WO2006046053A1

WO2006046053A1 - Automous robot for cleaning of a flooring surface

Info

Publication number: WO2006046053A1
Application number: PCT/GB2005/004165
Authority: WO
Inventors: Diane Joyce Burt; Lawrence T. Levine; Alexander W. Mayes; Lamson Nguyen
Original assignee: Reckitt Benckiser Inc; Reckitt Benckiser (Uk) Limited
Priority date: 2004-10-29
Filing date: 2005-10-27
Publication date: 2006-05-04
Also published as: WO2006046049A8; WO2006046049A1; WO2006046044A1; WO2006046053A8

Abstract

An autonomous robot (70) for the cleaning of a flooring surface, particularly for the mopping of a floor surface which comprises a chassis (12) bearing a pair of drive wheels (14, 16) which may be indepently operated said chassis having a forward portion (18) of the two drive wheels, a housing (28) a power source (30), a controller interface (42) having one or more user controllable interface elements for modifying the operative characteristics of the robots, a carrier plate (80)depending from the rearward portion of the chassis, and a user replaceable cartridge (48) which is insert able within a potion of the robot, which cartridge comprises a fluid reservoir (50).

Description

AUTOMOUS ROBOT FOR CLEANING OF A FLOORING SURFACE

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.

In the past several years, there have been developed 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, lawnmoΛving 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 amount 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. Also known are 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.

Relatively recently the art has provided 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 power supply source, and a cleaning means which is used in the treatment of the hard flooring surface. Also, 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.

While many such robotic devices are known to the art and are described in the patent literature, there remains a real need for further improvements in such robotic devices. It is to such a need and to such improvements that the present invention is directed. hi a first aspect of the invention there is provided an improved autonomous robot for the cleaning of a flooring surface, particularly for the mopping of a floor surface which comprises a chassis bearing a pair of drive wheels which may be independently operated, said chassis having a forward portion forward of the drive wheels, and a rearward portion rearward of the two drive wheels, a plurality of brush elements depending from a forward portion of the chassis, a housing, a power source, a controller interface having one or more user controllable interface elements for modifying the operative characteristics of the robot, a control means for controlling the operative characteristics of the robot, a carrier plate depending from the rearward portion of the chassis, and a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a fluid reservoir.

According to a second aspect of the invention there is provided an improved autonomous robot for the cleaning of a flooring surface, particularly for ttae mopping of a floor surface which comprises a chassis bearing a pair of drive wheels which may be independently operated, said chassis having a forward portion forward of the drive wheels, and a rearward portion rearward of the two drive wheels, a plurality of brush elements depending from a forward portion of the chassis, a housing, a power source, a controller interface having one or more user controllable interface elements for modifying the operative characteristics of the robot, a control means for controlling the operative characteristics of the robot, an independently laterally moveable carrier means bearing a carrier plate which carrier plate comprises a floor treatment means, and a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a fluid reservoir.

In a third aspect of the invention there is provided an Improved autonomous robot for the cleaning of a flooring surface, particularly for the mopping of a floor surface which comprises a chassis bearing a pair of drive wheels which may be independently operated, said chassis having a forward portion forward of the drive wheels, and a rearward portion rearward of the two drive wheels, a plurality of brush elements depending from a forward portion of the chassis, a housing, a power source, a controller interface having one or more user controllable interface elements for modifying the operative characteristics of the robot, a control means for controlling the operative characteristics of the robot, an oscillating moveable carrier means for a carrier plate which comprises a floor treatment means, and a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a fluid reservoir.

In a fourth aspect of the invention there is provided an improved autonomous robot for the cleaning of a flooring surface, particularly for trie mopping of a floor surface which comprises a chassis bearing a pair of drive wheels which may be independently operated, said chassis having a forward portion forward of the drive wheels, and a rearward portion rearward of the two drive wheels, a plurality of brush elements depending from a forward portion of the chassis, a housing, a power source, a controller interface having one or more user controllable interface elements for modifying the operative characteristics of the robot, a control means for controlling the operative characteristics of the robot, an independently circularly moveable carrier means bearing a carrier plate which carrier plate comprises a floor treatment means, and a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a fluid reservoir.

In a fifth aspect of the invention there is provided an improved autonomous robot for the cleaning of a flooring surface, particularly for the mopping of a floor surface which comprises a chassis bearing a pair of drive wheels which may be independently operated, said chassis having a forward portion forward of trie drive wheels, and a rearward portion rearward of the two drive wheels, a plurality of brush elements depending from a forward portion of the chassis, a housing, a power source, a controller interface having one or more user controllable interface elements for modifying the operative characteristics of the robot, a control means for controlling the operative characteristics of the robots, a carrier plate depending from the reairward portion of the chassis, and a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a fluid reservoir, and wherein the robot further comprises a standoff means.

In accordance with a further aspect of the invention there is- provided an improved autonomous robot according to any of the foregoing descriptions, which further comprises a carrier plate having a plurality of downwardly extendixig sharp edged projections which carrier plate further comprises a floor treatment means.

In a further aspect of the invention there is provided an improved autonomous robot according to any of the foregoing descriptions which comprises a cartridge comprises a compressible fluid reservoir.

According to a further aspect of the invention there is provided a method of treating a flooring surface by use of the robot according to any of the described embodiments of the invention.

According to particularly preferred embodiments, the robot of the invention operates autonomously and requires no user input during treatment of the flooring surface.

These and other aspects of the invention are better understood with reference to the following specification and drawings, in which:

Fig. 1 is a perspective view of a preferred embodiment of a. robot according to the first aspect of the invention.

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 4 is a perspective view of an independently laterally moveable carrier means useful with robots according to the invention.

Figure 5 is a side view of the independently laterally moveable carrier means depicted on Fig. 4.

Figures 6A, 6B and 6C depict in partial skeletal view a preferred embodiment of oscillating moveable carrier means useful with robots according to the invention. Figures 7 A and 7B depict in partial skeletal view the oscillating moveable carrier means depicted on Figures 6A, 6B and 6C.

Figure 8 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 9 is a side view of the embodiment depicted on Figure 8.

