US20060200281A1 - Autonomous surface cleaning robot for wet and dry cleaning - Google Patents

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.

Description

• This invention claims priority from Provisional Application Ser. No. 60/654,839 filed Feb. 18, 2005.
CROSS-REFERENCE TO RELATED APPLICATIONS
• This application relates to co-pending and co-assigned patent application Ser. No. ______, entitled AUTONOMOUS SURFACE CLEANING ROBOT FOR DRY CLEANING, and patent application Ser. No. ______ entitled, AUTONOMOUS SURFACE CLEANING ROBOT FOR WET CLEANING both of which are filed even dated herewith and incorporated herein by this reference.
BACKGROUND OF THE INVENTION
• 1. Field of the Invention
• The present invention relates to cleaning devices, and more particularly, to an autonomous surface cleaning robot. In particular, the surface cleaning robot includes two separate cleaning zones with a first cleaning zone configured to collect loose particulates from the surface and with a second cleaning zone configured to apply a cleaning fluid onto the surface, scrub the surface and thereafter collect a waste liquid from the surface. The surface cleaning robot may also include at least two containers, carried thereby, to store cleaning fluid and waste materials.
• 2. Description of Related Art
• Autonomous robot floor cleaning devices having a low enough end user price to penetrate the home floor cleaning market are known in the art. For example, co-assigned and co-pending U.S. patent application Ser. No. 10/320,729 by Jones et al. entitled AUTONOMOUS FLOOR-CLEANING ROBOT discloses an autonomous robot comprising a chassis, a battery power subsystem, a motive drive subsystem operative to propel the autonomous floor cleaning robot over a floor surface for cleaning operations, a command and control subsystem operative to control the cleaning operations and the motive subsystem, a rotating brush assembly for sweeping up or collecting loose particulates from the surface, a vacuum subsystem for suctioning up or collecting loose particulates on the surface, and a removable debris receptacle for collecting the particulates and storing the loose particulates on the robot during operation. Models similar to the device disclosed in the '729 application are commercially marketed by IROBOT CORPORATION under the trade names ROOMBA RED and ROOMBA DISCOVERY. These devices are operable to clean hard floor surfaces, e.g. bare floors, as well as carpeted floors, and to freely move from one surface type to the other unattended and without interrupting the cleaning process.
• In particular, the '729 application teaches a first cleaning zone configured to collect loose particulates in a receptacle. The first cleaning zone includes a pair of counter-rotating brushes engaging the surface to be cleaned. The counter-rotating brushes are configured with brush bristles that move at an angular velocity with respect to floor surface as the robot is transported over the surface in a forward transport direction. The angular movement of the brush bristles with respect to the floor surface tends to flick loose particulates laying on the surface into the receptacle which is arranged to receive flicked particulates.
• The '729 application further teaches a second cleaning zone configured to collect loose particulates in the receptacle and positioned aft of the first cleaning zone such that the second cleaning zone performs a second cleaning of the surface as the robot is transported over the surface in the forward direction. The second cleaning zone includes a vacuum device configured to suction up any remaining particulates and deposit them into the receptacle.
• In other examples, home use autonomous cleaning devices are disclosed in each of U.S. Pat. No. 6,748,297, and U.S. Patent Application Publication No. 2003/0192144, both by Song et al. and both assigned to Samsung Gwangiu Electronics Co. In these examples, autonomous cleaning robots are configured with similar cleaning elements that utilize rotating brushes and a vacuum device to flick and suction up loose particulates and deposit them in a receptacle.
• While each of the above examples provide affordable autonomous floor clearing robots for collecting loose particulates, there is heretofore no teaching of an affordable autonomous floor cleaning robot for applying a cleaning fluid onto the floor to wet clean floors in the home. A need exists in the art for such a device and that need is addressed by the present invention.
• Wet floor cleaning in the home has long been done manually using a wet mop or sponge attached to the end of a handle. The mop or sponge is dipped into a container filled with a cleaning fluid, to absorb an amount of the cleaning fluid in the mop or sponge, and then moved over the surface to apply a cleaning fluid onto the surface. The cleaning fluid interacts with contaminates on the surface and may dissolve or otherwise emulsify contaminates into the cleaning fluid. The cleaning fluid is therefore transformed into a waste liquid that includes the cleaning fluid and contaminates held in suspension within the cleaning fluid. Thereafter, the sponge or mop is used to absorb the waste liquid from the surface. While clean water is somewhat effective for use as a cleaning fluid applied to floors, most cleaning is done with a cleaning fluid that is a mixture of clean water and soap or detergent that reacts with contaminates to emulsify the contaminates into the water.
