Autonomous surface cleaning robot for wet cleaning

• US 8,382,906 B2
• Filed: 08/07/2007
• Issued: 02/26/2013
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Ziegler, Andrew, Morse, Christopher John, Konandreas, Stefanos
• Primary Examiner(s): Kornakov, Michael
• Assistant Examiner(s): CAMPBELL, NATASHA N.
• Application Number:
  US11/835,359
• Publication Number:
  US 20080127445A1
• Time in Patent Office: 2,030 Days
• Field of Search: 134/6, 153/20, 15/501, 15/502, 15/503, 15/51, 15/52, 15/98, 15/99, 239/754
• US Class Current: 134/6
• CPC Class Codes: A22C 17/0013 Boards or blocks for cutting or chopping meat
• CPC Class Codes: A47L 11/28 Floor-scrubbing machines, motor-driven A47L11/29 takes precedence
• CPC Class Codes: A47L 11/292 having rotary tools A47L11/30 takes precedence
• 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 11/4008 Arrangements of switches, indicators or the like
• 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 11/4019 Fill level sensors; Security means to prevent overflow, e.g. float valves
• 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 11/4069 Driving or transmission means for the cleaning tools
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• 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 2201/04 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 7/0009 : with means mounted on the nozzle; nozzles specially adapted for the recovery of liquid
• 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

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 method for cleaning a surface with a cleaning apparatus, the method comprising:

transporting a chassis over the surface in a forward transport direction defined by a fore-aft axis, said chassis including cleaning elements supported thereon, wherein the cleaning elements have a cleaning width disposed generally perpendicular to the fore-aft axis;

ejecting a volume of cleaning fluid from at least one liquid applicator disposed substantially perpendicular to the fore-aft axis, wherein the cleaning fluid is ejected with sufficient volume and pressure to distribute cleaning fluid across the cleaning width; and

smearing the cleaning fluid across the cleaning width using a smearing element attached to the chassis aft of the at least one liquid applicator,

wherein the smearing element extends substantially across the cleaning width, and

wherein the smearing element comprises a plurality of smearing bristles configured to wick up excess cleaning fluid applied to one location of the cleaning surface and distribute the wicked up cleaning fluid to other locations of the cleaning surface.

2. The method of claim 1, wherein ejecting a volume of cleaning fluid from at least one liquid applicator comprises sequentially ejecting a volume of cleaning fluid from two liquid applicators disposed substantially perpendicular to the fore-aft axis in discrete bursts.

3. The method of claim 1, further comprising scrubbing the surface across the cleaning width using a scrubbing element attached to the chassis aft of the co-located position of the at least one liquid applicator wherein the scrubbing element extends substantially across the cleaning width.

4. The method of claim 1, further comprising collecting waste liquid from the surface across the cleaning width using a collecting apparatus attached to the chassis aft of the at least one liquid applicator, wherein the collecting apparatus extends substantially across the cleaning width.

5. The method of claim 1, wherein ejecting the volume of cleaning fluid from at least one liquid applicator comprises ejecting a substantially uniform volume of cleaning fluid per unit length of cleaning width.

6. The method of claim 5, wherein the substantially uniform volume of cleaning fluid per unit length of cleaning width is between about 0.2 to 5.0 ml per square foot.

7. The method of claim 3, wherein the scrubbing element comprises a plurality of bristles configured to contact the surface, each bristle having a length greater than the length required to make contact with the surface.

8. The method of claim 7, wherein the scrubbing element is fixedly attached to the chassis and held in contact with the surface across the cleaning width aft of the liquid applicator as the chassis advances over the cleaning surface in the forward direction.

9. The method of claim 7, wherein scrubbing the surface across the cleaning width using the scrubbing element comprises moving the scrubbing element relative to the surface and relative to the chassis.

10. The method of claim 9, wherein moving the scrubbing element relative to the chassis comprises rotary motion.

11. The method of claim 10, wherein the scrubbing element rotates about a rotation axis substantially parallel to the cleaning width.

12. The method of claim 11, wherein moving the scrubbing element relative to the surface drives the chassis in the forward direction.

13. The method of claim 11, wherein moving the scrubbing element relative to the surface comprises moving contaminants and waste liquid in the aft direction.

14. The method of claim 4, wherein the collecting apparatus comprises a squeegee in contact or near contact with the surface to collect waste liquid as the chassis advances in a forward direction.

15. The method of claim 14, wherein the squeegee comprises a vertical element and a horizontal element and at least a portion of the vertical element contacts the surface when the chassis advances over the cleaning surface in the forward direction.

16. The method of claim 14, wherein the squeegee comprises a substantially compliant element disposed across the cleaning width.

17. The method of claim 14, further comprising suctioning the collected liquid into a waste storage container carried on the chassis.

18. The method of claim 17, wherein suctioning the collected liquid into the waste container comprises drawing air through a suction channel defined by the squeegee.

19. The method of claim 1, wherein the plurality of smearing bristles comprises bristles with an average bristle diameter between about 0.05 to 0.2 mm.

20. The method of claim 1, wherein the plurality of smearing bristles comprises bristles arranged with an interference dimension of approximately 0.75 mm.

21. The method of claim 1, wherein the chassis is transported over the surface by a drive system, the drive system comprising one or more drive wheels, each drive wheel comprising an annular tire element supported on a cup shaped wheel element.

22. The method of claim 21, wherein the annular tire element comprises a non-slip drive surface for maintaining traction on a wet cleaning surface.

23. The method of claim 21, wherein an outside diameter of the annular tire element comprises a pattern of thin angled grooves.

24. The method of claim 23, wherein the grooves are arranged at a selected angle between about 19 to 15 degrees with respect to a longitudinal axes of the drive wheels.

25. The method of claim 1, wherein ejecting a volume of cleaning fluid from at least one liquid applicator comprises pumping pressurized cleaning fluid to a nozzle from a fluid source using an intermittent pump.

26. The method of claim 25, wherein the intermittent pump comprises:

a rotatable cam element;

a rocker element comprising a cam follower, the cam follower being held in contact with a surface of the rotating cam element; and

a movable actuator nipple engageable by the cam follower, the actuator nipple being configured to cause pumping of cleaning fluid from the fluid source to the nozzle when engaged by the cam follower,

wherein rotating the cam element forces the cam follower into engagement with the actuator nipple at regular intervals.