relative positions of the circular plate 154, pin 156 offset from the axis of the driveshaft 152, linkages 158 to affixed to the connector pin 162 depending from the pivot plate 160 and the carrier plate 80 attached thereto in a "rest" position.
  • Figure 6B illustrates the relationship of the relative positions of the circular plate 154, pin 156 offset from the axis of the driveshaft 152, linkages 158 to affixed to the connector pin 162 depending from tit ⁇ e pivot plate 160 and the carrier plate 80 attached thereto during an oscillation of the pivot plate 160.
  • the carrier plate SO depends from the rearward portion of the chassis 12 and is independently moveable with respect to the chassis 12 of the robot IOO and oscillates with respect to the forward directional path of the robot 100. It is fuxther to be understood that the embodiment illustrated in Figures 5 A, 5B and 5 C and 6 A and 6B is provided merely by way of illustration and that other elements and mechanisms may be used to provide a independently oscillating pivot plate 16O which may be used in place of the specific embodiment illustrated and yet fall within the scope of the present invention.
  • the position of the prvot plate 160 and dependent carrier plate 80 is znot necessarily limited to being positioned within the rearward portion 20 of the chassis 12., but may be positioned anywhere with respect to the chassis 12 of the robot. It is contemplated that in certain embodiments the pivot plate 160 and the carrier plate 80 is positioned in the forward portion 18 of the robot.
  • Fig. 7 is a perspective view of a preferred embodiment of a robot according to further inventive aspect, which further comprises a carrier plate having a plurality of downwardly extending sharp edged projections which carrier plate further comprises a_ floor treatment means.
  • the embodiment depicted on Fig. 7 is similar in most respects to that described with reference to Fig. 1, but further comprises a carrier plate 80 having a plurality of downwardly extending sharp edged projections.
  • the flexible wipe or pad overlay the sharp edged projections 170 when the flexible wipe or pad is applied to the carrier plate 80.
  • the flexible wipe or pad rests upon the terminal surfaces 172 of the sharp edged projections 170 and thus are in a spaced apart relationship offset from the bottom surface 84 of the carrier plate 80.
  • This arrangement provides plural benefits to the cleaning efficacy of the robot 100.
  • a first benefit is that the presence of the sharp edges 174 present at the boundary of the terminal surfaces 172 of the sharp edged projections 170 which are positioned just beneath the flexible wipe or pad which is applied to the fact of the terminal surfaces 172 has surprisingly been found to improve the cleaning efficacy of the robot 100.
  • a plurality of sharp edged projections 170 provide a plurality of discrete sharp edges 174 which, are positioned perpendicular to or at least partially transverse to the forward directional path of the robot 100, as illustrated by directional arrow "F".
  • the presence of discrete sharp edges 174 has been found to improve the contact between the flexible wipe or pad. and the flooring surface at the locus of the discrete sharp edges 174.
  • providing a number of such sharp edged projections 170 particularly in a regularly repeating pattern does not impart an undue amount of forward drag resistance to the carrier plate 80 or to the robot 100 as might otherwise be anticipated.
  • a second benefit which has been realized is that as the flexible wipe or pad rests upon the terminal surfaces 172 of the sharp edged projections 170 and are in a spaced apart relationship offset from the bottom surface 84 of the carrier plate 80, and that the flexible wipe or pad also occupies the space between the terminal surfaces 172 of the sharp edged proj ections 170 and the bottom surface 84 of the carrier plate 80, the absorbency or adsorbency of the flexible wipe or pad is improved in these latter regions, resulting in improved "take-up" of soils or stains from the flooring surface, providing a surprising improvement in the cleaning efficacy of the robot 100.
  • the combination of the plurality of discrete sharp edges 174 provided by the sharp edged projections 170 separated from one another in providing an improved contact between the flexible wipe or pad and the flooring surface coupled with the improved absorbency or adsorbency of the flexible wipe or pad in regions between the terminal surfaces 172 of the sharp edged projections 170 and the bottom surface 84 of the carrier plate 80 provide a significantly improved cleaning benefit without undue detriments to the performance of the robot 100.
  • the arrangement of title sharp edged projections 170 depending from the bottom surface 84 of the carrier plate 80, as well as the geometric configuration of the sharp edged projections 170 may be widely varied. However good results have been realized by utilizing a regularly repeating pattern of a sharp edged projections 170 having a common geometric configuration.
  • the geometric configuration my vary, but good results are expected using simple regular geometric shapes such as squares, rectangles, diamonds, circles, triangles and the like, although irregular geometric shapes may also be utilized as well with the expectation of good results as well.
  • the size, arrangement and spacirig of the sharp edged projections 170 depending from the bottom surface 84 of the carrier plate 80 may also vary widely but good results have been observed when at least one discrete sharp edge 174 at the terminal surface 172 of the projections 170 present is positioned perpendicular to or at least partially transverse to the forward direction of the robot 100.
  • Figure 8 is a side view of the embodiment depicted on Figure 7, showing in. more detail the placement of the respective elements of the robot 100.
  • Figure 9 A is a side view of a carrier plate 80 having a plurality of downwardly extending sharp edged projections 170 useful with robots according to the invention. As is visible from the side view, the projections 170 depend from and in this embodiment, are incorporated into the construction of the carrier plate 80.
