Autonomous surface cleaning robot

• US 9,427,127 B2
• Filed: 11/12/2013
• Issued: 08/30/2016
• Est. Priority Date: 11/12/2013
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Dooley, Michael, Romanov, Nikolai, Case, James Phillip
• Primary Examiner(s): Chaudhry, Saeed T
• Application Number:
  US14/077,296
• Publication Number:
  US 20150128996A1
• Time in Patent Office: 1,022 Days
• Field of Search: 153/19, 153/20
• US Class Current: 1/1
• CPC Class Codes: A47L 11/125 with supply of cleaning agents
• CPC Class Codes: A47L 11/284 having reciprocating 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 11/4005 Arrangements of batteries or cells; Electric power supply arrangements
• 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 11/4036 Parts or details of the surface treating tools
• 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 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 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

A mobile floor cleaning robot includes a body defining a forward drive direction, a drive system, a cleaning system, and a controller. The cleaning system includes a pad holder, a reservoir, a sprayer, and a cleaning system. The pad holder has a bottom surface for receiving a cleaning pad. The reservoir holds a volume of fluid, and the sprayer sprays the fluid forward the pad holder. The controller is in communication with the drive and cleaning systems. The controller executes a cleaning routine that includes driving in the forward direction a first distance to a first location, then driving in a reverse drive direction a second distance to a second location. From the second location, the robot sprays fluid in the forward drive direction but rearward the first location. The robot then drives in alternating forward and reverse drive directions while smearing the cleaning pad along the floor surface.

Claims

1. A mobile robot comprising:

a robot body defining a forward drive direction;

a drive system supporting the robot body to maneuver the mobile robot across a floor surface;

a cleaning assembly disposed on the robot body, the cleaning assembly comprising;

a pad holder configured to receive a cleaning pad having a center and lateral edges; and

a fluid applicator configured to apply fluid to the floor surface; and

a controller in communication with the drive system and the cleaning assembly, the controller configured to control the drive system and fluid applicator while executing a cleaning routine comprising;

applying fluid to a floor surface area at an initial volumetric flow rate, the floor surface area being in front of the cleaning pad and in the forward drive direction of the mobile robot;

moving the mobile robot to the floor surface area in a movement pattern that moves the center and lateral edges of the cleaning pad separately through the floor surface area to moisten an exterior surface of the cleaning pad with the fluid applied to the floor surface area at the initial volumetric flow rate; and

applying the fluid to the floor surface area at a subsequent volumetric flow rate when the exterior surface of the cleaning pad is moistened, the subsequent volumetric flow rate lower than the initial volumetric flow rate.

2. The robot of claim 1, wherein the fluid is applied to a floor surface area previously occupied by the cleaning pad.

3. The robot of claim 2, wherein the previously occupied floor surface area is stored on a map accessible to the controller.

4. The robot of claim 2, wherein fluid is applied to a floor surface area the robot has backed away from by a distance of at least one robot footprint length immediately prior to applying fluid.

5. The robot of claim 1, wherein executing the cleaning routine further comprises moving the cleaning pad in a birdsfoot motion forward and backward along a center trajectory, forward and backward along a trajectory to a left side of and heading away from a starting point along the center trajectory, and forward and backward along a trajectory to a right side of and heading away from a starting point along the center trajectory.

6. The robot of claim 1, wherein the drive system comprises right and left drive wheels disposed on corresponding right and left portions of the robot body, a center of gravity of the robot is positioned forward of the drive wheels, causing a majority of an overall weight of the robot to be positioned over the pad holder.

7. The robot of claim 6, wherein the overall weight of the robot is distributed between the pad holder and the drive wheels at a ratio of 3 to 1.

8. The robot of claim 6, wherein the overall weight of the robot is between about 2 lbs. and about 3 lbs.

9. The robot of claim 1, wherein the robot body and the pad holder both define substantially rectangular foot prints.

10. The robot of claim 1, further comprising a vibration motor disposed on a top portion of the pad holder.