Autonomous surface cleaning robot for wet and dry cleaning

• US 7,761,954 B2
• Filed: 08/07/2007
• Issued: 07/27/2010
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Sandin, Paul, Morse, Christopher J., Jones, Andrew, Ziegler, Andrew, Pratt, Scott, Dussault, Nancy, Gilbert, Duane
• Primary Examiner(s): Muller; Bryan R
• Application Number:
  US11/835,363
• Publication Number:
  US 20080134458A1
• Time in Patent Office: 1,085 Days
• Field of Search: 153/19, 153/20, 152/30, 153/401
• US Class Current: 15/320
• CPC Class Codes: A47L 11/02 Floor surfacing or polishing machines polishing machines in general B24B29/00
• CPC Class Codes: A47L 11/302 having rotary tools
• CPC Class Codes: A47L 11/40 Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
• CPC Class Codes: A47L 11/4005 Arrangements of batteries or cells; Electric power supply arrangements
• 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 11/4027 Filtering or separating contaminants or debris
• 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 11/4069 Driving or transmission means for the cleaning tools
• CPC Class Codes: A47L 11/4083 Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
• 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 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/14 cleaning by blowing-off, also combined with suction cleaning
• CPC Class Codes: A47L 7/0028 Security means, e.g. float valves or level switches for preventing overflow
• CPC Class Codes: A47L 7/0038 with means for emptying the tanks
• CPC Class Codes: A47L 7/0042 : Gaskets; Sealing means
• CPC Class Codes: A47L 9/009 : Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/10 : Filters in general B01D; cyclones B04C; Dust separators; Dust removal; Automatic exchange of filters for machines for cleaning floors A47L11/40
• 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
• CPC Class Codes: A47L 9/2826 : the condition of the floor
• CPC Class Codes: A47L 9/2852 : Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 : User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2873 : Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: A47L 9/2884 : Details of arrangements of batteries or their installation
• CPC Class Codes: B60B 33/001 : by snapping, clicking or latching in
• CPC Class Codes: B60B 33/0021 : in the form of a mounting pin
• CPC Class Codes: B60B 33/0028 : Construction of wheels; methods of assembling on axle
• CPC Class Codes: B60B 33/0039 : Single wheels
• CPC Class Codes: B60B 33/0049 : the rolling axle being horizontal
• CPC Class Codes: B60B 33/0057 : the rolling axle being offset from swivel axis
• CPC Class Codes: B60B 33/0068 : the swivel axis being vertical
• CPC Class Codes: B60B 33/0073 : the swivel axis being symmetrical to wheel or wheels
• CPC Class Codes: B60B 33/028 : being actuated automatically
• CPC Class Codes: B60R 19/483 : with obstacle sensors of electric or electronic type
• CPC Class Codes: C11D 1/62 : Quaternary ammonium compounds
• CPC Class Codes: C11D 1/75 : Amino oxides
• CPC Class Codes: F04D 29/4233 : with volutes extending mainly in axial or radially inward direction
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• 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 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/40 : Vacuum or mangetic

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. A surface treatment robot comprising:

a robot body having forward and rear ends;

a differential drive system mounted on the robot body and configured to maneuver the robot over a cleaning surface;

a controller in communication with the drive motor and configured to differentially steer the robot and be capable of maneuvering the robot to pivot in place;

a proximity sensor responsive to a potential obstacle forward of the robot, wherein the controller is configured to alter a heading setting in response to a signal received from the proximity sensor indicating a potential obstacle;

a cliff sensor responsive to a potential cliff forward of the robot, wherein the controller is configured to alter the heading setting in response to a signal received from the cliff sensor indicating a potential cliff;

a liquid applicator housed in the robot body and configured to dispense a liquid onto the cleaning surface while the robot is moving in a direction of forward travel of the robot and suspend dispersion of the liquid while moving in a reverse direction of forward travel of the robot; and

a squeegee vacuum assembly housed in the robot body and comprising;

a squeegee attached to the robot body and formed with a longitudinal ridge disposed proximate to the cleaning surface and extending across a cleaning width for providing a liquid collection zone at a forward edge of the ridge;

a liquid collection zone defined by the robot body, the longitudinal ridge collecting waste liquid within the liquid collection zone as the robot moves in a forward direction of travel;

a vacuum chamber partially formed by the squeegee disposed proximate to the longitudinal ridge and extending across the cleaning width, the vacuum chamber in fluid communication with the liquid collection zone by a plurality of suction ports defined through the squeegee; and

a vacuum for generating a negative air pressure within the vacuum chamber for drawing waste liquid collection within the liquid collection zone into the vacuum chamber;

wherein the cleaning robot has a mass of less than about 10 kg, there is between about 1 cm and about 10 cm of cleaning width for every 1 kg of cleaning robot mass, and the cleaning robot has an average drag force of 30-40% of the thrust provided by the drive system.