  • Figure 9B is a side view of the carrier plate 80 depicted on Fig. 9A. As is visible from this side view, four regularly repeating rows of sharp edged projections 170 are provided extending from the underside of the carrier plate 80.
  • Figure 9C is a plan view of the underside of carrier plate 80 according to Figs. 9A, 9B depicting a plurality of downwardly extending sharp edged projections 1 70, which are patterned into four regularly repeating patterns, (a single pattern being depicted by the area outlined by dotted line "P") each pattern comprising two columns and four rows of sharp edged projections 170 each sharp edged projection having a sharp edge 174 perpendicular to the normal forward direction "F" of the robot.
  • Figure 10 is a plan view of an alternative embodiment of a carrier plate S 0, depicting the underside having a plurality of downwardly extending sharp edged projections 170 each being a solid triangle terminating in a flat terminal surface 172 useful with robots according to the invention.
  • Each of the triangular shaped sharp edged projections 170 comprise two sharp edges 174 each being partially transverse to the normal forward direction F of the robot.
  • These triangular shaped sharp edged projections 170 are positioned in a staggered spaced apart configuration which is a repeating pattern along adjacent diagonal lines.
  • Figure 11 is a plan view of a further alternative embodiment of a carrier plate 80, depicting the underside having a plurality of downwardly extending sharp edged projections 170 each being a solid chevron terminating in a flat terminal surface 172 useful with robots according to the invention.
  • Each of the chevron shaped sharp edged projections 170 comprise two sharp edges 174 each being partially transverse to the normal forward direction F of the robot.
  • These chevron shaped sharp edged projections 170 are positioned in a staggered spaced apart configuration which is a repeating pattern along adjacent diagonal lines.
  • Figure 12 is a plan view of a further alternative embodiment of a carrier plate 80, depicting the underside having a plurality of downwardly extending sharp edged, projections 170 each being a solid diamond shaped projection terminating in a flat terminal surface 172 useful with robots according to the invention.
  • Each of the solid diamond shaped projections 170 comprise two sharp edges 174 each being partially transverse to the normal forward direction F of the robot.
  • These solid diamond shaped projections 170 are positioned in a staggered spaced apart configuration which is a repeating pattern along adjacent diagonal lines.
  • the carrier plate 80 has been depicted as depending from the rearward portion of the chassis 12 of the robot it is further to be understood that the position of the carrier plate 80 is not necessarily limited to being positioned within the rearward, portion 20 of the chassis 12, but may be positioned anywhere with respect to the chassis 12 of the robot. It is contemplated that in certain embodiments the laterally moveable carrier and the carrier plate 80 is positioned in the forward portion 18 of the robot.
  • Figures 13 A, 13B depict one embodiment of a compressible fluid reservoir useful in the tank 51 , or as the tank 51 of the invention.
  • the housing 182 further contains a compressible sac 188 containing a quantity of a floor treatment composition, and a moveable base 190 having extending tabs 192 extending through the helical slots 182 and engaging guide channels 194 which are dimensioned to receive a portion of the extending tabs 192.
  • the housing wall 186 also contains on a part of its outer surface a gear track 196 here depicted to be adjacent to the base of the housing wall 186 although trie location of the gear track may be at another section of the housing wall 186 such as at trxe upper end thereof.
  • Part of the gear track 196 is enmeshed with a drive gear 198 which may be driven by a motor 200 or alternately may be driven by other drive means available in the robot.
  • FIG. 13B is a partial skeletal view of a compressible fluid reservoir according to Fig. 13 A, illustrating the moveable base 190 in a position displaced from that depicted on Fig. 13 A, and with the sac 188 partially compressed.
  • the compressible fluid reservoir 180 may be refilled by supplying a quantity of the flooring treatment composition via the refill port 53 A which is in fluid communication with the refill port 53 of the robot.
  • the moveable base 190 is advantageously retracted by reversing the direction of the motor 200 which would permit the compressible fluid reservoir 180 to expand prior to, or during refilling.
  • the refill port 53A or the refill port 53 includes a valve or other flow control means which permit for a floor treatment composition to be supplied to the compressible fluid reservoir 180, and thereafter be sealed.
  • a one-way fill valve may be advantageously used in this regard.
  • Figure 14 depicts a further embodiment of a compressible fluid reservoir useful in the tank 51 or as the tank 51 of the robot of the present invention.
  • Fig. 14 is a partial skeletal view of a tank 51 which includes a compressible fluid reservoir 210 includes a pair of concentric generally cylindrical housings an outer housing 212 and an inner housing 214 which are rotatable with respect to one another.
  • the inner housing 214 has a sidewall 216 comprising at least one helical slot 218 passing therethrough and defining a helical path between the base 220 and the top 222 of the inner housing 214.
  • the inner housing further comprises a moveable base 190 having extending from a part therefrom at least one tab 192 extending therethrough.
  • the inner housing also comprises a compressible sac 188 containing a quantity of a floor treatment composition.
  • the inner housing 214 is affixed to, or incorporates a gear track 196, here at the base 220 which is enmeshed with a drive gear 198 which may be driven by a motor or by other drive means available in the robot.
  • the outer housing 212 encases at least a part of the inner housing 214 and includes at least one engaging guide channel 194 which is dimensioned to receive a portion of the tab 192.