• In addition, it is known to clean floor surfaces with water and detergent mixed with other agents such as a solvent, a fragrance, a disinfectant, a drying agent, abrasive particulates and the like to increase the effectiveness of the cleaning process.
• The sponge or mop may also be used as a scrubbing element for scrubbing the floor surface, and especially in areas where contaminates are particularly difficult to remove from the floor. The scrubbing action serves to agitate the cleaning fluid for mixing with contaminates as well as to apply a friction force for loosening contaminates from the floor surface. Agitation enhances the dissolving and emulsifying action of the cleaning fluid and the friction force helps to break bonds between the surface and contaminates.
• One problem with the manual floor cleaning methods of the prior art is that after cleaning an area of the floor surface, the waste liquid must be rinsed from the mop or sponge, and this usually done by dipping the mop or sponge back into the container filled with cleaning fluid. The rinsing step contaminates the cleaning fluid with waste liquid and the cleaning fluid becomes more contaminated each time the mop or sponge is rinsed. As a result, the effectiveness of the cleaning fluid deteriorates as more of the floor surface area is cleaned.
• While the traditional manual method is effective for floor cleaning, it is labor intensive and time consuming. Moreover, its cleaning effectiveness decreases as the cleaning fluid becomes contaminated. A need exists in the art for an improved method for wet cleaning a floor surface to provide an affordable wet floor cleaning device for automating wet floor cleaning in the home.
• In many large buildings, such as hospitals, large retail stores, cafeterias, and the like, there is a need to wet clean the floors on a daily or nightly basis, and this problem has been addressed by the development of industrial floor cleaning robots capable of wet cleaning floors. An example of one industrial wet floor cleaning device is disclosed in U.S. Pat. No. 5,279,672 by Betker et al., and assigned to Windsor Industries Inc. Betker et al. disclose an autonomous floor cleaning device having a drive assembly providing a motive force to autonomously move the wet cleaning device along a cleaning path. The device provides a cleaning fluid dispenser for dispensing cleaning fluid onto the floor; rotating scrub brushes in contact with the floor surface for scrubbing the floor with the cleaning fluid, and a waste liquid recovery system, comprising a squeegee and a vacuum system for recovering the waste liquid from the floor surface. While the device disclosed by Betker et al. is usable to autonomously wet clean large floor areas, it is not suitable for the home market. In particular, the industrial autonomous cleaning device disclosed by Betker et al. is too large, costly and complex for use in the home and consumes too much electrical power to provide a practical solution for the home wet floor cleaning market.
• Recently, improvements in conventional manual wet floor cleaning in the home are disclosed in U.S. Pat. No. 5,968,281 by Wright et al., and assigned to Royal Appliance Mfg., entitled METHOD FOR MOPPING AND DRYING A FLOOR. Disclosed therein is a low cost wet mopping system for manual use in the home market. The wet mopping system disclosed by Wright et al. comprises a manual floor cleaning device having a handle with a cleaning fluid supply container supported on the handle. The device includes a cleaning fluid dispensing nozzle supported on the handle for spraying cleaning fluid onto the floor and a floor scrubber sponge attached to the end of the handle for contact with the floor. The device also includes a mechanical device for wringing waste liquid out of the scrubbing sponge. A squeegee and an associated suction device are supported on the end of the handle and used to collect waste liquid up from the floor surface and deposit the waste liquid into a waste liquid container, supported on the handle separate from the cleaning solution reservoir. The device also includes a battery power source for powering the suction device. While Wright et al. teach a self contained wet cleaning device as well as an improved wet cleaning method that separates waste liquid from cleaning fluid the device is manually operated and lacks robotic functionality.
BRIEF SUMMARY OF THE INVENTION
• The problems of the prior art are addressed by the present invention which provides an autonomous cleaning robot comprising a chassis and a transport drive system configured to autonomously transport cleaning elements over a cleaning surface. The robot is supported on the cleaning surface by wheels in rolling contact with the cleaning surface and the robot includes controls and drive elements configured to control the robot to generally traverse the cleaning surface in a forward direction defined by a fore-aft axis. The robot is further defined by a transverse axis perpendicular to the fore-aft axis.
• The robot chassis carries a first cleaning zone A comprising cleaning elements arranged to collect loose particulates from the cleaning surface across a cleaning width. The cleaning elements of the first cleaning zone may suction up loose particulates, utilize brushes to sweep the loose particulates into receptacle or otherwise remove the loose particulates from the surface.
