Autonomous surface cleaning robot for wet and dry cleaning

• US 10,213,081 B2
• Filed: 06/19/2017
• Issued: 02/26/2019
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Ziegler, Andrew, Morse, Christopher John, Gilbert, Jr., Duane L., Jones, Andrew, Pratt, Scott, Sandin, Paul E., Dussault-Smith, Nancy
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US15/626,662
• Publication Number:
  US 20170280960A1
• Time in Patent Office: 617 Days
• Field of Search: None
• 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 robot comprising:

a differential drive system along a lateral axis of the robot;

a supply volume that stores cleaning liquid;

at least one spray nozzle that applies the cleaning liquid to a surface;

a pump assembly that moves the cleaning liquid from the supply volume to the at least one spray nozzle;

a bumper comprising;

a first sensor on a first portion of the bumper, the first sensor being configured to generate a first signal; and

a second sensor on a second portion of the bumper, the second sensor being configured to generate a second signal; and

a controller configured to;

operate the differential drive system to maintain contact between the bumper and a wall surface, in response to receiving the first signal, the second signal, or both the first signal and the second signal, while advancing the robot over the surface in a forward direction.

2. The robot of claim 1, wherein maintaining contact between the bumper and the wall surface comprises moving the robot in a first direction in response to receiving the first signal and moving the robot in a second direction in response to receiving the second signal.

3. The robot of claim 2, wherein moving the robot in the first direction comprises turning the robot a first amount, and wherein moving the robot in the second direction comprises turning the robot a second amount that is different than the first amount.

4. The robot of claim 1, wherein the controller is further configured to operate the differential drive system to move the robot in an approximately arc-shaped path relative to the wall surface, comprising turning toward the wall surface.

5. The robot of claim 4, wherein the approximately arc-shaped path comprises a decreasing radius for turning, and wherein the robot moves in the approximately arc-shaped path until the bumper contacts the wall surface.

6. The robot of claim 1, wherein operating the differential drive system further comprises maintaining a pre-defined distance between the robot and the wall surface while advancing over the surface.

7. The robot of claim 1, wherein the first sensor comprises a leaf-spring switch.

8. The robot of claim 1, wherein the first sensor comprises a magnetic proximity switch.

9. The robot of claim 1, wherein the first portion of the bumper is positioned near a forward-left quadrant of the robot.

10. The robot of claim 1, wherein the second portion of the bumper is positioned near a forward-right quadrant of the robot.

11. The robot of claim 1, wherein operating the differential drive system comprises controlling a velocity of one or more wheels of the differential drive system.

12. The robot of claim 1, wherein the controller is further configured to estimate an angle between a fore-aft axis of the robot and the wall surface based on the first signal received from the first sensor, wherein the fore-aft axis is orthogonal to the lateral axis, and wherein the robot turns based on the estimated angle.

13. The robot of claim 12, wherein the controller is further configured to:

update the estimated angle between the fore-aft axis of the robot and a wall surface based on an additional signal received from the first sensor, the second sensor, or both the first and second sensors; and

operate the differential drive system to turn the robot based on the updated estimated angle between the fore-aft axis of the robot and the wall surface.

14. The robot of claim 1, wherein the controller is configured to operate the differential drive system to move the robot away from the wall surface in response to receiving the first signal and the second signal within a predetermined time period.

15. The robot of claim 1, further comprising a sensor for measuring movement of a wheel of the differential drive system, wherein the controller is further configured to operate the differential drive system based on a measurement of the movement of the wheel.

16. The robot of claim 1, wherein the controller is configured to operate the pump assembly to cause the cleaning liquid to spray from the at least one spray nozzle when the at least one spray nozzle is oriented away from the wall surface.

17. The robot of claim 1, further comprising a scrubbing pad that is moveable with respect to the surface and with respect to the robot.