Figure 1 OA 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 1OB is a side view of the carrier plate depicted on Fig. 1OA.

Figure 1OC is a plan view of the underside of carrier plate according to Figs. 1OA and 1OB having a plurality of downwardly extending sharp edged projections.

Figure 11 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 12 is a plan view of a further 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 13 is a plan view of yet further 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 14A is a partial skeletal view of a compressible fluid reservoir according to a preferred embodiment of the invention.

Figure 14B is a partial skeletal view of a compressible fluid reservoir according to Fig. 14A.

Figure 15 is a partial skeletal view of a further compressible fluid reservoir according to a yet further preferred embodiment of the invention.

Figure 16 is a partial skeletal view of a yet further compressible fluid reservoir according a further preferred embodiment of the invention.

Figure 17 is perspective view of a preferred embodiment of a robot according to the invention comprising the compressible fluid reservoir according to the invention. Figure 18 is a partial skeletal view of a further compressible fluid reservoir according to a further preferred embodiment of the invention.

Figure 19A is a view of a part of the compressible fluid reservoir according to Fig. 18.

Fig. 19B is a view of a part of the compressible fluid reservoir according to Fig. 18.

Figure 20 is a partial skeletal view of a yet further compressible fluid reservoir according a further preferred embodiment of the invention.

Figure 21 A is a perspective view of an independently circularly moveable carrier means useful with robots according to the invention.

Figure 2 IB is a side view of the independently circularly moveable carrier means depicted on Fig. 2 IA.

Figure 22A is a perspective view of an alternative embodiment of an independently circularly moveable carrier means useful with robots according to the invention.

Figure 22B is a side view of the independently circularly moveable carrier means depicted on Fig. 22A.

Figure 23 is a partial skeletal view of the robot according to Figs. 1, 2 and 3 which further comprises one embodiment of a standoff means.

Figure 24 is a plan view of a robot according to the invention depicting a further embodiment of a standoff means.

Figure 25 is a plan view of a robot according to the invention depicting a still further embodiment of a standoff means.

Figure 26 is a plan view of a robot according to the invention depicting a yet further embodiment of a standoff means.

Figure 27 depicts a side view of a robot according to the invention depicting a further alternative embodiment of a standoff means.

It is believed that the present invention will be better understood from the following description of preferred embodiments, taken in conjunction with the accompanying drawings, in which like reference numerals identify identical elements. With reference now to the figures, Fig. 1 is a perspective view of a first preferred embodiment of a robot 70 according to the present invention. The robot comprises a chassis 12 bearing a pair of drive wheels 14, 16 which may be independently operated, said chassis having a forward portion 18 forward of the drive wheels, particularly forward of the axle 14A, 16A of each of the drive wheels 14, 16 and a rearward portion 20 rearward of the two drive wheels, 14, 16, particularly rearward of the axle 14A, 16 A. Depending from the chassis 12 is a plurality of brush elements 22 which depend from a portion of the forward portion 18 of the chassis 12. The robot 7O further includes a housing 28 configured to encase one or more of the parts or elements used to construct the robot 70. The housing may be of any configuration, and may differ from that shown in the Figures. The robot 70 further contains a power source 30 mounted within the interior of the housing 28, a controller interface 42 having one or more user controllable interface elements for modifying the operative characteristics of the robot, a control means 32 for controlling the operative characteristics of the robot 70, a carrier plate 80 depending from the rearward portion of the chassis, and a user replaceable cartridge 48 which is insertable within a portion of the robot, which cartridge comprises a fluid reservoir 50.

The power source 30 mounted within the interior of the housing 28 which provides a power source used to power the robot 70 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. Although the power source 30 may be composed of non-replenishable batteries, advantageously the poΛver source 30 comprises one or more rechargeable batteries. While not shown in the figures, desirably the power source 30 may be replenished without necessitating the removal from the robot 70 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. Alternately the power source 30 my be operated, from, or replenished by one or more solar cells which generate an electrical current Λvhen exposed to a light source.

The robot 70 further comprises a control means 32 for controlling the operative characteristics of the robot. The control means 32 may be any 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 70, and responsive thereto, is capable of teansmitting at least one output control signal which capable of controlling the operation of one or both of the motors 34, 36 which are used to drive trxeir respective wheels 14, 16. Of course the control means 32 may 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 may 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 indica-tive of environmental conditions of the robot 70. For example, the sensor means 38 may be a sensor which detects the distance between the sensor affixed upon or within the robot 70 and the flooring surface at a point adjacent to the nose 40 of the robot 70. Such a sensor 38 can determine if there is a sudden distance differential adjacent to the nose 40 of the robot 70 and when detected provide a signal or response to the control means 32 indicative of such an environmental condition. Such a sudden distance differential adjacent to the nose 40 may occur, for example, when the nose 40 of the robot 70 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 70 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. When such an environmental condition is sensed, 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 70 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. Such 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. When then nose 40 of the robot 70 encounters such a boundary region the nose 40 may be to forced to move or tip upwardly, away from the flooring surface, thus increasing the distance between the sensor 38 and the flooring surface. 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 70 to halt, move rearwardly or move in a different direction so to avoid the boundary region. Similarly when the nose 40 of the robot 70 is proximate to other upwardly depending elements extending from or resting upon the flooring surface, e.g., in the case of the former a wall or door, in the case of the latter, e.g., a piece of furniture or part thereof^* such as a leg resting upon a flooring surface, the sensor 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 70 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 apparatus 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 70. For example during the normal autonomous cleaning mode of the robot 70, the robot 70 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 70, which encounter may block or retard the motion of the robot 70, 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 70 by the positive vertical displacement. The control means 32, responding to such an environmental condition may cause the robot 70 to halt, move rearwardly or move in a different direction so to avoid the encountered positive vertical displacement. For example, during a turning step a portion of the robot 70 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 70 or drags upon the robot 70 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 70. Such a form of feedback-response permits for the production of a robot 70 which requires no external sensors such as sensor 38, but which still may be used in a robot 70 to provide a degree of object avoidance during an autonomous cleaning operation.