• The robot chassis also carries a second cleaning zone B comprising cleaning elements arraigned to apply a cleaning fluid onto the surface. The second cleaning zone also includes cleaning elements configure to collect the cleaning fluid up from the surface after it has been used to clean the surface and may further include elements for scrubbing the cleaning surface and for smearing the cleaning fluid more uniformly over the cleaning surface.
• The robot includes a motive drive subsystem controlled by a master control module and powered by a self-contained power module for performing autonomous movement over the cleaning surface.
BRIEF DESCRIPTION OF THE DRAWINGS
• The features of the present invention will best be understood from a detailed description of the invention and a preferred embodiment thereof selected for the purposes of illustration and shown in the accompanying drawings in which:
• FIG. 1 depicts an isometric view of a top surface of an autonomous cleaning robot according to the present invention.
• FIG. 2 depicts an isometric view of a bottom surface of a chassis of an autonomous cleaning robot according to the present invention.
• FIG. 3 depicts an isometric view of a top surface of a robot chassis having robot subsystems attached thereto according to the present invention.
• FIG. 4 depicts a block diagram showing the interrelationship of subsystems of an autonomous cleaning robot according to the present invention.
• FIG. 5 depicts a schematic representation of a liquid applicator assembly according to the present invention.
• FIG. 6 depicts a section view taken through a stop valve assembly installed within a cleaning fluid supply tank according to the present invention.
• FIG. 7 depicts a section view taken through a pump assembly according to the present invention.
• FIG. 8 depicts a top view of a flexible element used as a diaphragm pump according to the present invention.
• FIG. 9 depicts a top view of a nonflexible chamber element used in the pump assembly according to the present invention.
• FIG. 10 depicts an exploded isometric view of a scrubbing module according to the present invention.
• FIG. 11 depicts a rotatable scrubbing brush according to the present invention.
• FIG. 12 depicts a section view taken through a second collecting apparatus used for collecting waste liquid according to the present invention.
• FIG. 13 is a block diagram showing elements of a drive module used to rotate the scrubbing brush according to the present invention.
• FIG. 14 is a schematic representation of an air moving system according to the present invention.
• FIG. 15 depicts a fan assembly according to the present invention.
• FIG. 16 depicts an exploded isometric view showing elements of an integrated liquid storage module according to the present invention.
• FIG. 17 depicts an external view of the integrated liquid storage module removed from the cleaning robot according to the present invention.
• FIG. 18 depicts an exploded view of a nose wheel module according to the present invention.
• FIG. 19 depicts a section view taken through a nose wheel assembly according to the present invention.
• FIG. 20 depicts an exploded view of a drive wheel assembly according to the present invention.
DETAILED DESCRIPTION OF THE INVENTION
• Referring now to the drawings where like reference numerals identify corresponding or similar elements throughout the several views,FIG. 1 depicts an isometric view showing the external surfaces of anautonomous cleaning robot100 according to a preferred embodiment of the present invention. Therobot100 is configured with a cylindrical volume having a generallycircular cross-section102 with a top surface and a bottom surface that is substantially parallel and opposed to the top surface. Thecircular cross-section102 is defined by three mutually perpendicular axes; a centralvertical axis104, a fore-aft axis106, and atransverse axis108. Therobot100 is movably supported with respect to a surface to be cleaned, hereinafter, the cleaning surface. The cleaning surface is substantially horizontal. Therobot100 is generally supported in rolling contact with the cleaning surface by a plurality of wheels or other rolling elements attached to achassis200. In the preferred embodiment, the fore-aft axis108 defines a transport axis along which the robot is advanced over the cleaning surface. The robot is preferably advanced in a forward or fore travel direction, designated F, during cleaning operations. The opposite travel direction, (i.e. opposed by 180°), is designated A for aft. The robot is preferably not advanced in the aft direction during cleaning operations but may be advanced in the aft direction to avoid an object or maneuver out of a corner or the like. Cleaning operations may continue or be suspended during aft transport. Thetransverse axis108 is further defined by the labels R for right and L for left, as viewed from the top view ofFIG. 1. In subsequent figures, the R and L direction remain consistent with the top view, but may be reversed on the printed page. In the preferred embodiment of the present invention, the diameter of the robotcircular cross-section102 is approximately 370 mm, (14.57 inches) and the height of therobot100 above the cleaning surface of approximately 85 mm, (3.3 inches). However, theautonomous cleaning robot100 of the present invention may be built with other cross-sectional diameter and height dimensions, as well as with other cross-sectional shapes, e.g. square, rectangular and triangular, and volumetric shapes, e.g. cube, bar, and pyramidal.