  • the engaging guide channel 194 is depicted as passing through the sidewall 224 of the outer housing 212, although it is equally likely that the engaging guide channel 194 be present as a passage or channel within the outer housing 212 and not pass through the sidewall 224 as depicted in the following Figure 15.
  • the portion of the tab 192 extending from the moveable base 190 engages both the helical slot 218 and the engaging guide channel 194 and is thus visible to a user as an approximate indicator of the remaining quantity of the floor treatment composition still remaining in the compressible sac 188.
  • the outer housing 212 In use, when the outer housing 212 Is retained in a stationary position and the drive gear 198 is driven, the enmeshed gea. ⁇ track 196 causes the inner housing 214 to rotate with respect to the outer housing 212 which in turn causes the moveable base 190 to move in a direction which the compresses the compressible sac 188 and thereby causing the floor treatment composition out via the intermediate fluid conduit 60 to a fluid manifold 64 which may form part of the robot.
  • the outer housing 212 may include parts or elements such as lobes 226 extending therefrom which may be used to engage the compressible fluid reservoir 210 in a device, such as a robot and retain it in a stationary position.
  • the tank 51 may be refilled by supplying a quantity of a floor treatment composition via the refill port 53 which is in fluid communication with the compressible fluid reservoir 210 via a fill conduit 53B which desirably includes an in-line, one-way check valve to permit for one direction of fluid flow, that is to say, only into the compressible fluid reservoir 210 and deny flow out of the refill port 53.
  • the drive gear 198 is rotated in the opposite direction which would move the drive gear 198 towards the drive gear 198 and thereby permit the compressible fluid reservoir 210 to expand fully when being refilled in the manner described.
  • Figure 15 depict a yet further embodiment of a coirxpressible fluid reservoir useful as the tank 51, or in the tank of the present invention.
  • Fig. 15 is a partial skeletal view of a yet further compressible fluid reservoir 230 according a frirther preferred embodiment of the invention.
  • the compressible fluid reservoir 210 includes a pair of concentric generally cylindrical housings, an outer housing 212 and an inner housing 214 which are rotatable with respect to one another.
  • the inner housing 214 has a sidewall 216 comprising at least one engaging guide channel 194 passi ⁇ g through the sidewall 216.
  • the inner housing further comprises a moveable base 190 liaving extending therefrom at least one tab 192 extending through the engaging guide channel 194 and which also engages a part of channel 218.
  • the inner housing also comprises a compressible sac 188 containing a quantity of a floor treatment composition.
  • Tbie outer housing 212 has a sidewall 216 comprising at least one helical channel 218 defining a helical path between the base 228 and the top 232 of the outer housing 212.
  • the at least one helical channel 218 includes at or near the top 232 of the outer housing 212 a ring section 219; the ring section is not helical but rather defines a channel which is circular into which an end of the helical channel 218 extends.
  • the outer housing 212 is affixed to, or incorporates a gear track 196, here near the top 232 thereof which is enmeshed with a drive gear 198 which may be driven by a motor or by other drive means available in the robot.
  • the enmeshed gear track 196 causes the outer housing 212 to rotate with respect to the inner housing 214 which in turn causes the moveable base 190 to move in a direction which compresses the compressible sac 188 and thereby causes the floor treatment composition out via the intermediate fluid conduit 60 to a fluid manifold 64 which may form part of the robot.
  • the moveable base 190 has substantially compressed the compressible sac 188 the tab 192 extending through the engaging guide channel 194 passes beyond the end. of the helical section of the channel 218 and enters into the ring section 219 of the channel 218 which terminates the forward movement of the moveable base 190.
  • the outer housing 212 may continue to rotate without risk of stoppage or damage to the motor or other drive means which is used to drive the drive gear 198.
  • the inner housing 214 may include parts or elements such as lobes 226 extending therefrom which may be used to engage the compressible fluid reservoir 230 in a device, such as the robot.
  • Figure 16 is a partial skeletal view of a still further compressible fluid reservoir useful in the tank 51 or as the tank 51 of the robot of the present invention.
  • Fig. 16 depicted is a partial skeletal view of a. compressible fluid reservoir 240 comprises a housing 242 having a sidewall 248, a top 250, optionally but preferably a stationary base 252 defining an internal cavity 244 therebetween.
  • the housing 242 is generally cylindrical in cross-section and contains a compressible sac 246 containing a quantity of a floor treatment composition, located between a moveable base 248 and an outlet 254 which passes through or forms part of the top 250.
  • a pair of threaded shafts 256A, 256B are also present within the interior of the housing 242 and pass through parts of the moveable base 248 which advantageously includes threaded passages 248A, 248B engaging portions of the threaded shafts 256A, 256B.
  • a portion of the threaded shafts 256 A, 256B also pass through portions of the stationary base 252.
  • the threaded shafts include at one end shaft heads 256C, which are extended at least beyond the mo ⁇ veable base 248 and if present beyond the stationary base 252 as well such that the shaft heads 256C are accessible from the exterior of the housing 242.
  • portions of the threaded shafts 256A, 256B included non-threaded regions, stops 256R at the end of the threaded regions of the threaded shafts 256A, 256B, a head region 256D ⁇ vhich may be present in the portion of the threaded shafts 256A, 256B which pass through the stationary base 252 and/or an end region 256E opposite that of the shaft heads 256C.