2. The surface treatment robot of claim 1, further comprising a liquid storage tank comprising at least one of a waste storage container in fluid communication with the vacuum chamber or a cleaning fluid storage container in fluid communication with the liquid applicator.

3. The surface treatment robot of claim 2, wherein the liquid storage tank comprises both a waste storage container in fluid communication with the vacuum chamber and a cleaning fluid storage container in fluid communication with the liquid applicator.

4. The surface treatment robot of claim 2, wherein the liquid storage tank is removably attached to the robot body.

5. The surface treatment robot of claim 1, wherein the left and right drive wheels are positioned along an axis substantially perpendicular to a fore-aft axis of the robot.

6. The surface treatment robot of claim 5, wherein the left and right drive wheels are positioned along an axis offset from a central point of the robot.

7. The surface treatment robot of claim 5, wherein the robot body defines a substantially circular outer surface, and wherein the drive wheels are configured to rotate the robot about a central vertical axis such that pivoting the robot in place results in the outer surface of the robot maintaining a substantially constant distance from an obstacle.

8. The surface treatment robot of claim 1, further comprising a user input control panel disposed on an external surface thereof.

9. The surface treatment robot of claim 1, wherein the liquid applicator is attached to the robot body as a removably attachable module.

10. A surface treatment robot comprising:

a robot body having forward and rear ends;

right and left drive wheels rotatably mounted on the robot body and spaced offset from a transverse axis defined perpendicular to a forward drive direction of the robot over a cleaning surface;

right and left drive motors coupled to the corresponding drive wheels;

a controller in communication with the drive motor and configured to differentially steer the robot and be capable of maneuvering the robot to pivot in place;

a proximity sensor responsive to a potential obstacle forward of the robot, wherein the controller is configured to alter a heading setting in response to a signal received from the proximity sensor indicating a potential obstacle;

a cliff sensor responsive to a potential cliff forward of the robot, wherein the controller is configured to alter the heading setting in response to a signal received from the cliff sensor indicating a potential cliff;

a first debris collector comprising;

a plenum defined by the robot body and configured for sucking debris from the cleaning surface;

a waste compartment in fluid communication with the plenum; and

a vacuum blower in fluid communication with the plenum and configured to pull debris up through the plenum and into the waste compartment;

a liquid applicator housed in the robot body and configured to dispense liquid directly onto the cleaning surface while the robot is moving in a direction of forward travel of the robot and suspend dispersion of the liquid while moving in a reverse direction of forward travel of the robot;

a second debris collector comprising;

a driven cleaning head rotatably coupled to the robot body; and

a bin configured to collect debris removed from the cleaning surface by the cleaning head; and

a squeegee vacuum assembly housed in the robot body and comprising;

a squeegee attached to the robot body and formed with a longitudinal ridge disposed of proximate to the cleaning surface and extending across a cleaning width for providing a liquid collection zone at a forward edge of the ridge;

a liquid collection zone defined by the robot body, the longitudinal ridge collecting waste liquid within the liquid collection zone as the robot moves in a forward direction of travel; and

a vacuum chamber partially formed by the squeegee disposed proximate to the longitudinal ridge and extending across the cleaning width, the vacuum chamber in fluid communication with the liquid collection zone by a plurality of suction ports defined through the squeegee, wherein the vacuum blower generates a negative air pressure within the vacuum chamber for drawing waste liquid collected within the liquid collection zone into the vacuum chamber;

wherein the cleaning robot has a mass of less than about 10 kg, there is between about 1 cm and about 10 cm of cleaning width for every 1 kg of cleaning robot mass, and the cleaning robot has an average drag force of 30-40% of the thrust provided by the drive wheels.

11. The surface treatment robot of claim 10, further comprising a liquid storage tank comprising at least one of a waste storage container in fluid communication with the vacuum chamber or a cleaning fluid storage container in fluid communication with the liquid applicator.

12. The surface treatment robot of claim 11, wherein the liquid storage tank comprises both a waste storage container in fluid communication with the vacuum chamber and cleaning fluid storage container in fluid communication with the liquid applicator.

13. The surface treatment robot of claim 11, wherein the liquid storage tank is removably attached to the robot body.

14. The surface treatment robot of claim 10, wherein the left and right drive wheels are positioned along an axis substantially perpendicular to a fore-aft axis of the robot.

15. The surface treatment robot of claim 14, wherein the left and right drive wheels are positioned along an axis offset from a central point of the robot.

16. The surface treatment robot of claim 14, wherein the robot body defines a substantially circular outer surface, and wherein the drive wheels are configured to rotate the robot about a central vertical axis such that pivoting the robot in place results in the outer surface of the robot maintaining a substantially constant distance from an obstacle.

17. The surface treatment robot of claim 10, further comprising a user input control panel disposed on an external surface thereof.

18. The surface treatment robot of claim 10, wherein the liquid applicator is attached to the robot body as a removably attachable module.