• Therobot100 may include a user input control panel, not shown, disposed on an external surface, e.g. the top surface, with one or more user manipulated actuators disposed on the control panel. Actuation of a control panel actuator by a user generates an electrical signal, which is interpreted to initiate a command. The control panel may also include one or more mode status indicators such as visual or audio indicators perceptible by a user. In one example, a user may set the robot onto the cleaning surface and actuate a control panel actuator to start a cleaning operation. In another example, a user may actuate a control panel actuator to stop a cleaning operation.
• Referring now toFIG. 2, theautonomous robot100 includes a plurality of cleaning modules supported on achassis200 for cleaning the substantially horizontal cleaning surface as the robot is transported over the cleaning surface. The cleaning modules extend below therobot chassis200 to contact or otherwise operate on the cleaning surface during cleaning operations. More specifically, therobot100 is configured with a first cleaning zone A for collecting loose particulates from the cleaning surface and for storing the loose particulates in a receptacle carried by the robot. Therobot100 is further configured with a second cleaning zone B that at least applies a cleaning fluid onto the cleaning surface. The cleaning fluid may be clean water alone or clean water mixed with other ingredients to enhance cleaning. The application of the cleaning fluid serves to dissolve, emulsify or otherwise react with contaminates on the cleaning surface to separate contaminates therefrom. Contaminates may become suspended or otherwise combined with the cleaning fluid. After the cleaning fluid has been applied onto the surface, it mixes with contaminates and becomes waste material, e.g. a liquid waste material with contaminates suspended or otherwise contained therein.
• The underside of therobot100 is shown inFIG. 2 which depicts a first cleaning zone A disposed forward of the second cleaning zone B with respect to the fore-aft axis106. Accordingly, the first cleaning zone A precedes the second cleaning zone B over the cleaning surface when therobot100 travels in the-forward direction. The first and second cleaning zones are configured with a cleaning width W that is generally oriented parallel or nearly parallel with thetransverse axis108. The cleaning width W defines the cleaning width or cleaning footprint of the robot. As therobot100 advances over the cleaning surface in the forward direction, the cleaning width is the width of cleaning surface cleaned by the robot in a single pass. Ideally, the cleaning width extends across the full transverse width of therobot100 to optimize cleaning efficiency; however, in a practical implementation, the cleaning width is narrower that the robot transverse width due to spatial constraints on therobot chassis200.
• According to the present invention, therobot100 traverses the cleaning surface in a forward direction over a cleaning path with both cleaning zones operating simultaneously. In the preferred embodiment, the nominal forward velocity of the robot is approximately 4.75 inches per second however; the robot and cleaning devices may be configured to clean at faster and slower forward velocities. The first cleaning zone A precedes the second cleaning zone B over the cleaning surface and collects loose particulates from the cleaning surface across the cleaning width W. The second cleaning zone B applies cleaning fluid onto the cleaning surface across the cleaning width W. The second cleaning zone may also be configured to smear the cleaning fluid applied onto the cleaning surface to smooth the cleaning fluid into a more uniform layer and to mix the cleaning fluid with contaminates on the cleaning surface. The second cleaning zone B may also be configured to scrub the cleaning surface across the cleaning width. The scrubbing action agitates the cleaning fluid to mix it with contaminates. The scrubbing action also applies a friction force against contaminates to thereby dislodge contaminates from the cleaning surface. The second cleaning zone B may also be configured to collect waste liquid from cleaning surface across the cleaning width. According to the invention, a single pass of the robot over a cleaning path first collects loose particulates up from the cleaning surface across the cleaning width and thereafter applies a cleaning fluid onto the cleaning surface generally across the cleaning width W to interact with contaminates remaining on the cleaning surface and may further apply a scrubbing action to dislodge contaminates from the cleaning surface. A single pass of therobot100 over a cleaning path may also smear the cleaning fluid more uniformly on the cleaning surface. A single pass of the robot over a cleaning path may also collect waste liquid up from the cleaning surface.