  • each of the threaded shafts 256A, 256B rotates within a cup 258 or other suitably dimensioned recess formed within the interior of the top 250 the distance between the cups 258 being equal to or approximately equal to the distance between the threaded passages 248 A, 248B of the moveable base 248.
  • the threaded shafts 256A, 256B are retained in parallel to one another. Retention of the threaded shafts 256A, 256B is further improved when a stationary base 252 is present.
  • the floor treatment composition contained in the compressible sac 246 may be dispensed from the compressible fluid reservoir 240 in the following manner.
  • the threaded shafts 256A, 256B are caused to rotate via the coupling between the coupling portion 256K and the shaft heads 256C which in turn urges the moveable base 248 toward the outlet 254 which functions to compress the compressible sac 246 containing a quantity of a floor treatment composition and expelling it through the outlet 254, and into the manifold 64 via the fluid coupling 60.
  • the specific configuration of the compressible: fluid reservoir 240 provides certain specific advantages.
  • the inclusion of a stationary base 252 in addition to the sidewall 248, and top 250 defines a sealed internal cavity 244.
  • stops 256R at the end of the threaded regions of the threaded shafts 256>A, 256B provides a limiting function with respect to the travel distance of the moveable base 248. Such denies the movement of the moveable base 248 beyond said stops 256R and over-emptying of the sac 246.
  • the sac 246 may be refilled by supplying a quantity of a floor treatment composition via the refill port 53 which is in fluid communication with the compressible sac 246 via a fill conduit 53B which, as depicted in thie figure, desirably includes an in ⁇ line, one-way check valve to permit for one direction of fluid flow, that is to say, only into the compressible sac 246 and deny flow out of tixe refill port 53.
  • the motors 260 are rotated in the opposite direction trxat that used to compress the sac, and retracting the moveable base 248and thereby permit the sac 246 to expand fully when being refilled in the manner described.
  • the sidewall may include one or more extended channels which extend- laterally along the sidewall and are open to the interior cavity but closed to the exterior, which extended channels contain a threaded shaft.
  • the drive means depicted as a pair of electrical motors each having a drive coupling may be any other drive means which can be removably coupled to part of one or may be coupled to a plurality of the threaded shafts which may be present. Two or more of the plurality of the threaded shafts present may be mechanically coupled so that rotation of one of the threaded drive shaft simultaneously drives the other coupled drive shaft, thus reducing the number of couplings required between the compressible fluid reservoir and drive means.
  • the drive means may be one or more separate motors or other elements which are responsive to the control means, or may operate without regard to the control means.
  • the drive means may be provided from other parts or elements of the robot either directly or indirectly such as through a gear train, or other power transmission system.
  • Figs. 13 A, 13B depict an inlet port 53 A as part of the compressible fluid reservoir which is used to refill the reservoir
  • Figs. 14, 15 and 16 depict an inlet port 53 in fluid communication via a fill conduit 53B which desirably includes an in-line, one-way check valve to permit for one direction of fluid flow which is used to refill the reservoir
  • a fill conduit 53B which desirably includes an in-line, one-way check valve to permit for one direction of fluid flow which is used to refill the reservoir
  • the use of either inlet port 53 A as part of the compressible fluid reservoir or the use of an inlet port 53 in fluid communication with the compressible fluid reservoir via a fill conduit 53B is suitable for any of the embodiments described herein.
  • compressible fluid reservoirs described herein are used within a robot directly and are not intended to be user replaceable, or form part of a user replaceable cartridge which is insertable within a portion of the robot.
  • Figure 17A is a perspective view of an independently circularly moveable carrier means useful with robots according to the invention.
  • a drive motor 280 mounted upon a part of the chassis 12, having a driveshaft 282 which is eccentrically mounted upon a drive cylinder 284 which is slidably mounted upon, on as depicted, is mounted through a swing plate 290.
  • a peripheral flange 284A extends from the bottom of the drive cylinder 284 and is used to support the swing plate 290 while at the same time permitting the drive cylinder 284 to be fully rotatable within the cylinder bore 284B within which it is found.
  • Each of the swing cylinders 286 desirably but optionally also include peripheral flange 284A extends from the bottom of the swing cylinder 286 upon which the swing plate 290 is supported.
  • An eccentrically mounted shaft 288 also extends from each of the swing cylinders 286 and is mounted to a portion of the chassis 12.
  • the carrier plate 80 has a top surface 82 and a bottom surface 84. While the top surface 82 may be generally planar in configuration, the bottom surface 84 may be generally planar, or as shown in the figure may be arcuate.
  • the carrier plate 80 is removably affixed to the swing plate 290 by any suitable means which can be operated by the user of the robot; depicted are a pair of posts 86 which extend upwardly from the top surface 82 of the carrier plate 80 which are insertable, e.g., snap-fit, into corresponding holes in the swing plate 290.
  • the plate 80 is adapted to bear upon its outer surface user removable and replaceable pads or wipes 84A. Such may be affixed by any suitable retention means, e.g, physical elements such as clips, hook-and-loop fasteners, pins, springs, elastic bands, or adhesives such as light or medium duty adhesives, to at least the bottom surface 84 of the carrier plate 80.
  • the pad or wipe is in the form of a flexible, generally planar sheet which is suitably dimensioned so to cover the bottom surface 84 of the carrier plate 80 and to be sufficiently long to extend upwardly and overlap at least a part of the top surface 82 of the carrier plate, whereupon suitable retention means are present.
