Autonomous surface cleaning robot for wet and dry cleaning

• US 9,445,702 B2
• Filed: 06/11/2014
• Issued: 09/20/2016
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Ziegler, Andrew, Morse, Christopher John, Gilbert, Duane L. Jr., Jones, Andrew, Pratt, Scott, Sandin, Paul E., Dussault, Nancy
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/301,454
• Publication Number:
  US 20140289992A1
• Time in Patent Office: 832 Days
• US Class Current: 1/1
• 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 differential drive system mounted on the robot and configured to maneuver the robot over a cleaning surface, the differential drive having at least two circulating drive members that drive the robot forward and steer the robot;

a controller in communication with the differential drive system and configured to differentially steer the robot and to maneuver the robot to pivot in place;

a robot body having a maximum width along a line perpendicular to a direction of forward travel and a side edge along the line of maximum width;

a cleaning head forward of the circulating drive members in the direction of forward travel and extending substantially along the line of maximum width to the side edge;

a driven scrubbing element extending to substantially within 1 cm of the side edge along the line of maximum width; and

a cleaning width defined by the driven scrubbing element with reference to a total robot mass, the cleaning width being more than or equal to three centimeters of cleaning width per kilogram of total robot mass.

2. The surface treatment robot according to claim 1, wherein the driven scrubbing element comprises a rotatable cylindrical holder and stripes of scrubbing material attached along a longitudinal length of a bristle holder.

3. The surface treatment robot according to claim 1, wherein a center of gravity of the robot is substantially over the circulating drive members.

4. The surface treatment robot according to claim 1, further comprising a set of substantially monocoque structures including a tank having a waste compartment coupled to a housing that accommodates the circulating drive members.

5. The surface treatment robot according to claim 1, further comprising a side brush for following walls to bring particulates within a working width of the cleaning head.

6. The surface treatment robot according to claim 1, further comprising a space beside the cleaning head configured to contain a gear train for the cleaning head driven scrubbing element.

7. The surface treatment robot according to claim 1, further comprising a space beside the cleaning head configured to contain a motor for the cleaning head driven scrubbing element.

8. The surface treatment robot according to claim 1, wherein the cleaning head extends to a dominant side of the robot along which the robot follows obstacles and during surface cleaning a robot coverage pattern includes turning away from the dominant side.

9. The surface treatment robot according to claim 8, wherein the coverage pattern includes a series of overlapping parallel tracks.

10. The surface treatment robot according to claim 8, wherein the coverage pattern includes right angle differentially steered turns and the coverage pattern is implemented as a series of overlapping squares or rectangles.

11. The surface treatment robot according to claim 1, wherein the controller is configured to ascertain a floor area of a room to be cleaned.

12. The surface treatment robot according to claim 11, wherein the controller is configured to maneuver the robot to initially traverse boundaries of the room and the controller is further configured to record the boundaries.

13. The surface treatment robot according to claim 11, wherein the robot is configured to receive floor area information from a user or computer.

14. The surface treatment robot according to claim 1, wherein the cleaning head includes a powered dry vacuum that picks up waste material.

15. The surface treatment robot according to claim 14, further comprising a waste tank having a compartment coupled to the robot body and being used for waste material deposited by the powered dry vacuum.