In preferred embodiments, 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 70 includes a controller interface 42 having one ox more user controllable interface elements, e.g., switches 44, 46 for modifying the operative characteristics of the robot. In the illustrated preferred embodiment, 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. Preferably at least one switch is present on the controller interface 42 which permits the user to engage or disengage the operation of the robot 70, which any remaining switches 46 present may be used to alter or establish other operational characteristics of the robot 70. 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 70 may ^"be established.

Transmission of electrical signals, as well as transmission of electrical power is accomplished via conventional current conductors ^lw', e.g., wires or leads as may be present within or upon a circuit board, and any means effective in transmitting such signals or power are contemplated to be useful in conjunction with the present invention.

The robot 70 also includes a user replaceable cartridge 48 wbrich is insertable within a portion of the robot, which cartridge 48 comprises a fluid reservoir 50. In the embodiment depicted, the cartridge 48 is insertable beneath a cover 54 which engages a part of the housing 28 or which alternately may be a part of the user replaceable cartridge 48. The cover 54 may include a grip portion 56 adapted to facilitate the grasping and insertion and/or removal of the cartridge 48 by a user of the robot 7O. The cartridge 48 is an assembly which includes a casing 58 which contains the fluid reservoir 50 which is connected via an intermediate fluid conduit 60 to a fluid manifold βA, optionally via an intermediate 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 70. The fluid conduit 60 may be included as part of the cartridge 48 or may form a part of the robot 70 when the cartridge 48 is removed or" is otherwise absent from the robot 70. During the autonomous cleaning operation the robot 70 may periodically or continuously dispense 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 a carrier plate 80 which bears the floor treatment means which contacts the flooring surface. In such a manner 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 present under the robot 70. While the 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 dispensing of, and the rate of dispensing of the liquid floor treatment composition may be controlled by the controller means 32 or alternately may be dispensed independently of the controller means 32. For example, where an intermediate pump 62 is present, then the controller means 32 may provide a control signal to the pump 62 to operate. Alternately, when present, the intermediate pump may operate independently of the controller means 32 and be controlled or driven via driven via mechanical means such as being driven from a rotating shaft or axle, such as may already be present, e.g., from an axle 14A, 16A or from one or both of trie motors 34, 36. Where an intermediate pump is not present, and the floor treatment composition is provided in a pressurized a fluid reservoir 50, such as an aerosol container or canister, release means (not shown) may be present in order to permit the contents of the fluid reservoir 50 to be dispensed into the intermediate fluid conduit 60 to a fluid manifold 64.

The fluid reservoir 50 may take any of a variety of forms., it only being required that it be capable of containing and dispensing the floor treatment composition. In one simple form the fluid reservoir 50 is a pouch or sac which is non-pressurized, and which contains a quantity of the floor treatment composition. Such 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. Alternately the non-pressurized pouch or sac 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 fluid reservoir 50. The fluid reservoir 50 may also take the form of a rigid walled container, such as tank, canister or vessel, which contains a quantity of the floor treatment composition. The fluid reservoir 50 may also be a rigid walled container which contains within its interior a non-pressurized pouch or sac containing a quantity of the floor treatment composition. In such an embodiment, the walls of the container may be deformable or compressible which, in turn causes the non- pressurized pouch or sac to compress the quantity of the floor treatment composition which can be dispensed under pressure from the compressed rigid walled container. In another embodiment of a rigid walled container which contains Λvithin its interior a non- pressurized pouch or sac containing a quantity of the floor treatment composition there is also included a member or element of the rigid walled container which, when moved relative to the rigid-walled container causes the pressurization of the non-pressurized pouch or sac. Still alternately the fluid reservoir 50 may be a pressurized container, such as an aerosol container which contains a quantity of the floor treatment composition and a conventional propellant. Each of the foregoing embodiments of the fluid resexvoir 50 may also include an appropriate orifice, or dispensing valve as may be appropriate to the type of the fluid reservoir 50. It is also to be understood that yet other embodiments and formats of a fluid reservoir 50 may also be used in the robot 70, although not specifically elucidated herein. hi use, the user replaceable cartridge 48 is removably insertable within a portion of the robot, and may be used either a single time for a single cleaning operation, or it may be used for a plurality of cleaning operation before requiring replacement by the user. The cartridge 48 may be a single-use device, or it may be refilled with a further quantity of a floor treatment composition, or both, as may be necessary or desirable.

Figure 2 is a side view of the robot according to the second aspect of the invention. As therein depicted the robot 70 is seen to rest upon the wheel 14, and the bristle ends 26 of the plurality of brush elements 22 depending from part of trie forward portion 18 of the chassis 12. Also is visible a side view of the carrier plate 8O depending from the rearward portion 20 of the chassis 12, which is removably affixed to a portion of the rearward portion 20 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 sliown m the figure may be arcuate. The carrier plate SO is removably affixed to the rearward portion 20 of the chassis 12 by any suitable means which can be operated t>y the user of the robot 70, 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 IZ. The plate 80 is adapted to bear upon its outer surface 88 user removable and replaceable pads or wipes, also referred to in this specification as the floor treatment means. Suctα may be affixed by any suitable retention means, e.g, physical elements such as clips, liook-and- loop fasteners, pins, springs, elastic bands, or adhesives such as light or medixim duty adhesives, to at least the bottom surface 84 of the carrier plate 80. Conveniently, 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. 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 8O may be produced and used with the robot 70. 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.

Preferably 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. Such fabric substrates are known commercially in this field, and can be resin bonded, hydroentanged, thermally bonded, meltblown, needlepunched or any combination of the former. Such fabric substrates maybe a combination of wood pulp fibers and textile length synthetic fibers formed by well knoΛvn 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 being synthetic fibers. The wood pulp fibers provide for absorbency, abrasion and soil retention whereas the synthetic fibers provide for substrate strength and resiliency. Optionally the floor treatment means 52 may be preimpreganted with a floor treatment composition.

