Autonomous surface cleaning robot for dry cleaning

• US 10,470,629 B2
• Filed: 05/30/2014
• Issued: 11/12/2019
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Ziegler, Andrew, Morse, Christopher John, Gilbert, Jr., Duane L., Jones, Andrew
• Primary Examiner(s): Redding, David
• Application Number:
  US14/292,090
• Publication Number:
  US 20140259511A1
• Time in Patent Office: 1,992 Days
• CPC Class Codes: A47L 11/302 having rotary tools
• CPC Class Codes: A47L 11/34 Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
• CPC Class Codes: A47L 11/4002 Installations of electric equipment
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4016 specially adapted for collecting fluids
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4044 Vacuuming or pick-up tools; Squeegees
• CPC Class Codes: A47L 11/4069 Driving or transmission means for the cleaning tools
• CPC Class Codes: A47L 11/4088 Supply pumps; Spraying devices; Supply conduits
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 5/14 cleaning by blowing-off, also combined with suction cleaning
• CPC Class Codes: A47L 7/0004 Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners floor-scrubbing machines taking-up dirty liquid by suction A47L11/30
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/28 Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means

Abstract

An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Claims

1. An autonomous cleaning robot comprising:

a bottom surface having a first opening associated with a first cleaning zone;

a drive system configured to maneuver the autonomous cleaning robot over a cleaning surface, the drive system comprising right and left driven wheels defining a transverse axis perpendicular to a fore-aft axis in a plane substantially parallel to the cleaning surface;

a waste storage container;

an air moving system configured to generate a negative pressure in the first cleaning zone, in which the first opening in the bottom surface is configured to allow particulates on the cleaning surface in the first cleaning zone to pass through the first opening and enter a receptacle carried by the cleaning robot;

a second cleaning zone aft of the first cleaning zone, the second cleaning zone comprising a passive cleaning element fixedly attached to the cleaning robot and configured to be held in contact with the cleaning surface, in which the passive cleaning element extends along a cleaning width at least corresponding to a width of the first opening in the bottom surface, and during a wall-following mode operation of the autonomous cleaning robot, the passive cleaning element extends closer to a wall than the first opening in the bottom surface; and

a liquid applicator configured to apply a cleaning fluid to the cleaning surface along the second cleaning zone.

2. The autonomous cleaning robot of claim 1, wherein the first cleaning zone is substantially parallel to the second cleaning zone.

3. The autonomous cleaning robot of claim 1, wherein each of the first and second cleaning zones are substantially parallel to the transverse axis.

4. The autonomous cleaning robot of claim 1, further comprising a rotatable brush disposed along the first cleaning zone, the rotatable brush in contact with the cleaning surface when the autonomous cleaning robot moves over the cleaning surface.

5. The autonomous cleaning robot of claim 1, wherein the air moving system is configured to generate a positive pressure in the first cleaning zone forward of the negative pressure generated in the first cleaning zone.

6. The autonomous cleaning robot of claim 5, wherein the first cleaning zone is a dry cleaning zone.

7. The autonomous cleaning robot of claim 1, wherein the liquid applicator is configured to apply the cleaning fluid behind the negative pressure generated by the air moving system.

8. The autonomous cleaning robot of claim 1, wherein the passive cleaning element is a sheet attached to a bottom surface of the autonomous cleaning robot.

9. The autonomous cleaning robot of claim 1, wherein the passive cleaning element is a sheet or a pad.

10. The autonomous cleaning robot of claim 1, wherein the passive cleaning element is woven or non-woven.

11. The autonomous cleaning robot of claim 1, wherein the passive cleaning element is configured to be replaceable.

12. The autonomous cleaning robot of claim 1 in which at least a portion of the second cleaning zone is aligned with the transverse axis, and the first cleaning zone is disposed forward of the transverse axis.

13. The autonomous cleaning robot of claim 1 in which the liquid applicator comprises at least one spray nozzle that ejects a discrete burst cleaning fluid in accordance with a burst frequency that is varied in accordance with a desired rate for applying the cleaning fluid onto the cleaning surface.

