Autonomous surface cleaning robot for wet and dry cleaning

• US 9,706,891 B2
• Filed: 08/16/2016
• Issued: 07/18/2017
• Est. Priority Date: 02/18/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Gilbert, Jr., Duane L., Dussault-Smith, Nancy, Sandin, Paul E., Jones, Andrew, Pratt, Scott, Ziegler, Andrew, Morse, Christopher John
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US15/238,181
• Publication Number:
  US 20170049286A1
• Time in Patent Office: 336 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 surface treatment robot comprising:

a robot body having a forward portion and an aft portion, the forward portion preceding the aft portion as the robot moves in a forward direction over a cleaning surface, the robot having a generally rectangular cross-section;

a differential drive system comprising a right drive wheel and a left drive wheel, each drive wheel rotatable about at least one transverse axis approximately orthogonal to the forward direction;

a supply volume that stores cleaning liquid;

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

a pump assembly that moves the cleaning liquid from the supply volume to the at least one spray nozzle, the pump assembly having an adjustable pumping frequency; and

a scrubbing module disposed forward of the right and left drive wheels, the scrubbing module comprising a replaceable scrubbing pad.

2. The surface treatment robot according to claim 1, wherein the scrubbing pad is moveable with respect to the cleaning surface and with respect to the robot body.

3. The surface treatment robot according to claim 2, wherein the scrubbing module further comprises a drive module that moves the scrubbing pad.

4. The surface treatment robot according to claim 2, wherein a relative motion between the scrubbing pad and the robot body includes linear motion.

5. The surface treatment robot according to claim 1, wherein the scrubbing module further comprises a vibrating backing element that vibrates the scrubbing pad.

6. The surface treatment robot according to claim 1, wherein the scrubbing pad is configured to be held in contact with the cleaning surface to generate a force on the cleaning surface.

7. The surface treatment robot according to claim 1, wherein the robot is less than 10 cm in height.

8. The surface treatment robot according to claim 1, wherein the pump assembly comprises at least one pump that moves the cleaning liquid from the supply volume to a plurality of spray nozzles.

9. The surface treatment robot according to claim 8, wherein the at least one pump causes the cleaning liquid to be ejected from a first spray nozzle in the plurality of spray nozzles out of phase with respect to the cleaning liquid to be ejected from a second spray nozzle in the plurality of spray nozzles.

10. The surface treatment robot according to claim 9, wherein the first spray nozzle is oriented to eject the cleaning liquid in a different direction than the second spray nozzle.

11. The surface treatment robot according to claim 1, further comprising:

a battery; and

a charging interface for electrically connecting an external power source to the battery for charging.

12. The surface treatment robot according to claim 1, further comprising a wireless communication interface for wirelessly receiving control instructions from one or more devices.

13. The surface treatment robot according to claim 1, wherein the pump assembly is operable to change a flow rate of the cleaning liquid being supplied to the at least one spray nozzle.

14. The surface treatment robot according to claim 1, wherein the pump assembly precludes the movement of the cleaning liquid from the supply volume to the at least one spray nozzle in response to a backwards movement of the surface treatment robot.

15. The surface treatment robot according to claim 1, wherein the pump precludes the movement of the cleaning liquid from the supply volume to the at least one spray nozzle in response to the surface treatment robot turning in place.

16. The surface treatment robot according to claim 1, further comprising an obstacle detection sensor.

17. The surface treatment robot according to claim 16, wherein the pump assembly precludes the movement of the cleaning liquid from the supply volume to the at least one spray nozzle in response to a detection of an obstacle by the obstacle detection sensor.

18. The surface treatment robot according to claim 1, further comprising a sensor that detects that the supply volume is empty.

19. The surface treatment robot according to claim 1, wherein the differential drive system moves the robot body through an overlapping pattern on the cleaning surface.