Autonomous Coverage Robot

• US 20140182627A1
• Filed: 12/28/2012
• Published: 07/03/2014
• Est. Priority Date: 12/28/2012
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Schregardus, Thomas P., Williams, Marcus, Johnson, Joseph, Sweezey, Andrew, Reimels, John
• Granted Patent: US 9,282,867 B2
• Time in Patent Office: Days
• US Class Current: 134/21
• CPC Class Codes: A47L 11/30 by suction
• CPC Class Codes: A47L 11/4016 specially adapted for collecting fluids
• CPC Class Codes: A47L 11/4044 Vacuuming or pick-up tools; Squeegees
• 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

Abstract

A mobile surface cleaning robot including a robot body having a forward drive direction, a drive system supporting the robot body above a floor surface for maneuvering the robot across the floor surface, and a robot controller in communication with the drive system. The robot also includes a collection volume supported by the robot body and a cleaning module releasably supported by the robot body and arranged to clean the floor surface. The cleaning module includes a first vacuum squeegee having a first duct, a driven roller brush rotatably supported rearward of the first vacuum squeegee, a second vacuum squeegee disposed rearward of the roller brush and having a second duct, and a third duct in fluid communication with the first and second ducts. The third duct is connectable to the collection volume at a fluid-tight interface formed by selectively engaging the cartridge with the robot body.

Claims

1. A mobile surface cleaning robot comprising:

a robot body having a forward drive direction;

a drive system supporting the robot body above a floor surface for maneuvering the robot across the floor surface;

a robot controller in communication with the drive system;

a collection volume supported by the robot body; and

a cleaning cartridge releasably supported by the robot body and arranged to clean the floor surface, the cleaning cartridge comprising;

a first vacuum squeegee having a first duct;

a driven roller brush rotatably supported rearward of the first vacuum squeegee;

a second vacuum squeegee disposed rearward of the roller brush and having a second duct; and

a third duct in fluid communication with the first and second ducts, the third duct connectable to the collection volume at a fluid-tight interface formed by selectively engaging the cartridge with the robot body.

2. The robot of claim 1, further comprising a liquid applicator supported by the robot body rearward of the second vacuum squeegee, the liquid applicator dispensing fluid onto the floor surface.

3. The robot of claim 2, further comprising a smearing element arranged to receive fluid dispensed by the liquid applicator and smear the received fluid onto the floor surface.

4. The robot of claim 3, wherein the smearing element defines a lumen arranged to receive fluid dispensed by the liquid applicator.

5. The robot of claim 1, further comprising a smearing element suspended from the robot body by a fluid accumulator in fluid communication with a fluid reservoir disposed within the robot body, the smearing element delivering fluid from the fluid accumulator onto the floor surface.

6. The robot of claim 5, wherein the fluid retained by the fluid accumulator is pressurized for forced distribution through the smearing element.

7. The robot of claim 5, wherein the fluid retained by the fluid accumulator is gravity fed through the smearing element.

8. The robot of claim 5, wherein the smearing element is defined by a permeable material that draws the fluid from the fluid accumulator to the floor surface.

9. The robot of claim 5, wherein the smearing element is defined by a plurality of bristles extending between the fluid accumulator and the floor surface, the plurality of bristles directing the fluid form the fluid accumulator to the floor surface through capillary action.

10. The robot of claim 5, wherein the fluid accumulator extends along the length of the smearing element.

11. The robot of claim 1, further comprising a detent mechanism for selectively engaging and disengaging the cleaning cartridge from the robot body.

12. The robot of claim 1, further comprising an engagement element for selectively engaging the cleaning cartridge with the robot body, the engagement element providing audible and/or physical verification of successful engagement.

13. The robot of claim 1, further comprising one or more guide connectors disposed on the cleaning module for releasably securing the cleaning module to the robot body, each guide connector receivable by a corresponding receptacle defined by the robot body, for guiding and orienting the cleaning module during attachment of the cleaning module to the robot body.

14. The robot of claim 1, wherein the cleaning module further comprises a suspension supporting the second vacuum squeegee and biasing the second vacuum squeegee toward the floor surface.

15. The robot of claim 14, wherein the suspension biases the second vacuum squeegee downward with a force of between about 1 Newton and about 5 Newtons.

16. The robot of claim 1, wherein the robot weighs between about 40 Newtons and about 50 Newtons when the collection volume is empty and between about 50 Newtons and about 60 Newtons when the collection volume is full of water.

17. The robot of claim 1, wherein the drive system comprises right and left driven wheel modules disposed substantially opposed along a transverse axis defined by the robot body, each wheel module having a drive motor coupled to a respective wheel.

18. The robot of claim 17, wherein each wheel module movable secured by the robot body and spring biased downward away from the robot body with a biasing force of about 10 Newtons in a deployed position and about 20 Newtons in a retracted position.

19. The robot of claim 17, wherein the drive system comprises caster wheel disposed on a forward portion of the robot body, the caster wheel arranged to support between 0 and about 10% of the weight of the robot.

20. The robot of claim 17, wherein the drive system comprises right and left non-driven wheels disposed rearward of the right and left driven wheel modules.

21. The robot of claim 20, wherein the right and left non-driven wheels are arranged to support between 0 and about 10% of the weight of the robot.

22. A method of operating a mobile surface cleaning robot, the method comprising:

blowing air onto a floor surface beneath the robot;

lifting substantially dry debris from the floor surface into a first duct;

dispensing fluid onto the floor surface;

lifting at least one of fluid or wet debris from the floor surface into a second duct; and

moving a flow debris from the first duct and a flow of the at least one of fluid or wet debris from the second duct both through a third duct into a collection volume.

23. The method of claim 22, further comprising allowing an expansion of air in the collection volume to allow debris to settle into the collection volume.

24. The method of claim 22, further comprising evacuating air from the collection volume.

25. The method of claim 22, further comprising blowing the air from opposite directions toward the first duct centrally located on the robot.

26. The method of claim 22, further comprising dispensing the fluid onto the floor surface rearward of blowing air onto the floor surface and rearward of lifting the substantially dry debris from the floor surface.

27. The method of claim 26, further comprising dispensing the fluid onto the floor surface rearward lifting the at least one of fluid or wet debris from the floor surface.

28. The method of claim 22, further comprising smearing the dispensed fluid onto the floor surface.

29. The method of claim 22, further comprising filtering the evacuated air from the collection bin.

30. A mobile surface cleaning robot comprising:

a robot body having a forward drive direction;

a drive system supporting the robot body above a floor surface for maneuvering the robot across the floor surface;

a wet cleaning system supported by the robot body and arranged to clean the floor surface; and

a robot controller in communication with at least one of the drive system or the cleaning system;

wherein the cleaning system comprises;

a liquid collection volume defining at least one orifice; and

an anti-spill device in communication with the robot controller, the robot controller causing the anti-spill device to open and close the at least one orifice based on a robot state.