AUTONOMOUS COVERAGE ROBOT SENSING

• US 20180116479A1
• Filed: 12/14/2017
• Published: 05/03/2018
• Est. Priority Date: 05/09/2007
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Gilbert, JR., Duane L., Williams, Marcus, Okerholm, Andrea M., Kristant, Elaine H., Longo, Sheila A., Kee, Daniel E., Strauss, Marc D.
• Granted Patent: US 11,072,250 B2
• Time in Patent Office: Days
• CPC Class Codes: A47L 11/125 with supply of cleaning agents
• CPC Class Codes: A47L 11/145 with supply of cleaning agents
• CPC Class Codes: A47L 11/161 with supply of cleaning agents
• CPC Class Codes: A47L 11/201 with supply of cleaning agents
• CPC Class Codes: A47L 11/282 having rotary tools
• CPC Class Codes: A47L 11/292 having rotary tools A47L11/30 takes precedence
• CPC Class Codes: A47L 11/30 by suction
• 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 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4025 Means for emptying
• 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 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/408 Means for supplying cleaning or surface treating agents
• 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 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/00 Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
• CPC Class Codes: A47L 9/0477 Rolls
• CPC Class Codes: A47L 9/0488 : Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/2805 : Parameters or conditions being sensed
• CPC Class Codes: B60L 15/2036 : Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 : Working vehicles
• CPC Class Codes: B60L 2220/44 : Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/12 : Speed
• CPC Class Codes: B60L 2240/421 : Speed
• CPC Class Codes: B60L 2240/423 : Torque
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 2270/145 : Structure borne vibrations
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: G05D 1/0225 : involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.

Claims

1-19. -19. (canceled)

20. An autonomous robot comprising:

a body having a forward portion and an aft portion, the forward portion preceding the aft portion as the autonomous robot moves in a forward direction over a cleaning surface, the body having a substantially flat front face portion;

a drive system comprising a right drive wheel and a left drive wheel, each drive wheel rotatable about at least one transverse axis approximately orthogonal to the forward direction;

a supply volume that stores a cleaning liquid;

at least one spray nozzle that applies the cleaning liquid on the cleaning surface toward the forward direction of the autonomous robot;

a pump assembly that moves the cleaning liquid from the supply volume to the at least one spray nozzle;

a replaceable active scrubbing element comprising a scrubbing pad configured to be held in contact with the cleaning surface;

a driving module for moving the replaceable active scrubbing element with respect to the body;

a sensor module positioned within less than one inch of the replaceable active scrubbing element; and

a controller communicably coupled to the sensor module, the controller configured to control the pump assembly and the drive system in response to an input from the sensor module.

21. The autonomous robot according to claim 20, wherein the active scrubbing element comprises a baseplate.

22. The autonomous robot according to claim 21, wherein the baseplate is configured for removable attachment to the autonomous robot via a snap engagement.

23. The autonomous robot according to claim 21, wherein the baseplate is configured for tool less removal from the autonomous robot.

24. The autonomous robot according to claim 20, wherein the driving module is configured to rotate the active scrubbing element.

25. The autonomous robot according to claim 20, wherein the driving module is configured to vibrate the active scrubbing element.

26. The autonomous robot according to claim 20, further comprising a handle positioned on the autonomous robot, the handle configured to be positioned flush with a top portion of the body.

27. The autonomous robot according to claim 26, wherein the handle pivots about a transverse axis extending along a center of gravity of the autonomous robot.

28. The autonomous robot according to claim 20, wherein the at least one spray nozzle is configured to apply the cleaning liquid on the cleaning surface across an entire width of the autonomous robot.

29. The autonomous robot according to claim 20, wherein the autonomous robot is configured to move over cleaning paths according to three operational movement patterns.

30. The autonomous robot according to claim 29, wherein at least one of the three operational movement patterns comprises repeated alternating right and left turns.

31. The autonomous robot according to claim 29, wherein at least one of the three operational movement patterns comprises a back and forth movement.

32. The autonomous robot according to claim 20, wherein the autonomous robot is less than 10 cm in height.

33. The autonomous robot according to claim 20, further comprising:

a battery; and

a charging interface for electrically connecting an external power source to the battery for charging.

34. The autonomous robot according to claim 20, further comprising a wireless communication interface for wirelessly receiving control instructions from one or more devices.

35. The autonomous robot according to claim 20, further comprising a bumper configured to preclude the autonomous robot from mounting a carpeted floor.

36. The autonomous robot according to claim 35, wherein the bumper has a ground clearance between 2-5 mm.