• In general, the cleaningrobot100 is configured to clean uncarpeted indoor hard floor surface, e.g. floors covered with tiles, wood, vinyl, linoleum, smooth stone or concrete and other manufactured floor covering layers that are not overly abrasive and that do not readily absorb liquid. In addition, in the preferred embodiment of the present invention, therobot100 is configured to autonomously transport over the floors of small enclosed furnished rooms such as are typical of residential homes and smaller commercial establishments. Therobot100 does not operate over predefined cleaning paths but instead, moves over substantially all of the cleaning surface area under the control of various transport algorithms designed to operate irrespective of the enclosure shape or obstacle distribution. In particular, therobot100 of the present invention moves over cleaning paths in accordance with preprogrammed procedures implemented in hardware, software, firmware, or combinations thereof to implement three basic operational modes, i.e., movement patterns, that can be categorized as: (1) a “spot-coverage” mode; (2) a “wall/obstacle following” mode; and (3) a “bounce” mode. In addition, therobot100 is preprogrammed to initiate actions based upon signals received from sensors incorporated therein, where such actions include, but are not limited to, implementing one of the movement patterns above, an emergency stop of therobot100, or issuing an audible alert. These operational modes of the robot of the present invention are specifically described in commonly-owned U.S. Pat. No. 6,809,490, by Jones et al., entitled, METHOD AND SYSTEM FOR MULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT, the entire content of which is hereby incorporated herein by reference.
• In a preferred embodiment, therobot100 is configured to clean approximately 150 square feet of cleaning surface in a single cleaning operation. The duration of the cleaning operation is approximately 45 minutes. Accordingly, the robot systems are configured for unattended autonomous cleaning for 45 minutes or more without the need to recharge a power supply, refill the supply of cleaning fluid or empty the waste materials collected by the robot.
• As shown inFIGS. 2 and 3 therobot100 includes a plurality of subsystems mounted to arobot chassis200. The major robot subsystems are shown schematically inFIG. 4 which depicts amaster control module300 interconnected for two-way communication with each of a plurality of other robot subsystems. The interconnection of the robot subsystems is provided via network of interconnected wires and or conductive elements, e.g. conductive paths formed on an integrated printed circuit board or the like, as is well known. Themaster control module300 at least includes a programmable or preprogrammed digital data processor, e.g. a microprocessor, for performing program steps, algorithms and or mathematical and logical operations as may be required. Themaster control module300 also includes a digital data memory in communication with the data processor for storing program steps and other digital data therein. Themaster control module300 also includes one or more clock elements for generating timing signals as may be required.
• Apower module310 delivers electrical power to all of the major robot subsystems. The power module includes a self-contained power source attached to therobot chassis200, e.g. a rechargeable battery, such as a conventional nickel metal hydride battery, or the like. In addition, the power source is configured to be recharged by any one of various recharging elements and or recharging modes, or the battery may be replaced by a user when it becomes discharged or unusable. Themaster control module300 may also interface with thepower module310 to control the distribution of power, to monitor power use and to initiate power conservation modes as required.
• Therobot100 may also include one or more interface modules orelements320. Eachinterface module320 is attached to the robot chassis to provide an interconnecting element or port for interconnecting with one or more external devices. Interconnecting elements and ports are preferably accessible on an external surface of the robot. Themaster control module300 may also interface with theinterface modules320 to control the interaction of therobot100 with external device. In particular, one interface module element is provided for charging the rechargeable battery via an external power supply or power source such as a conventional AC or DC power outlet. Another interface module element may be configured for one or two way communications over a wireless network and further interface module elements may be configure to interface with one or more mechanical devices to exchange liquids and loose particulates therewith, e.g. for filling a cleaning fluid reservoir or for draining or emptying a waste material container.
• Accordingly, theinterface module320 may comprise a plurality of interface ports and connecting elements for interfacing with active external elements for exchanging operating commands, digital data and other electrical signals therewith. Theinterface module320 may further interface with one or more mechanical devices for exchanging liquid and or solid materials therewith. Theinterface module320 may also interface with an external power supply for charging therobot power module310. Active external devices for interfacing with therobot100 may include, but are not limited to, a floor standing docking station, a hand held remote control device, a local or remote computer, a modem, a portable memory device for exchanging code and or data with the robot and a network interface for interfacing therobot100 with any device connected to the network. In addition, theinterface module320 may include passive elements such as hooks and or latching mechanisms for attaching therobot100 to a wall for storage or for attaching the robot to a carrying case or the like.