Conveniently, 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 sxifficiently 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. 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 3 is partial skeletal view of the robot according to Figs. 1 aixd 2 illustrating more details of the interior of the robot 70 and a preferred arrangement of the various components discussed previously. As is more clearly visible in this figure, the user replaceable cartridge 48 whύch is removably insertable within a portion of the robot 70. The cartridge 48 is an assembly which includes a casing 58 which contains a fluid reservoir 50 which is connected via an intermediate fluid conduit 60 to a fluid manifold 64, optionally via an intermediate pump 62 which is used to withdraw and/or meter the amount of fluid delivered to the fluid manifold and ultimately to the flooring surface being treated using the robot 70. The fluid conduit 60 may be included as part of the cartridge 48 or may form a part of the robot 70 when the cartridge 48 is removed or is otherwise absent from the robot 70. The cartridge 48 comprises a fluid reservoir 50 which contains a quantity of a floor treatment composition. As discussed tierein, especially hereinafter, the fluid reservoir 50 may take any of a variety of forms and its contents may be dispensed through the manifold 64 according to a variety of techniques.

According to a second embodiment of the invention there is provided a robot which additionally comprises an independently laterally moveable carrier means.

With reference now to Figure 4 therein is disclosed in more detail a. preferred embodiment of an independently laterally moveable carrier means according to the invention 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. hi the depicted embodiment, such 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. A.s the gear 142 is rotated, the rack plate 144 moves responsive thereto; as the gear 142 reverses direction the rack plate 144 moves in the opposite direction. 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 80 is removably affixed to the rack plate 144 by any suitable means which can be operated by the user of the robot 70, 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. Such may be affixed by any suitable retention means, e.g, physical elements such as clips, hoolc-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. Conveniently, 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. 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 70. 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 depicts in side view of the independently laterally moveable carrier means depicted on Fig. 4, 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 4 and 5, 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 70 and moves transversely with respect to the forward directional path of the robot 70. It is further to be understood that the embodiment illustrated in Figures 4 and 5 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. It is also to be understood that 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 70. It is contemplated that in certain embodiments the laterally moveable carrier and the carriei plate 80 is positioned in the forward portion 18 of the robot.

According to a third embodiment of the invention there is provided a robot which further comprises oscillating moveable carrier means.

Turning now to Figures 6A, 6B and 6C therein is disclosed in more detail a preferred embodiment of an oscillating moveable carrier means according to the invention. 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. At each end of the driveshaft 152 is provided an axially mounted circular plate 1 54 having extending outwardly from a place near its periphery a pin 156 offset from the axis of the driveshaft 152; this arrangement provides a cxank 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 useαr of the robot, depicted are a pair of posts 86 which extend upwardly from the top surface 82 of the carrier plate 8O which are insertable, e.g., snap-fit, into corresponding b_oles 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 8O. Conveniently, the pad or wipe is in the form of a flexible, generally planar sheet wMch is suitably dimensioned so to cover the bottom surfa.ce 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. 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 70, 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 operation of the oscillating moveable carrier means is conveniently illustrated with reference to Figures 6A, 6B and 6C. Figure 6A illustrates a first "rest" position wherein the carrier plate 80 is perpendicular to the directional path of the robot 70, 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. When it is desired to oscillate the carrier plate 80 bearing the floor treatment means 52 such as to perform a spot-cleaning operation the drive motor 150 may be actuated causing the driveshaft 152 and dependent circular plate 154 and pin 156 to rotate about the driveshaft. This in turn causes the linkages 158 to affixed to the connector pin 1 62 depending from the pivot plate 160 to extend, and retract from the rest position which imparts an oscillatory movement to the pivot plate 160 and to the carrier plate 80 attached thereto. As the pins 156 of the dependent circular plate 154 are desirably radially offset by 180 degrees from one another as depicted, in Figures 6A, 6B and 6C a uniform oscillatory motion is provided. Figures 6B and 6C depict two relative positions of the pivot plate 160 and the carrier plate 80 bearing the floor treatment means 52 in positions other than the rest position.

With respect now to Figures 7A and 7B therein is depicted in partial skeletal view the oscillating moveable carrier means depicted on Figures 6A, 6B and 6C more clearly illustrating the relationship of the elements previously discussed. In particular Fig. 7A 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 7B 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 during an oscillation of the pivot plate 160.

As is understood from Figures 6A, 6B and 6C and 7A and 7B, the carrier plate 80 depends from the rearward portion of the chassis 12 and is independently moveable with respect to the chassis 12 of the robot 70, 100 and oscillates with, respect to the forward directional path of the robot 70, 100. It is further to be understood that the embodiment illustrated in Figures 6A, 6B and 6C and 7A and 7B is provided, merely by way of illustration and that other elements and mechanisms may be used to provide a independently oscillating pivot plate 160 which may be used in place of the specific embodiment illustrated and yet fall within the scope of the present invention. It is also to be understood that the position of the pivot plate 160 and dependent 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 pivot plate 160 and the carrier plate 80 is positioned in the forward portion 18 of the robot.

Fig. 8 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. The embodiment depicted on Fig. 8 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. Extending from the bottom surface 84 of the carrier plate 80, viz., the underside thereof, is a plurality of downwardly extending, sharp edged projections which depend from the bottom surface 84 about which the floor cleaning means, particularly when in the form of a flexible wipe or pad are overwrapped as discussed above. As will be understood by reference to the Figure, the flexible wipe or pad overlay the sharp edged projections 17O 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 th.e cleaning efficacy of the robot 70, 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 70, 100. This effect has been particularly noted when a plurality of such sharp edged projections 170 are present and extend from the bottom surface 84, particularly wherein the terminal surfaces 172 of the sharp edged projections 170 occupy a common plane or a common arcuate plane such that distances between the terminal surfaces 172 of the sharp edged projections 170 and the bottom surface 84 of the carrier plate 80 are substantially equal. More simply stated, the heights of the sharp edged projections 170 depending from the bottom, surface 84 of the carrier plate 80 are substantially equal. It is hypothesized that the presence of a plurality of sharp edged proj ections 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 70, 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 slxarp edges 174. At the same time, it has been found that providing a number of such sharp edged projections 170 particularly in a regularly repeating pattern does not impaxt an undue amount of forward drag resistance to the carrier plate 80 or to the robot 7O, 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 tenninal surfaces 172 of the sharp edged projections 170 and the bottom surface 84 of the carrier plate 80, the absorbency or adsorbency of the flexible wipe or pad is improved in ttiese 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 70, 100. Thus 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 a^"bsorbency 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 70, 100.

