Autonomous surface cleaning robot for wet cleaning

• US 8,392,021 B2
• Filed: 08/19/2005
• Issued: 03/05/2013
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Konandreas, Stefanos, Ziegler, Andrew, Morse, Christopher John
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US11/207,575
• Publication Number:
  US 20060190133A1
• Time in Patent Office: 2,755 Days
• Field of Search: 700/245, 700/246, 700/250, 700/256, 700/259, 700/264, 318/568.1, 318/568.12, 318/580, 318/581, 318/587, 701/23, 701/24, 701/25, 701/26, 701/300, 701/301, 901/1, 901/46, 901/47
• US Class Current: 700/245
• 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 surface cleaning apparatus comprising:

a chassis defined by a fore-aft axis and a perpendicular transverse axis for supporting cleaning elements thereon and for transporting the cleaning elements along a direction of the fore-aft axis over work surface supporting the surface cleaning apparatus, the cleaning elements disposed to clean across a cleaning width disposed generally orthogonal to the fore-aft axis with a left end and a right end defining opposing edges of the cleaning width; and

a liquid applicator disposed on the chassis and comprising;

a fluid supply container;

a conduit in fluid communication with the fluid supply container;

a first nozzle in fluid communication with the conduit and disposed on the chassis at the left end for ejecting cleaning fluid therefrom, the cleaning fluid being ejected from the first nozzle and onto the work surface; and

a second nozzle in fluid communication with the conduit and disposed on the chassis at the right end for ejecting cleaning fluid therefrom, the cleaning fluid being ejected from the second nozzle and onto the work surface,

wherein the first nozzle and the second nozzle are co-located on the fore-aft axis;

wherein each of the first and second nozzles ejects a burst of cleaning fluid in accordance with a burst frequency;

a collecting apparatus attached to the chassis aft of the positions of the first and second nozzles and extending from the chassis to the surface across the cleaning width for colleting waste liquid from the surface; and

an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to condition sensed by the sensor module,

wherein the master control module is configured to vary the burst frequency in accordance with a desired rate for applying cleaning fluid onto surface.

2. A surface cleaning apparatus according to claim 1 wherein the cleaning fluid comprises water.

3. A surface cleaning apparatus according to claim 1 wherein the cleaning fluid further comprises any one of soap, solvent, fragrance, disinfectant, emulsifier, drying agent and abrasive particulates.

4. A surface cleaning apparatus according to claim 1 further comprising a smearing element attached to the chassis aft of the co-located position of the first and second nozzles and extending from the chassis to the surface across the cleaning width for smearing the cleaning fluid.

5. A surface cleaning apparatus according to claim 1 further comprising a scrubbing element attached to the chassis aft of the co-located position of the first and second nozzles and extending from the chassis to the surface across the cleaning width for scrubbing the surface.

6. A surface cleaning apparatus according to claim 1 further comprising a scrubbing element attached to the chassis aft of the co-located position of the first and second nozzles and extending from the chassis to the surface across the cleaning width for scrubbing the surface.

7. A surface cleaning apparatus according to claim 1 wherein each of the first and second nozzles ejects a discrete burst of cleaning fluid in accordance with a respective burst frequency and wherein the burst frequency of the first nozzle is substantially opposite in phase with respect to the burst frequency of the second nozzle.

8. A surface cleaning apparatus according to claim 1 wherein the master control module is configured to vary the burst frequency to apply cleaning fluid onto the surface at a substantially uniform volume of approximately 2 ml per square foot.

9. A surface cleaning apparatus according to claim 1 further comprising:

a liquid storage container, carried on the chassis, for storing a supply of the cleaning fluid therein;

a diaphragm pump assembly configured with a first pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to at least one of the first and second nozzles; and

,

a mechanical actuator for mechanically actuating the first pump portion.

10. A surface cleaning apparatus according to claim 1 further comprising:

a liquid storage container, carried on the chassis, for storing a supply of the cleaning fluid therein;

a diaphragm pump assembly having a first a first pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the first nozzle and a second pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the second nozzle; and

a mechanical actuator for mechanically actuating the first pump portion and the second pump portion.

11. A method according to claim 1 further comprising smearing the cleaning fluid across the cleaning width using a smearing element attached to the chassis aft of the co-located position of the first nozzle and the second nozzle, the smearing element extending across the cleaning width.

12. A method according to 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 first nozzle and the second nozzle, the scrubbing element extending across the cleaning width.