  • a carrier plate 80 While the reuse of a carrier plate 80 is highly economical and convenient, requiring only the periodic replacement of a wipe or pad, it is to be contemplated that a single-use carrier plate 80 may be produced and used with the robot. Such a single-use carrier plate 80 would have incorporated in its construction a pad or wipe on at least its bottom surface 84 and would be periodically replaceable in its entirety by a consumer, and not reloaded with a fresh wipe or pad.
  • Figure 17B is a side view of the independently circularly moveable carrier means depicted on Fig. 17A.
  • Figure 17B depicts in side view of the independently circularly moveable carrier means depicted on Fig. 17A, namely swing plate 290 positioned between the chassis 12 and the plate 80 which is independently circularly moveable with respect to the forward path of the robot.
  • the carrier plate 80 depends from the swing plate 290 which in turn is dependent from the rearward portion of the chassis 12 which swing plate 290 is independently circularly moveable with respect to the chassis 12 of the robot and when actuated, moves eccentrically with respect to the forward directional path of the robot.
  • the eccentrically mounted drive cylinder 284 rotates in either a clockwise or counterclockwise causing the swing plate 290 which is slidably mounted upon the eccentrically mounted drive cylinder 284 and slidably mounted upon the two swing cylinders 286 to move in a circular motion orbitally about the driveshaft 282 of the drive motor 280 as well as orbitally about the shafts 288 extending from each of the swing cylinders 286.
  • This motion imparts a circular motion to the carrier plate 80 as it depends from the swing plate 290.
  • the drive motor 280 may be engaged by the user, or may he controllably engaged by the robot, particularly by the control means 32.
  • a plurality of eccentrically mounted drive cylinders 284 may be provided, driven by a single drive means 280 or by a plurality of separate drive means in order to impart an orbital circular motion to the swing plate 290 and its dependent carrier plate 80. Still further it is contemplated that the drive motor 280 may be omitted, and the motive force needed to drive the eccentrically mounted drive cylinder 284 may be provided from other elements within the robot.
  • Figures 18A and 18B provide an alternative embodiment of an independently circularly moveable carrier means useful with robots according to the invention.
  • An alternative means for providing an orbital circular motion to a carrier plate 80 is depicted, on Fig. 18B; the depicted embodiment omits the swing plate 290 depicted on Figs. 17A, 17B.
  • a drive motor 280 mounted upon a part of the chassis 12, having a driveshaft 282 which is eccentrically mounted upon a rotatable plate 296 having a dependent pin 298 mounted thereon offset from the central axis of the driveshaft 282 and rotatable plate 296.
  • the pin 298 is rotatably linked to a section of a linkage plate 300 which is also rotatably linked to three crank arms 302.
  • Each crank arm has a central axis 302.A which passes through a section of the chassis 12, an upper arm segment 302B and a lower arm segment 302C each depending from the central axis 302 A; desirably but not necessarily the upper arm segment 302B and a lower arm segment 302C are offset by 180° as depicted.
  • a linkage pin 302D extends from each upper arm segment 302B and is rotatably linked to a section of the linkage plate 300.
  • a mounting post 302E extends downwardly from the lower arm segment 302C and removably engages the carrier plate 80 having mounted thereon a floor treatment means 84A.
  • Figure 18B illustrates in side view the embodiment depicted on Fig. 18A, illustrating in greater specificity the interrelationship of the elements discussed with reference to Fig. 18B. Particularly visible is the relative positioning of the linkage plate 300, the three crank arms 302 and the carrier plate 80 mounted on the mounting posts 302E forming part of the crank arms 302.
  • the carrier plate 80 depends fromttie three rotatable crank arms 302 which are mounted on the rearward portion of the chassis 12 and the carrier plate 80 is independently circularly moveable with respect to the chassis 12 of the robot 100; when actuated, moves circularly with respect to the forward directional path of the robot 10O.
  • the drive motor 280 when the drive motor 280 is actuated, the rotatable plate 296 rotates in either a clockwise or counterclockwise causing the linkage plate 300 to reciprocate, which causes the three crank arms 302 to rotate about their central axes 302 A, which in turn causes their mounting post 302E sections to move in a circular motion orbitally about each of their central axes 302 A, and the carrier plate 80 bearing the floor treatment means 84A to move in a circular motion orbitally about each of their central axes 302 A as well.
  • the drive motor 280 may be engaged by the user, or may be controllably engaged by the robot, particularly by the control means 32.
  • the position of the independently circularly moveable carrier means and the carrier plate 80 is not necessarily limited to being positioned within the rearward portion 20 of the chassis 12, but may be positioned anywhere with respect to the chassis 12 of the robot. It is contemplated that in certain embodiments the independently circularly moveable carrier means and the carrier plate 80 is positioned in the forward portion 18 of the robot.
  • a robot as previously described which further comprises a standoff means.
  • FIG 19 is a partial skeletal view of the robot according to Figs. 1, 2 and 3 which further comprises one embodiment of a standoff means.
  • the depicted standoff means comprises a standoff drive means 320 here an electrical motor in electrical communication with the control means 32.
  • a lobed cam 324 At the ends of the shaft 322 is provided a lobed cam 324 which is dimensioned such that when the drive means 320 rotates, at a portion of the lobed cam 324 rotates through a slot 326 provided through the chassis and when engaging the flooring surface beneath the chassis 12, causes the rearward portion 20 of the robot to be lifted, displacing the floor treatment means 88 mounted on the carrier plate 80 to be lifted away and out of contact with the flooring surface.