The arrangement of the 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 spacing 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 70, 100.

Figure 9 is a side view of the embodiment depicted on Figure 8.

Figure 1OA 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 1OB is a side view of the carrier plate 80 depicted on Fig. 1OA. 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 1OC is a plan view of the underside of carrier plate 80 according to Figs. 1OA, 1OB depicting a plurality of downwardly extending sharp edged projections 170, 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 11 is a plan view of an alternative embodiment of^* a carrier plate 80, 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 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 chevron terminating in a flat terminal surface 172 useful with robots according to the invention. Each of the chevr^*on 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 13 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.

^"While the carrier plate 80 has been depicted as dependiixg 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. According to a further aspect of the invention there is provided an improved autonomous robot according to any of the foregoing descriptions which comprises a cartridge comprises a compressible fluid reservoir.

Figures 14 A, 14B depict one embodiment of a compressible fluid reservoir useful in the cartridge. Fig. 14A is a partial skeletal view of a compressible fluid reservoir 180 according to a preferred embodiment of the invention. The compressible fluid reservoir comprises a housing 182 which is preferably generally cylindrical in cross-section which includes an internal cavity 184 which includes at least one, here two are depicted, helical slots 182 passing through the housing wall 186. 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 the location of the gear track may be at another section of the housing wall 186 such as at the 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. The floor treatment composition contained in the sac 188 is dispensed from the compressible fluid reservoir 180 by causing the drive gear to rotate 198 which in turn drives trie enmeshed gear track 196 and imparts rotation of^" the housing wall 186 of the housing 182; due to this rotation, the moveable base 190 is braked from rotation due to the extending tabs 192 engaged in the guide channels 194 and rather the moveable base 190 is forced upward within the housing 182 along the helical slots 182 thereby compressing the compressible sac 188 and causing the floor treatment composition out via the intermediate fluid conduit 60 to a fluid manifold 64 which may form part of the robot, or may form part of the cartridge.

Figure 14B is a partial skeletal view of a compressible fluid reservoir according to Fig. 14A, illustrating the moveable base 190 in a position displaced from that depicted on Fig. 14A₅ and with the sac 188 partially compressed.

Figure 15 depict a further embodiment of a compressible fluid reservoir useful in the cartridge 48. Fig. 15 is a partial skeletal view of a further compressible fluid reservoir 210 according to a yet further 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 Λvith 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. hi the embodiment depicted 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 16. hi the embodiment depicted in the present figure, 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. In use, when the outer housing 212 is retained in a stationary position and the drive gear 198 is driven, the enmeshed gear 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, or may form part of the cartridge. To facilitate such an operation 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 70 or a cartridge 48 and retain it in a stationary position with respect to the 10, 70 or a cartridge 48. Figure 16 depict a yet further embodiment of a compressible fluid reservoir useful in the cartridge 48. Fig. 16 is a partial skeletal view of a yet further compressible fluid reservoir 230 according a further 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 passing through the sidewall 216. The inner housing further comprises a moveable base 190 having 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. The 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. Optionally but desirably 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. In use, when the inner housing 214 is retained in a stationary position and the drive gear 198 is driven, 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, or may form part of the cartridge. When 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 218which terminates the forward movement of the moveable base 190. When the tab 192, engaged through the engaging guide channel 194 is engaged in the ring section 219 of the channel 218 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. To facilitate such an operation the inner housing 214 may include parts or elements such as lobes 226 extending therefrom which may be used to engage thie compressible fluid reservoir 230 in a device, such as a robot 70 or in a cartridge 48 and retain it in a stationary position.

It is to be understood that the compressible fluid reservoirs described herein may be used within a robot directly or may be used as an element of a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a compressible fluid reservoir and optionally but in certain cases also desirably includes a floor treatment means. Exemplary cartridges include those depicted on Figures 3 and 6.

Figure 17 is perspective view of a preferred embodiment of a robot 70 according to the invention comprising the compressible fluid reservoir 180 as depicted on Figure 14A and 14B described previously. The compressible fluid reservoir 180 may be provided directly to the robot 70 or may be provided as part of a user replaceable cartridge 48 which includes the compressible fluid reservoir 180. Such a user replaceable cartridge may further include a floor treatment mean_s 50 such as might be required if the user replaceable cartridge 48 were used with a robot as described previously.