13. A method according to 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 co-located position of the first nozzle and the second nozzle, the collecting apparatus extending across the cleaning width.

14. A surface cleaning apparatus according to claim 1 wherein each of the first and second nozzles are configured to distribute cleaning fluid across the cleaning width.

15. A surface cleaning apparatus according to claim 1 wherein at least one of the first and second nozzles is directed substantially parallel to the transverse axis.

16. A surface cleaning apparatus according to claim 1 wherein the master control module is configured to adjust the burst frequency in proportion to a forward velocity of the chassis to apply a substantially uniform volume of cleaning fluid onto the cleaning surface irrespective of the forward velocity of the chassis.

17. A surface cleaning apparatus comprising:

a chassis defined by a fore-aft axis and a perpendicular transverse axis for supporting cleaning elements thereon and for transporting the cleaning elements along a direction of the fore-aft axis over a work surface supporting the surface cleaning apparatus, the cleaning elements disposed to clean across a cleaning width disposed generally orthogonal to the fore-aft axis with a left end and a right end defining opposing edges of the cleaning width;

an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module;

a liquid storage container, carried on the chassis, for storing a supply of the cleaning fluid therein;

a liquid applicator disposed on the chassis and comprising;

a fluid supply container;

a conduit in fluid communication with the fluid supply container;

a first nozzle disposed at the left end of the cleaning width for ejecting cleaning fluid therefrom, the cleaning fluid being ejected from the first nozzle to distribute cleaning fluid across the cleaning width, and

a second nozzle disposed at the right end of the cleaning width for ejecting cleaning fluid therefrom, the cleaning fluid being ejected from the second nozzle to distribute cleaning fluid across the cleaning width;

wherein the first nozzle and the second nozzle are co-located on the fore-aft axis;

a collecting apparatus attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for collecting waste liquid from the surface;

a diaphragm pump assembly having a first a first pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the first nozzle and a second pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the second nozzle; and

a mechanical actuator for mechanically actuating the first pump portion and the second pump portion;

wherein the diaphragm pump assembly comprises;

a flexible element mounted between a non-flexible upper chamber element and a non-flexible lower chamber element, the flexible element being formed with a first pump chamber and a first actuator nipple attached thereto and a second pump chamber and a second actuator nipple attached thereto;

an actuator link pivotally attached to the pump assembly for pivoting between a first actuator position and a second actuator position, the actuator link being fixedly attached to each of the first and the second actuator nipples and wherein movement of the actuator link toward the first actuator position decreases the volume the first pump chamber and increases the volume of the second pump chamber and further wherein movement of the actuator link toward the second actuator position increases the volume the first pump chamber and decreases the volume of the second pump chamber;

a cam element configured with a circumferential cam profile and supported to move the actuator link between the first actuator position and the second actuator position; and

a cam rotary drive, controlled by the master controller, for rotating the cam element in accordance with a cam rotary drive pattern.

18. A method for cleaning a surface with a cleaning apparatus, comprising:

transporting a chassis over a work surface supporting the surface cleaning apparatus in a forward transport direction defined by a fore-aft axis, the chassis supporting cleaning elements disposed to clean across a cleaning width disposed generally orthogonal to the fore-aft axis, the cleaning width having a left end and an opposing right end,

wherein the chassis further includes an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported thereon and controlled by a master control module and wherein transporting the chassis over the surface further comprises;

controlling the transport drive subsystems in accordance with predefined operating modes and in response to conditions sensed by the sensor module to transport the cleaning elements substantially over the entire surface;

ejecting a volume of cleaning fluid onto the work surface from a first nozzle attached to the chassis at the left end, the first nozzle in fluid communication with a fluid supply container disposed on the chassis and configured to distribute cleaning fluid onto the work surface; and

ejecting a volume of cleaning fluid from a second nozzle attached to the chassis at the right end and co-located on the fore-aft axis with respect to the first nozzle, the second nozzle being configured to eject cleaning fluid therefrom, the cleaning fluid being ejected to distribute cleaning fluid onto the cleaning surface,

wherein ejecting cleaning fluid from each of the first and second nozzles comprises ejecting bursts of cleaning fluid in accordance with a burst frequency.

19. A method according to claim 18 wherein ejecting cleaning fluid from each of the first and second nozzles comprises ejecting cleaning fluid across the cleaning width.

20. A method according to claim 18 further comprising adjusting the burst frequency in proportion to a forward velocity of the chassis to apply a substantially uniform volume of cleaning fluid onto the cleaning surface irrespective of the forward velocity of the chassis.