  • Figure 20 is a plan view of a robot according to the invention depicting a further embodiment of a standoff means, specifically in the form of a standoff drive means 320 having a shaft 322 upon which is mounted a lobed cam 324 which is dimensioned such that when the standoff drive means 320 rotates, a portion of the lobed cam 324 rotates through a slot 326 (not visible) provided through the chassis of the robot 100 .
  • the lobed cam 324 engages the flooring surface beneath the chassis, causing the rearward portion 20 of the robot to be lifted, displacing the floor treatment means 88 mounted on at least the bottom surface 84 of the carrier plate 80 to be lifted away and out of contact with the flooring surface.
  • the lobed cam 324 has two lobes 324A, 324B which are offset by 180° from one another and in the configuration shown the lobes 324A, 324B assume a in a vertical orientation perpendicular to the flooring surface.
  • This configuration provides that when the lobed cam 324 is rotated by a further 90° the two lobes 324A, 324B assume a horizontal location in parallel to the surface of the flooring surface, which also permits for th_e bottom surface 84 of the carrier plate 80 to contact the flooring surface.
  • the rotation of the lobed cam 324 and the position of its two lobes 324 A, 324B maybe used to establish whether the bottom surface 84 of the carrier plate 80 bearing the floor treatment article 88 contacts the flooring surface or whether it is spaced apart from the flooring surface.
  • Figure 21 is a plan view of a robot according to the invention depicting a still further embodiment of a standoff means, here in the form of a standoff drive meaans 320 having dual shaft 322 upon which are mounted lobed cams 324 which is dimensioned moveable carrier means depicted on Fig. 17A, namely swing plate 290 positioned between the chassis 12 and the plate 80 which is independently circularly moveable with respect to the forward path of the robot.
  • a standoff means here in the form of a standoff drive meaans 320 having dual shaft 322 upon which are mounted lobed cams 324 which is dimensioned moveable carrier means depicted on Fig. 17A, namely swing plate 290 positioned between the chassis 12 and the plate 80 which is independently circularly moveable with respect to the forward path of the robot.
  • the carrier plate 80 depends from the swing plate 290 which in turn is dependent from the rearward portion of the chassis 12 which swing plate 290 is independently circularly moveable with respect to the chassis 12 of the robot and when actuated, moves eccentrically with respect to the forward directional path of the robot.
  • the eccentrically mounted drive cylinder 284 rotates in either a clockwise or counterclockwise causing the swing plate 290 which is slidably mounted upon the eccentrically mounted drive cylinder 284 and slidably mounted upon the two swing cylinders 286 to move in a circular motion orbitally about the driveshaft 282 of the drive motor 280 as well as orbitally about the shafts 288 extending from each of the swing cylinders 286.
  • This motion imparts a circular motion to the carrier plate 80 as it depends from the swing plate 290.
  • the drive motor 280 may be engaged by the user, or may be controllably engaged by the robot, particularly by the control means 32.
  • a plurality of eccentrically mounted drive cylinders 284 may be provided, driven by a single drive means 280 or by a plurality of separate drive means in order to impart an orbital circular motion to the swing plate 290 and its dependent carrier plate 80. Still further it is contemplated that the drive motor 280 may be omitted, and trie motive force needed to
  • the eccentrically mounted drive cylinder 284 may be provided from other elements within the robot.
  • Figures 18A and 18B provide an alternative embodiment of an independently circularly moveable carrier means useful with robots according to the invention.
  • An alternative means for providing an orbital circular motion to a carrier plate 80 is depicted on Fig. 18B; the depicted embodiment omits the swing plate 290 depicted on Figs. 17 A, 17B.
  • a drive motor 280 mounted upon a part of the chassis 12, having a driveshaft 282 which is eccentrically mounted upon a rotatable plate 296 having a dependent pin 298 mounted thereon offset from the central axis of the driveshaft 282 and rotatatole plate 296.
  • the pin 298 is rotatably linked to a section of a linkage plate 300 which, is also rotatably linked to three crank arms 302.
  • crank arm has a central axis 302A which passes through a section of the chassis 12, an upper arm segment 302B and a lower arm segment 302C each depending from the central axis 302A; desirably but not necessarily the upper arm segment 302B and a lower arm segment 302C are offset by 180° as depicted.
  • a linkage pin 302D extends from each upper arm segment 302B and is rotatably linked to a section of the linkage plate 300.
  • a mounting post 302E extends downwardly from the lower arm segment 302C and removably engages the carrier plate 80 having mounted thereon a floor treatment means 84A.
  • Figure 18B illustrates in side view the embodiment depicted on Fig. 18 A, illustrating in greater specificity the interrelationship of the elements discussed with reference to Fig. 18B. Particularly visible is the relative positioning of the linkage plate 300, the three crank arms 302 and ttie carrier plate 80 mounted on the mounting posts 302E forming part of the crank arms 302.
  • the carrier plate 80 depends from the three rotatable crank arms 302 whicli are mounted on the rearward portion of the chassis 12 and the carrier plate 80 is independently circularly moveable with respect to the chassis 12 of the robot 100; when actuated, moves circularly with respect to the forward directional path of the robot 100. More specifically, when the drive motor 280 is actuated, the rotatable plate 296 rotates in either a clockwise or counterclockwise causing
  • the drive motor 280 may be engaged by the user, or may be controllably engaged by the robot, particularly by the control means 32.