Fig. 18 is a partial skeletal view of a compressible fluid reservoir 240 according to a preferred embodiment of the invention also useful in the cartridge 48. The 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. According to the preferred embodiment illustrated, 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 th_e housing 242 and pass through parts of the moveable base 248 which advantageously includes threaded passages 248 A, 248B engaging portions of the threaded shafts 256A, 256B. When a stationary base 252 is present, as is depicted on Fig. 18, a portion of the threaded shafts 256A, 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 moveable 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. Preferably, as shown, portions of the threaded shafts 256A, 256B included non-threaded regions, a head region 256D which 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. Advantageously the length of the non-threaded end region 256E is a length equal to at least the thickness of the moveable base 248. Desirably a portion of the tips of 256F of 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. In such an arrangement illustrated, during their rotation 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 compressible fluid reservoir 240 is inserted into a robot or is provided as part of a removeable cartridge 48 into a robot such, that both of the shaft heads 256C engage a drive means 260, here depicted as a pair of electrical motors each having a drive coupling, namely a shaped shaft section 262 which couples with a correspondingly shaped coupling portion 256K of the shaft heads 256C, here depicted to be recesses within the shaft heads 256C. When the electrical motors are engaged to rotate at a common rotational speed, 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 which denies a consumer access to the interior of the cavity and to the compressible sac 246 containing the floor treatment composition contained therein. This provides not only a safety aspect to the compressible fluid reservoir 240 but an anti-tampering benefit as well. The inclusion of a stationary base 252 as depicted herein having passages therethrough having a distance therebetween being equal to or approximately equal to the distance between the threaded passages 248 A, 248B of the moveable base 248 as well as the distance between the cups 258 lessens the likelihood that the threaded shafts 256A, 256B would twist or be displaced as might occur in the absence of a stationary base 252. The inclusion of a non-threaded head region 256D forming part of the threaded shafts 256A, 256B passing through the stationary base 252 provide a slideable surface within which the respective portion of the threaded shafts 256A, 256B may freely rotate without displacing the stationary base 252. The inclusion of a non-threaded head region 256D forming part of the threaded shafts end region 256E of the threaded shafts 256A, 256B provides a limiting function with respect to the travel distance of the moveable base 248. When an unused compressible fluid reservoir 240 is provided to the robot, the compressible sac 246 contains sufficient floor treatment composition at or near its maxiirmm fluid capacity. As the drive means 260 are engaged, rotating the threaded shafts 256A, 256B impelling the moveable base 248 in the direction of the outlet 254, the sac 246 is compressed emptying its contents. When the contents of the sac 246 have been emptied or are nearly emptied the moveable base 248 passes beyond the threads of the threaded sliafts 256A, 256B and into end region 256E in which the threads of the threaded shafts 256A, 256B no longer engage corresponding threads of the moveable base 248 thereby ceasing further movement of the moveable base 248 and likewise ceasing further compression of the sac 246. This feature provides a further anti-tampering benefit as well as making the sac 246 particularly difficult to refill as the moveable base 248 would be difficult to retract permitting the compressible sac 246 to expand.

While certain specific elements are disclosed in conjunction with the preferred embodiment of Fig. 18 it is nonetheless to ^"be understood that alternative elements and alternative configurations are foreseeable and are specifically considered to fall within the scope of preferred embodiments. For example: a greater or lesser number of threaded shafts may be provided, the placement of the one or more threaded shafts may be arranged differently than that depicted. In one preferred alternative arrangement 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. In such an arrangement the threaded shafts are spaced away from the compressible sac which decreases the likelihood that contact between parts of the threaded shafts and the compressible sac would cause binding or the threaded shafts or rupture of the sac itself due to such contact. 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.

Figure 19A depicts an alternative embodiment to a portion of the compressible fluid reservoir 240 depicted on Fig. 18. Depicted is a plan view of the under surface of either the stationary base 252 illustrating an anti-retraction mechanism for the threaded shafts. The shaft heads 256C comprise a series of gear teeth 256G located at the periphery thereof which engage a pawl 264 which is affixed to the stationary base 252. The shaft heads 256C also include a shaped coupling portion 256K which is configured to couple with drive means (not shoΛvn.) The pawl 264 is arranged such that each of the shaft heads 256C, and hence their associated threaded shafts, may rotate in only one direction and cannot reverse direction. The inclusion of such an arrangement to at least one of the threaded shafts provides an anti-retraction feature to the compressible fluid reservoir in that retraction of the moveable base 248 is denied. While the arrangement of the pawl 264 and shaft heads 256C having peripheral gear teeth 256G are depicted in a position which may be exposed to a user or consumer, particularly when the compressible fluid reservoir is not provided as part of a cartridge 48, other arrangements are foreseen and may be used. For example, with reference to Fig. 18, an appropriate gear may be located upon part of the threaded shafts 256A, 256B such in or near non-threaded regions, e.g., the head region 256D ^"between the stationary base 252 and the moveable base 248. When the pawl 264 is mounted on the stationary base 252 below the moveable base 248 and engages a gear mounted on an adjacent threaded shaft, the anti-retraction benefits described with reference to Fig. 19 A, with the added benefit that the pawl 264 and the corresponding gear is positioned between the stationary base 252 and the moveable base 248 which is not visible to or accessible by the user of the compressible fluid reservoir 240.

Figure 19B illustrates an alternative embodiment of a portion of the compressible fluid reservoir 240 depicted on Fig. 18. Depicted is a plan view of the under surface of either the stationary base 252, the upper surface of the stationary base between the stationary base 252 and the moveable base 248. Depicted thereon is a central drive gear 257 having a shaped coupling portion 256K which is configured to couple with drive means (not shown) having peripheral gear teeth which are engaged with corresponding gear teeth on the periphery of shaft heads 256C. In operation, the drive means are coupled into the shaped coupling portion 256K of the central drive gear 257 which causes it to rotate, as well as simultaneously rotating the peripheral gear teeth of shaft heads 256C and the corresponding threaded shafts, hi such an arrangement a single drive means and a single coupling are sufficient to operate the compressible fluid reservoir 240. While not illustrated completely in Fig. 19B, but with additional reference to Fig. 18 it is also contemplated that the central drive gear 257 may be positioned on the stationary base 252 between it and the moveable base 248 so that it is not visible to or accessible by trxe user of the compressible fluid reservoir 240. An appropriate gear may be located upon part of the threaded shafts 256A, 256B such in or near non-threaded regions, e.g., the head region 256D between the stationary base 252 and the moveable base 248 enmeshed with the central drive gear 257, such that as the central drive gear 257 is rotated by means of a drive means and coupling which passes through an suitable orifice or passage through part of the stationary base 252 engaging the shaped coupling portion 256K, the central drive gear 257, gears located on threaded shafts 256A, 256B and the threaded shafts 256A, 256B are caused to rotate themselves.