• In particular, an active external device according to one aspect of the present invention confines therobot100 in a cleaning space such as a room by emitting radiation in a virtual wall pattern. Therobot100 is configured to detect the virtual wall pattern and is programmed to treat the virtual wall pattern as a room wall so that the robot does not pass through the virtual wall pattern. This particular aspect of the present invention is specifically described in commonly-owned, U.S. Pat. No. 6,690,134 by Jones et al., entitled METHOD AND SYSTEM FOR ROBOT LOCALIZATION AND CONFINEMENT, the entire content of which is hereby incorporated herein by reference.
• Another active external device according to a further aspect of the present invention comprises a robot base station used to interface with the robot. The base station may comprise a fixed unit connected with a household power supply, e.g. and AC power wall outlet and or other household facilities such as a water supply pipe, a waste drain pipe and a network interface. According to invention, therobot100 and the base station are each configured for autonomous docking and the base station may be further configure to charge therobot power module310 and to service the robot in other ways. A base station and autonomous robot configured for autonomous docking and for recharging the robot power module is specifically described in commonly-owned and co-pending U.S. patent application Ser. No. 10/762,219, filed on Jan. 21, 2004, entitled AUTONOMOUS ROBOT AUTO-DOCKING AND ENERGY MANAGEMENT SYSTEMS AND METHOD, the entire content of which is hereby incorporated herein by reference.
• Theautonomous robot100 includes a self-contained motivetransport drive subsystem900 which is further detailed below. Thetransport drive900 includes three wheels extending below thechassis200 to provide three points of rolling support with respect to the cleaning surface. A nose wheel is attached to therobot chassis200 at a forward edge thereof, coaxial with the fore-aft axis106, and a pair of drive wheels attached to thechassis200 aft of thetransverse axis108 and rotatable about a drive axis that is parallel with thetransverse axis108. Each drive wheel is separately driven and controlled to advance the robot in a desired direction. In addition, each drive wheel is configured to provide sufficient drive friction as the robot operates on a cleaning surface that is wet with cleaning fluid. The nose wheel is configured to self align with the direction of travel. The drive wheels may be controlled to move therobot100 forward or aft in a straight line or along an arcuate path.
• Therobot100 further includes asensor module340. Thesensor module340 comprises a plurality of sensors attached to the chassis and or integrated with robot subsystems for sensing external conditions and for sensing internal conditions. In response to sensing various conditions, thesensor module340 may generate electrical signals and communicate the electrical signals to thecontrol module300. Individual sensors may perform such functions as detecting walls and other obstacles, detecting drop offs in the cleaning surface, called cliffs, detecting dirt on the floor, detecting low battery power, detecting an empty cleaning fluid container, detecting a full waste container, measuring or detecting drive wheel velocity distance traveled or slippage, detecting nose wheel rotation or cliff drop off, detecting cleaning system problems such rotating brush stalls or vacuum system clogs, detecting inefficient cleaning, cleaning surface type, system status, temperature, and many other conditions. In particular, several aspects of thesensor module340 of the present invention as well as and its operation, especially as it relates to sensing external elements and conditions are specifically described in commonly-owned, U.S. Pat. No. 6,594,844, by Jones, entitled ROBOT OBSTACLE DETECTION SYSTEM, the entire content of which is hereby incorporated herein by reference.
• Therobot100 may also include auser control module330. Theuser control module330 provides one or more user input interfaces that generate an electrical signal in response to a user input and communicate the signal to themaster control module300. In one embodiment of the present invention, the user control module, described above, provides a user input interface, however, a user may enter commands via a hand held remote control device, a programmable computer or other programmable device or via voice commands. A user may input user commands to initiate actions such as power on/off, start, stop or to change a cleaning mode, set a cleaning duration, program cleaning parameters such as start time and duration, and or many other user initiated commands.
• Cleaning Zones
• Referring now toFIG. 2, a bottom surface of arobot chassis200 is shown in isometric view. As shown therein, a first cleaning zone A is disposed forward of a second cleaning zone B with respect to the fore-aft axis106. Accordingly, as therobot100 is transported in the forward direction the first cleaning zone A precedes the second cleaning zone B over the cleaning surface. Each cleaning zone A and B has a cleaning width W disposed generally parallel with thetransverse axis108. Ideally, the cleaning width of each cleaning zone is substantially identical however, the actual cleaning width of the cleaning zones A and B may be slightly different. According to the preferred embodiment of the present invention, the cleaning width W is primarily defined by the second cleaning zone B which extends from proximate to the right circumferential edge of a bottom surface of therobot chassis200 substantially parallel with thetransverse axis108 and is approximately 296 mm (11.7 inches) long. By locating the cleaning zone B proximate the right circumferential edge, therobot100 may maneuver its right circumferential edge close to a wall or other obstacle for cleaning the cleaning surface adjacent to the wall or obstacle. Accordingly, the robot movement patterns include algorithms for transporting the right side of therobot100 adjacent to each wall or obstacle encountered by the robot during a cleaning cycle. Therobot100 is therefore said to have a dominant right side. Of course, therobot100 could be configured with a dominant left side instead. The first cleaning zone A is positioned forward of thetransverse axis108 and has a slightly narrower cleaning width than the second cleaning zone B, simply because of the circumference shape of therobot100. However, any cleaning surface area not cleaned by the first cleaning zone A is cleaned by the second cleaning zone B.