  • the position of the independently circularly moveable carrier means and the carrier plate 80 is not necessarily limited to being positioned within the rearward portion 20 of the chassis 12, but may be positioned anywhere with respect to the chassis 12 of the roh>ot. It is contemplated that in certain embodiments the independently circularly moveaTble carrier means and the carrier plate 80 is positioned in the forward portion 18 of the robot.
  • a robot as previously described which further comprises a standoff means.
  • FIG 19 is a partial skeletal view of the robot according to Figs. 1, 2 and 3 which further comprises one embodiment of a standoff means.
  • the depicted standoff means comprises a standoff drive means 320 here an electrical motor in electrical communication with the control means 32.
  • a lobed cam 324 At the ends of the shaft 322 is provided a lobed cam 324 which is dimensioned such that wlien the drive means 320 rotates, at a portion of the lobed cam 324 rotates through a slot 326 provided through the chassis and
  • Figure 20 is a plan view of a robot according to the invention depicting a further embodiment of a standoff means, specifically in the form of a standoff drive means 32O having a shaft 322 upon which is mounted a lobed cam 324 which is dimensioned such. that when the standoff drive means 320 rotates, a portion of the lobed cam 324 rotates through a slot 326 (not visible) provided through the chassis of the robot 100 .
  • the lobed cam 324 engages the flooring surface beneath the chassis, causing the rearward portion 20 of the robot to be lifted, displacing the floor treatment means 88 mounted on at least the bottom surface 84 of the carrier plate 80 to be lifted away and out of contact with the flooring surface.
  • the lobed cam 324 has two lobes 324A, 324B which are offset by 180° from one another and in the configuration shown the lobes 324A, 324B assume a in a vertical orientation perpendicular to the flooring surface.
  • This configuration provides that when the lobed cam 324 is rotated by a further 90° the two lobes 324A, 324B assume a horizontal location in parallel to the surface of the flooring surface, which also permits for the bottom surface 84 of the carrier plate 80 to contact the flooring surface.
  • the rotation of the lobed cam 324 and the position of its two lobes 324A, 324B may be used to establish whether the bottom surface 84 of the carrier plate 80 bearing the floor treatment article 88 contacts the flooring surface or whether it is spaced apart from the flooring surface.
  • FIG. 21 is a plan view of a robot according to the invention depicting a still further embodiment of a standoff means, here in the form of a standoff drive means 32O having dual shaft 322 upon which are mounted lobed cams 324 which is dimensioned
  • each of the lobed cams 324 are positioned adjacent to each of thne drive wheels 14, 16 such that when appropriately rotated into position, the lobed cam 324 engages the flooring surface beneath the chassis and behind the drive wheels 14, 16 causing the rearward portion 20 of the robot to be lifted, displacing the floor treatment means 88 mounted on at least the bottom surface 84 of the carrier plate 80 to be lifted away and out of contact with the flooring surface.
  • FIG 22 is a plan view of a robot according to the invention depicting a yet further embodiment of a standoff " means, here in the form of a two plunger-type solenoids 330 in electrical communication ⁇ vith the control means 32 (not shown).
  • the plunger 332 extends downwardly through the chassis of the robot for a sufficient distance such that the contact between the floor treatment means 8 S and the flooring surface to be treated is removed.
  • each of the two solenoids 330 are positioned adjacent and rearward of one of the two drive wheels 14, 16 such that as the plunger 332 is extended, the adjacent drive wheel 14, 16 is lifted. off of the flooring surface 124.
  • Figure 23 depicts a side view of a robot according to the invention depicting a further alternative embodiment of a standoff means, here which comprises a rotatable support 240 preferably having an arcuate face 242 at the exterior thereof which depends from the chassis, here via a support bracket 244.
  • the robot 100 includes a latching mechanism which may be actuated by the control means 32 eitrxer directly such as by means of a motor or solenoid, or indirectly such as by means of a g&ar or set of gears, which when actuated cause the rotatable support 240 to rotate such that the arcuate face 242 engages the flooring surface 124 which causes lifting or raising the floor treatment means 88 out of contact with the flooring surface 124.
  • the robot 100 is controlled by the control means 32 such that the conclusion of a floor cleaning method, the robot 100 is caused to move in a rearwards direction and also actuating the rotatable support 240 to engage the flooring surface 124, lifting the floor treatment means 88 out of contact with the flooring surface 124.
  • any of the embodiments of the invention, described herein may comprise a carrier plate having a plurality of downwardly extending sharp edged projections.
  • any of the embodiments of the invention may comprise a standoff means.
  • the robot is supported on a flooring surface by the two wheels, and by one or more of the plurality of brush elements present on the forward part of the chassis; further supporting wheels or elements are not required.
  • a third wheel such as a further wheels directed to a steering mechanism, or a driving mechanism, or even a non-powered, non-controlled idler wheel is commonly encountered in the art.
  • the favorable operating characteristics of the robot of the present invention without such a third or further wheels is beneficial in avoiding the potential for staining or scratching a flooring surface due to the presence of such a third or further wheels.
  • the robot according to the present invention is particularly adapted to clean flooring surfaces, particularly hard flooring surfaces.