Figure 20 is a partial skeletal view of a compressible fluid reservoir 270 according a further preferred embodiment of the invention useful in the cartridge 48. The compressible fluid reservoir 270 comprises a housing 242 having a sidewall 248, a top 250, and a moveable base 248 defining an internal cavity 244 therebetween. According to the preferred embodiment illustrated, 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 the moveable base 248 and an outlet 254 which passes through or forms part of the top 250. The sidewall 248 includes two slots 268 passing therethrough through which extend tabs 249 extending from the moveable base 248 and in engagement with a pair of threaded shafts 256A, 256B present exterior to the housing 242. These threaded shafts 256A, 256B may form part of a robot, or cartridge 48, but are not an element of the compressible fluid reservoir 270. Desirably the two slots 268 are linear in configuration and on opposite sides of the sidewall 248. While not visible, the threaded shafts 256A, 256B are attached to drive means which are used to rotate the threaded shafts 256A, 256B and due to the presence of the tabs 249 in engagement witli the spiral recesses of the threaded shafts 256A, 256B, the moveable base 248 is driven in the direction of the outlet 254 compressing the sac 246. The floor treatment composition expelled from the sac 246 is expelled, via the outlet, optionally past a valve or pump through a connecting fluid conduit 60 to the manifold 64, which comprises a plurality of outlets or nozzles 65.

With particular attention to Figure 20, according to the embodiment depicted the threaded shafts 256A, 256B include broad flights in the form of helical ribbon shape which broad flights are not the conventionally encountered V-shaped flights as found on conventionally threaded shafts or threaded rods. The broad flights in the form of helical ribbon shape define a continuous U-shaped or rectangular channel within which the tabs 249 are engaged. This configuration of broad flights of the threaded shafts 256A, 256ΞJ permit for easier insertion and placement of the compressible fluid reservoir 270 within a robot, or within a removable cartridge 48, as the alignment of the tabs 249 between the flights of the threaded shafts 256A, 256B is greatly simplified.

Further, advantageously the threaded shafts 256 A, 256B include non-threaded end region 256E having a length equal to at least the thickness of the moveable base 248. As noted with reference to Fig. 18 such, a non-threaded end region 256E provides a limiting function with respect to the travel distance of the moveable base 248 limiting the movement of the moveable base 248 and ceasing further compression of the sac 246 when it is empty or nearly empty.

It is to be understood that the compressible fluid reservoirs described herein may be used within a robot directly or may be used as an element of a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a compressible fluid reservoir and optionally but in certain cases also desirably includes a floor treatment means. Exemplary cartridges 48 include those depicted herein.

With regard now to the fourth aspect of the invention, Figure 21 A is a perspective view of an independently circularly moveable carrier means useful with robots according to the invention. Turning now to Figure 21 A therein is disclosed in more detail a preferred embodiment of an independently circularly moveable carrier means according to the invention which comprises 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. As is further depicted in the embodimerit, there are also provided two further swing cylinders 286 one on either side of the drive cylinder 284, each of the swing cylinders 286 extending into corresponding bores 286B passing through the swing plate 290 and being slidably mounted with their respective bores 286B. 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 aαy 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. Conveniently, 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. 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 2 IB is a side view of the independently circularly moveable carrier means depicted on Fig. 21A. Figure 21B depicts in side view of the independently circularly moveable carrier means depicted on Fig. 21 A, 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.

As is understood from Figures 21 A and 2 IB, the carrier plate 80 depends froirx 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. More specifically, when the drive motor 280 is actuated, the eccentrically mounted drive cylinder 284 rotates in either a clockwise or counterclockwise causing trie 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 depexids from the swing plate 290. The drive motor 280 may be engaged by the user, or may fc>e controllably engaged by the robot, particularly by the control means 32. It is further to be understood that the embodiment illustrated in Figures 21 A and 2 IB is provided merely by way of illustration and that other elements and mechanisms may be to provide a independently circularly moveable carrier plate which may be used in place of the specific embodiment illustrated and yet fall within the scope of the present invention. For example in place of either or both of the swing cylinders 286 there may be provided a linkage which, movably connects the swing plate 290 to the chassis 12 but still permitting the orbital circular motion of the swing plate 290 and its dependent carrier plate 80 when driven by the eccentrically mounted drive cylinder 284 connected to the drive motor 280. Alternately a single swing cylinder 286 may be present, or alternately a larger number of swing cylinders 286 may be provided. Similarly 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 22A and 22B 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. 22B; the depicted, embodiment omits the swing plate 290 depicted on Figs. 21 A, 21B.

Turning to Fig. 22A, therein is provided drive 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 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 3O2C and removably engages the carrier plate 80 having mounted thereon a floor treatment means 84A.

Figure 22B illustrates in side view the embodiment depicted on Fig. 22A, illustrating in greater specificity the interrelationship of the elements discussed with reference to Fig. 22B. Particiαlarly 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.

As is understood from Figures 22A and 22B, the carrier plate 80 depends from the 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 70, 1O0; when actuated, moves circularly with respect to the forward directional path of the robot 70, 100. More specifically, when the drive motor 280 is actuated, the rotatable plate 296 rotates in either a clockwise or coun.terclockwise causing the linkage plate 300 to reciprocate, which causes the three crank arms 302 to rotate about their central axes 302A, 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 302A as well. The drive motor 2SO may be engaged by the user, or may ^"be controllably engaged by the robot, particularly by the control means 32.

It is further to be understood that the embodiment illustrated in Figures 22A and 22B is provided merely by way of illustration and that other elements and mechanisms may be to provide a independently circularly moveable carrier plate which may be used in place of the specific embodiment illustrated and yet fall within the scope of the present invention. For a lesser or greater number of rotatable crank arms 302 may be provided. Alternately the position of tne drive motor 280 and the rotatable plate 296 xnay be located in a different position than that depicted, such as towards the central part of the linkage plate 300 (as depicted in 'phantom' at 296P, 280P). Still further it is contemplated that the drive motor 280 may be omitted, and the motive force needed to drive the rotatable plate 296 may be provided from other elements within the robot. It is also to be understood that 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.

In accordance with a fifth embodiment of the invention, there is provided a robot as previously described which further comprises a standoff means. Figure 23 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. At the ends of the shaft 322 is provided a lo^"bed 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 24 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 whdch 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 70. When appropriately rotated into position, 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. As is visible, 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 324 A, 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. Thus the rotation of the lobed cam 324 and the position of its two lobes 324 A, 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.