• First Cleaning Zone
• The first cleaning zone A is configured to collect loose particulates from the cleaning surface. In the preferred embodiment, an air jet is generated by an air moving system which includes anair jet port554 disposed on a left edge of the first cleaning zone A. Theair jet port554 expels a continuous jet or stream of pressurized air therefrom. Theair jet port554 is oriented to direct the air jet across the cleaning width from left to right. Opposed to theair jet port554, anair intake port556 is disposed on a right edge of the first cleaning zone A. The air moving system generates a negative air pressure zone in the conduits connected to theintake port556, which creates a negative air pressure zone proximate to theintake port556. The negative air pressure zone suctions loose particulates and air into theair intake port556 and the air moving system is further configured to deposit the loose particulates into a waste material container carried by therobot100. Accordingly, pressurized air expelled from theair jet port554 moves across the cleaning width within the first cleaning zone A and forces loose particulates on the cleaning surface toward a negative air pressure zone proximate to theair intake port556. The loose particulates are suctioned up from the cleaning surface through theair intake port556 and deposited into a waste container carried by therobot100.
• The first cleaning zone A is further defined by a nearly rectangular channel formed between theair jet port554 and theair intake port556. The channel is defined by opposing forward and aft walls of a rectangular recessedarea574, which is a contoured shape formed in the bottom surface of therobot chassis200. The forward and aft walls a substantially transverse to the fore-aft axis106. The channel is further defined by a firstcompliant doctor blade576, attached to therobot chassis200, e.g. along the aft edge of the recessedarea574, and extending from the chassis bottom surface to the cleaning surface. The doctor blade is mounted to make contact or near contact with the cleaning surface. Thedoctor blade576 is preferably formed from a thin flexible and compliant molded material e.g. a 1-2 mm thick bar shaped element molded from neoprene rubber or the like. Thedoctor blade576, or at least a portion of the doctor blade, may be coated with a low friction material, e.g. a fluoropolymer resin for reducing friction between the doctor blade and the cleaning surface. Thedoctor blade576 may be attached to therobot chassis200 by an adhesive bond or by other suitable means.
• The channel of the first cleaning zone A provides an increased volume between the cleaning surface and the bottom surface of therobot chassis200 local to the first cleaning zone A. The increased volume guides airflow between thejet port554 and theair intake port556, and thedoctor blade576 prevents loose particulates and airflow from escaping the first cleaning zone A in the aft direction. In addition to guiding the air jet and the loose particulates across the cleaning width, thefirst doctor blade576 may also exert a friction force against contaminates on the cleaning surface to help loosen contaminates from the cleaning surface as the robot moves in the forward direction. The firstcompliant doctor blade576 is configured to be sufficiently compliant to adapt its profile form conforming to discontinuities in the cleaning surface, such a door jams moldings and trim pieces, without hindering the forward travel of therobot100.
• A second compliant doctor blade578 may also be disposed in the first cleaning zone A to further guide the air jet toward the negative pressure zone surrounding theair intake port554. The second compliant doctor blade is similar in construction to the firstcompliant doctor blade576 and attaches to the bottom surface of therobot chassis200 to further guide the air and loose particulates moving through the channel. In one example, a second recessed area579 is formed in the bottom surface of thechassis200 and the secondcompliant doctor blade576 protrudes into the first recessedarea574 at an acute angle typically between 30-60° with respect to thetraverse axis108. The second compliant doctor blade extends from the forward edge of the recessedarea574 and protrudes into the channel approximately ⅓ to ½ of channel fore-aft dimension.