  • hard flooring surfaces include composed of refractory materials such as: glazed and unglazed tile, brick, porcelain, and ceramics; stone surfaces including marble surfaces, granite surfaces as well as other stone surfaces; glass; metals; wood flooring surfaces including those made from hardwood, softwood, solid wood planking, tile or parquet, laminated flooring surfaces comprising a plurality of laminated layers in the form of planking, tile or parquet of which only the uppermost surface may be a wood laminate layer or may be a synthetic material optionally pattered to appear to be a wood surface; synthetic flooring including in sheet, and tile form such as is commonly referred to a "linoleum” flooring which however may be made of any non-porous material which is rigid, semi-rigid or flexible.
  • Such hard flooring surfaces do not include carpeted surfaces such as continuous or broadloom carpets such as are commonly used in "wall-to-wall” installations, or rugs or carpets which cover only
  • the robot of the invention is provided with a quantity of a floor treatment composition and a floor treatment means and it placed upon a flooring surface.
  • flooring surfaces are generally substantially planar surfaces.
  • the robot is
  • the robot may move forward and randomly move about the flooring surface, or if provided with suitable program for governing its mode of travel (such as may be provided by means of a suitable program which may be programmed into the control means 32). Suitable techniques are known in the art.
  • the robot is operated in a suitable cleaning method until a desired degree of cleaning is imparted to the treated flooring surface.

Landscapes

  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

Robot autonome amélioré (100) pour le nettoyage d'une surface de revêtement de sol, en particulier pour le lavage d'une surface de sol, qui comprend: un châssis (12) portant une paire de roues motrices (14, 16) que l'on peut faire fonctionner indépendamment, ledit châssis ayant une partie avant (18) en avant des roues motrices et une partie arrière (20) en arrière des deux roues motrices, une pluralité d'éléments de brosse (22) dépendant de la partie avant (18) du châssis, un logement (28), une source d'énergie (30), une interface (42) de dispositif de commande ayant un ou plusieurs éléments d'interface (44, 46) réglables par l'utilisateur pour modifier les caractéristiques de fonctionnement du robot, un moyen de commande (32) pour commander les caractéristiques de fonctionnement du robot, un réservoir (51) à l'intérieur du logement, un collecteur de fluide (64) en communication fluide avec le contenu du réservoir et une plaque support (80) dépendant de la partie arrière (20) du châssis (12), laquelle plaque support comprend un moyen de traitement du sol (52).
PCT/GB2005/004160 2004-10-29 2005-10-27 Robot autonome pour le nettoyage d'une surface de revetement de sol WO2006046049A1 (fr)

Applications Claiming Priority (18)

Application Number Priority Date Filing Date Title
US62344804P 2004-10-29 2004-10-29
US62347404P 2004-10-29 2004-10-29
US62316604P 2004-10-29 2004-10-29
US62316704P 2004-10-29 2004-10-29
US62316804P 2004-10-29 2004-10-29
US62339904P 2004-10-29 2004-10-29
US62378504P 2004-10-29 2004-10-29
US62316504P 2004-10-29 2004-10-29
US62344704P 2004-10-29 2004-10-29
US60/623,785 2004-10-29
US60/623,447 2004-10-29
US60/623,399 2004-10-29
US60/623,474 2004-10-29
US60/623,448 2004-10-29
US60/623,166 2004-10-29
US60/623,167 2004-10-29
US60/623,168 2004-10-29
US60/623,165 2004-10-29

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WO2006046049A1 true WO2006046049A1 (fr) 2006-05-04
WO2006046049A8 WO2006046049A8 (fr) 2008-08-21

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PCT/GB2005/004155 WO2006046044A1 (fr) 2004-10-29 2005-10-27 Robot autonome pour le nettoyage d'une surface de revetement de sol
PCT/GB2005/004160 WO2006046049A1 (fr) 2004-10-29 2005-10-27 Robot autonome pour le nettoyage d'une surface de revetement de sol
PCT/GB2005/004165 WO2006046053A1 (fr) 2004-10-29 2005-10-27 Robot autonome pour le nettoyage d'une surface de revetement de sol

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CN115474865A (zh) * 2021-06-16 2022-12-16 创科无线普通合伙 地板清洁器
DE102022207383B3 (de) 2022-07-19 2023-11-09 BSH Hausgeräte GmbH Wischvorrichtung für einen Bodenreiniger

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KR20210015123A (ko) * 2019-07-31 2021-02-10 엘지전자 주식회사 인공지능 로봇청소기 및 그를 포함하는 로봇 시스템
CN111297269B (zh) * 2020-03-27 2021-09-14 珠海格力电器股份有限公司 一种扫地机的控制方法及系统
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CN115474865A (zh) * 2021-06-16 2022-12-16 创科无线普通合伙 地板清洁器
DE102022207383B3 (de) 2022-07-19 2023-11-09 BSH Hausgeräte GmbH Wischvorrichtung für einen Bodenreiniger
EP4309559A2 (fr) 2022-07-19 2024-01-24 BSH Hausgeräte GmbH Dispositif d'essuyage pour un nettoyeur de sol

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WO2006046049A8 (fr) 2008-08-21
WO2006046044A1 (fr) 2006-05-04
WO2006046053A1 (fr) 2006-05-04

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