While a dual-lobed cam 324 is depicted in Figure 24, it is of course to be understood that further configurations of lobed cams, or indeed the use of different rotatable elements mounted on the shaft 322 standoff drive means 320 may also be used in place of the particular embodiment depicted. It is also contemplated that a plurality of lobed cams may also be used, as well as the used of one or more lobed cams in locations other than as depicted herein.

Figure 25 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 320 having dual shaft 322 upon which are mounted lobed cams 324 which is dimensioned such that when the standoff drive means 320 rotates, a portion of each of the lobed cams 324 rotate through a corresponding slot 326 (not visible) provided through the chassis of the robot. As depicted, each of the lobed cams 324 are positioned adjacent to each of the 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.

Figure 26 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 33O in electrical communication with the control means 32 (not shown). When the solenoid is actuated, the plunger 332 extends downwardly through the chassis of the robot for a sufficient distance such that the contact between, the floor treatment means 88 and. the flooring surface to be treated is removed. In the embodiment depicted, 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 27 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. While not visible in the figure, the robot 70 includes a latching mechanism which may be actuated by the control means 32 either directly such as by means of a motor or solenoid, or indirectly such as by means of a gear 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. In a preferred mode of operation used in conjunction with the specific embodiment of Fig. 27, the robot 70 is controlled by the control means 32 such that the conclusion of a floor cleaning method, the robot 70 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.

It is to be understood that any of the embodiments of the invention described herein may comprise a carrier plate having a plurality of downwardly extending sharp edged projections.

It is to be understood that any of the embodiments of the invention may comprise a standoff means.

According to certain particularly preferred embodiments of the invention 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. This is surprising in that typically at least a third wheel such as a further wheel 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. By way of non-limiting example 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 foxm 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 a portion of a flooring surface.

In operation 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. Typically such flooring surfaces are generally substantially planar surfaces. The robot is energized or otherwise actuated, and 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.

Still other cleaning techniques, although not specifically elucidated herein may be practiced in accordance with the present invention, particularly with the robots of the present invention.

The preferred embodiments of the present invention have been illustrated and described herein. However, it is to be understood that the present invention is not limited to the preferred embodiments described here, and someone skilled in the art can modify the present invention without distorting the point of the present invention claimed in the following claims.

Claims

Claims:

1. An autonomous robot for the cleaning of a flooring surface;, particularly for the mopping of a floor surface which comprises a chassis bearing a pair of drive wheels which may be independently operated, said chassis liaving a forward portion forward of the drive wheels, and a rearward portion, rearward of the two drive wheels, a housing, a power source, a controller interface having one or more user controllable interface elements for modifying the operative characteristics of the robot, a control means for controlling the operative characteristics of the robots, a carrier plate depending from the rearward portion of the chassis, and a user replaceable cartridge which is insertable within a portion of the robot, which cartridge comprises a fluid reservoir.

2. An autonomous robot for the cleaning of a flooring surface according to claim 1 which further comprises a plurality of brush elements whicli depend from a part of the forward portion of the chassis.

3. An autonomous robot for the cleaning of a flooring surface according to any preceding claim which further comprises a control means for controlling the operative characteristics of the robot capable of receiving at least one input signal whicli provides information indicative of at least one environmental condition of the robot 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 used to drive their respective drive wheels.

4. An autonomous robot according to claim 3 wherein the control means is capable of monitoring the instantaneous current load upon one or both of the motors used to drive their respective drive wheels.

5. An autonomous robot according to claim 3 wherein the ro^~bot includes a sensor adapted to detect the distance between the robot and the flooring surface at a point adjacent to the nose of the robot, and the control means is capable of determining a vertical discontinuity adjacent to the nose of^" the robot.

6. An autonomous robot according to claim 1 wherein the fluid reservoir is a non- pressurized pouch, optionally contained within a rigid walled container.

7. An autonomous robot according to claim 1 which further comprises an independently laterally moveable carrier means.

8. An autonomous robot according to claim 1 wlierein the cartridge comprises a compressible fluid reservoir.

9. An autonomous robot according to claim 8 wlierein the compressible fluid reservoir comprises a housing which is preferably generally cylindrical in cross- section which includes an internal cavity which includes at least one, preferably two helical slots passing through the housing wall, the housing further contains a compressible sac and a moveable base having one or more extending tabs extending through the one or more helical slots and engaging guide channels dimensioned to receive a portion of the extending tabs.

10. An autonomous robot according to claim 8 wherein the compressible fluid reservoir comprises a pair of concentric generally cylindrical outer housing rotatable with respect to a generally cylindrical inner housing , the inner housing having a sidewall comprising at least one helical slot passing therethrough and defining a helical path between a base and a top of the inner housing, a moveable base having extending from a part therefrom at least one tab extending therethrough, and a compressible sac, the outer housing encases at least a part of the inner housing and includes at least one engaging guide channel dimensioned to receive a portion of the tab.

11. An autonomous robot according to any preceding claim wherein the cartridge comprises a housing which is generally cylindrical in cross-section and contains: a compressible sac located between a moveable base including threaded passages and an outlet, a pair of threaded shafts which engage the threaded passages of the moveable base, and optionally a stationary base.

12. An autonomous robot according to any preceding claim wherein the cartridge comprises a housing having a sidewa.ll, a top, and a moveable base defining an internal cavity therebetween, a compressible sac located between the moveable base and an outlet which passes through or forms part of the top, the sidewall includes two slots passing therethroαgh through which extend tabs extending from the moveable base and in engagement with a pair of rotatable threaded shafts present either within the cartridge or Λvithin the robot and exterior to the housing.

13. An autonomous robot according any preceding claim which comprises independently circularly moveable carrier means which comprises a drive motor mounted upon a part of the chassis having a driveshaft which is eccentrically mounted upon a drive cylinder which is slidably mounted upon or through a swing plate, a peripheral flange extending from the bottom of the drive cylinder supporting the swing plate the swing plate and permitting the drive cylinder to be fully rotatable within a cylinder bore within the swing plate, and, a carrier plate is removably affixed to the swing plate.

14. An autonomous robot according to any preceding claim which further comprises a standoff means.

15. A method for treating a flooring surface by use of a robot according to any preceding claim.