Articulated Joint and Three Points of Contact

• US 20110160903A1
• Filed: 12/22/2010
• Published: 06/30/2011
• Est. Priority Date: 04/24/2008
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Dooley, Michael, Romanov, Nikolai, Pirjanian, Paolo
• Granted Patent: US 9,725,012 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• 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 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/14 Acceleration
• CPC Class Codes: B60L 2240/32 Driving direction
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/463 Torque
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2240/62 Vehicle position
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 3/106 : for maintaining or recovering the adhesion of the drive wheels
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 50/66 : Arrangements of batteries
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 2201/0203 : Cleaning or polishing vehicle
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Claims

1. A robotic cleaner for cleaning a surface with a cleaning cloth, the robotic cleaner comprising:

a main robot body comprising;

a drive system comprising two wheels configured to drive the robotic cleaner in a forward direction toward the surface to be cleaned; and

a microcontroller configured to control the movement of the robotic cleaner;

a cleaning assembly connected at a front end of the main robot body whereby the cleaning assembly is in front of the main robot body when driven in the forward direction;

wherein the cleaning assembly is configured to detachably hold the cleaning cloth;

wherein the cleaning assembly comprises a cleaning pad configured to press the cleaning cloth against the surface; and

a pivot joint coupling the drive assembly to the cleaning assembly;

wherein the robotic cleaner contacts the surface only with the two wheels and the cleaning pad via the cleaning cloth.

2. The robotic cleaner of claim 1, wherein the cleaning assembly comprises one or more drop sensors configured to detect when at least a portion of the cleaning cloth loses contact with the surface.

3. The robotic cleaner of claim 2, wherein the one or more drop sensors detect loss of contact with the surface through the cleaning cloth.

4. The robotic cleaner of claim 1, wherein the cleaning assembly is detachably attached to the main robot body.

5. The cleaning robot of claim 1, wherein the pivot joint is configured to permit the cleaning assembly to:

pivot upward with respect to the drive system, and

roll with respect to the drive system.

6. The robotic cleaner of claim 1, wherein the pivot joint is connected to a center bracket and the center bracket is connected to the drive system.

7. The robotic cleaner of claim 1, wherein the pivot joint is connected to a mounting bracket and the mount bracket is connected to the cleaning assembly.

8. The robotic cleaner of claim 1, further comprising:

a shell rigidly connected to the cleaning assembly and pivotably connected to the drive system, wherein the shell is configured to pivot with respect to the two wheels; and

a detection mechanism for detecting when the shell pivots with respect to the two wheels.

9. The robotic cleaner of claim 8, wherein the shell is sloped upward, with respect to the surface, from the cleaning assembly toward the two wheels, whereby the shell may rotate in response to a collision between the robotic cleaner and an overhanging obstacle.

10. The robotic cleaner of claim 8, wherein the detection mechanism comprises a switch configured to signal detection of movement of the shell with respect to the two wheels by a predefined displacement.

11. The robotic cleaner of claim 10, wherein the switch comprises a spring configured to bias the shell upward with respect to the two wheels.