Autonomous surface cleaning robot for wet and dry cleaning

• US 8,387,193 B2
• Filed: 08/07/2007
• Issued: 03/05/2013
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Ziegler, Andrew, Gilbert, Duane, Morse, Christopher J., Pratt, Scott, Sandin, Paul, Dussault, Nancy, Jones, Andrew
• Primary Examiner(s): Chin, Randall
• Application Number:
  US11/835,360
• Publication Number:
  US 20080155768A1
• Time in Patent Office: 2,037 Days
• Field of Search: 15/491, 15/501, 153/19, 153/20, 153/401, 700/245, 901/1
• US Class Current: 15/50.1
• 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;

at least one drive motor carried by the robot body and driving the differential drive system;

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

a debris collector housed in the robot body and configured for collecting dry debris from the cleaning surface;

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 scrubber housed in the robot body and engaging the cleaning surface, the scrubber comprising a driven circulating web trained about rollers rotatably coupled to the robot body, the web driven to rotate in the direction of forward travel of the robot, thereby aiding forward propulsion of the robot;

wherein the treatment 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 treatment robot mass, and the treatment robot has an average drag force of 30-50% of the thrust provided by the drive system treatment robot.

2. The surface treatment robot of claim 1, further comprising a reservoir cartridge, wherein the reservoir cartridge comprises:

a reservoir cartridge body defining a liquid chamber;

a fluid level sensor; and

a foam blocking wall disposed in the liquid chamber and configured to impede foam from contacting the fluid level sensor.

3. The surface treatment robot of claim 2, wherein the foam blocking wall bisects the liquid chamber, forming two sub-chambers in fluid communication, the fluid level sensor being disposed in one of the two sub-chambers.

4. The surface treatment robot of claim 1, wherein the drive system comprises:

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; and

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

5. The surface treatment robot of claim 4, wherein each drive wheel comprises closed cell foam tires having a cell size of between about 20 μ

m to about 400 μ

m.

6. The surface treatment robot of claim 4, wherein each drive wheel defines grooves in an outer surface of the wheel which engages the cleaning surface, the grooves have a depth of about 1.5 mm and a width of between about 20 and about 300 microns.

7. The surface treatment robot of claim 6, wherein the grooves of the drive wheel each define a groove cut axis forming an angle of between about 10°

to about 50°

with a longitudinal axis defined by the drive wheel.

8. The surface treatment robot of claim 6, wherein the grooves of the drive wheel define a diamond-shaped cross hatch pattern at 3.5 mm intervals.