14. A mobile robot, comprising:

a bottom surface that has a first opening associated with a first cleaning zone;

an air intake port configured to receive loose particulates suctioned from the cleaning surface, in which the first opening in the bottom surface is configured to allow at least some of the particulates to pass through the first opening and enter the air intake port;

a vacuum connected to the air intake port for suctioning;

a waste container configured to collect the loose particulates suctioned up by the vacuum connected to the air intake port;

a passive scrubbing element attached to a bottom surface of the mobile robot and disposed aft of the air intake port, in which the passive scrubbing element extends along a cleaning width at least corresponding to a width of the first opening in the bottom surface; and

a liquid applicator configured to apply a cleaning fluid to the cleaning surface aft of the air intake port,

wherein during a wall-following mode operation of the autonomous cleaning robot, the passive scrubbing element extends closer to a wall than the first opening in the bottom surface.

15. The mobile robot of claim 14, wherein the passive scrubbing element is a sheet or pad.

16. The mobile robot of claim 14, wherein the passive scrubbing element is woven or non-woven.

17. The mobile robot of claim 14, further comprising a rotating brush forward of the passive scrubbing element.

18. The mobile robot of claim 14, wherein the air intake port is formed in a bottom surface of the mobile robot.

19. The mobile robot of claim 14, wherein the mobile robot is configured to hold the passive scrubbing element in contact with the surface.

20. The mobile robot of claim 14, wherein the passive scrubbing element is configured to be replaceable.

21. The mobile robot of claim 14, wherein the passive scrubbing element comprises scrubbing bristles held in contact with the cleaning surface.

22. The mobile robot of claim 14 in which the first opening extends substantially parallel to a transverse axis perpendicular to a fore-aft axis in a direction of travel on a cleaning surface.

23. The mobile robot of claim 14 in which the air intake port is disposed adjacent to the first opening of the bottom surface.

24. The mobile robot of claim 14 in which the vacuum is configured to generate a negative pressure in the first cleaning zone and for suctioning the particulates on the cleaning surface in the first cleaning zone through the air intake port.

25. A mobile robot, comprising:

an air intake port configured to receive loose particulates suctioned from a surface;

a vacuum connected to the air intake port for generating a negative pressure in a first cleaning zone and suctioning the loose particulates in the first cleaning zone through the air intake port, in which the air intake port faces the first cleaning zone or a region above the first cleaning zone;

a waste container configured to collect the loose particulates suctioned up by the vacuum connected to the air intake port;

a passive scrubbing element attached to a bottom surface of the mobile robot and disposed aft of the air intake port, in which during a wall-following mode operation of the mobile robot, the passive scrubbing element extends closer to a wall than the air intake port; and

a liquid applicator configured to apply a cleaning fluid to the cleaning surface aft of the air intake port.

26. The mobile robot of claim 25, comprising a second cleaning zone aft of the first cleaning zone, the second cleaning zone comprising the passive cleaning element, in which the first cleaning zone is substantially parallel to the second cleaning zone.

27. The mobile robot of claim 26 which each of the first and second cleaning zones is substantially parallel to the transverse axis.

28. The mobile robot of claim 25, comprising a rotatable brush disposed along the first cleaning zone, the rotatable brush in contact with the cleaning surface when the mobile robot moves over the cleaning surface.

29. The mobile robot of claim 25 which the passive scrubbing element comprises scrubbing bristles held in contact with the cleaning surface.

30. The mobile robot of claim 25 in which the first cleaning zone is a dry cleaning zone.

31. The mobile robot of claim 25 in which the liquid applicator is configured to apply the cleaning fluid behind the negative pressure generated in the first cleaning zone.

32. The mobile robot of claim 25 in which the passive scrubbing element comprises a sheet or a pad attached to the bottom surface of the mobile robot.

33. The mobile robot of claim 25 in which the liquid applicator comprises at least one spray nozzle that ejects a discrete burst cleaning fluid in accordance with a burst frequency that is varied in accordance with a desired rate for applying the cleaning fluid onto the cleaning surface.