• The first cleaning zone A traverses the cleaning surface along a cleaning path and collects loose particulates along the cleaning width. By collecting the loose particulates prior to the second cleaning zone B passing over the cleaning path, the loose particulates are collected before the second cleaning zone applies cleaning fluid onto the cleaning surface. One advantage of removing the loose particulates with the first cleaning zone is that the loose particulates are removed while they are still dry. Once the loose particulates absorb cleaning fluid applied by the second cleaning zone, they are more difficult to collect. Moreover, the cleaning fluid absorbed by the loose particulates is not available for cleaning the surface so the cleaning efficiency of the second cleaning zone B may be degraded.
• In another embodiment, the first cleaning zone may be configured with other cleaning elements such as counter-rotating brushes extending across the cleaning width to flick loose particulates into a receptacle. In another embodiment, an air moving system may be configured to draw air and loose particulates up from the cleaning surface through an elongated air intake port extending across the cleaning width. In particular, other embodiments usable to provide a first cleaning zone according to the present invention are disclosed in commonly-owned U.S. Pat. No. 6,883,201, by Jones et al. entitled AUTONOMOUS FLOOR-CLEANING ROBOT, the entire content of which is hereby incorporated herein by reference.
• Second Cleaning Zone
• The second cleaning zone B includes aliquid applicator700 configured to apply a cleaning fluid onto the cleaning surface and the cleaning fluid is preferably applied uniformly across the entire cleaning width. Theliquid applicator700 is attached to thechassis200 and includes at least one nozzle configured to spray the cleaning fluid onto the cleaning surface. The second cleaning zone B may also include ascrubbing module600 for performing other cleaning tasks across the cleaning width after the cleaning fluid has been applied onto the cleaning surface. Thescrubbing module600 may include a smearing element disposed across the cleaning width for smearing the cleaning fluid to distribute it more uniformly on the cleaning surface. The second cleaning zone B may also include a passive or active scrubbing element configured to scrub the cleaning surface across the cleaning width. The second cleaning zone B may also include a second collecting apparatus configured to collect waste materials up from the cleaning surface across the cleaning width, and the second collecting apparatus is especially configured for collecting liquid waste materials.
• Liquid Applicator Module
• Theliquid applicator module700, shown schematically inFIG. 5, is configured to apply a measured volume of cleaning fluid onto the cleaning surface across the cleaning width. Theliquid applicator module700 receives a supply of cleaning fluid from a cleaning fluid supply container S, carried on thechassis200, and pumps the cleaning fluid through one or more spray nozzles disposed on thechassis200. The spray nozzles are attached to therobot chassis200 aft of the first cleaning zone A and each nozzle is oriented to apply cleaning fluid onto the cleaning surface. In the preferred embodiment, a pair of spray nozzle are attached to therobot chassis200 at distal left and right edges of the cleaning width W. Each nozzle is oriented to spray cleaning fluid toward the opposing end of the cleaning width. Each nozzles is separately pumped to eject a spray pattern and the pumping stroke of each nozzle occurs approximately 180 degrees out phase with respect to the other nozzle so that one of the two nozzles is always applying cleaning fluid.
• Referring toFIGS. 5, theliquid applicator module700 includes a cleaning fluid supply container S, which is carried by thechassis200 and removable therefrom by a user to refill the container with cleaning fluid. The supply container S is configured with a drain orexit aperture702 formed through a base surface thereof. A fluid conduit704 receives cleaning fluid from theexit aperture702 and delivers a supply of cleaning fluid to apump assembly706. Thepump assembly706 includes left and right pump portions708 and710, driven by a rotating cam, shown inFIG. 7. The left pump portion708 pumps cleaning fluid to a left spray nozzle712 via a conduit716 and the right pump portion710 pumps cleaning fluid to a right spray nozzle714 via a conduit718.
• A stop valve assembly, shown in section view inFIG. 6, includes a female upper portion720, installed inside the supply container S, and a male portion721 attached to thechassis200. The female portion720 nominally closes and seals theexit aperture702. The male portion721 opens theexit aperture702 to provide access to the cleaning fluid inside the supply container S. The female portion720 includes an upper housing722, a spring biased movable stop724, a compression spring726 for biasing the stop724 to a closed position, and a gasket728 for sealing theexit aperture702. The upper housing722 may also support a filter element730 inside the supply container S for filtering contaminates from the cleaning fluid before the fluid exits the supply container S.
• The stop valve assembly male portion721 includes a hollow male fitting732 formed to insert into theexit aperture702 and penetrate the gasket728. Insertion of the hollow male fitting732 into theexit aperture702 forces the movable stop724 upward against the compression spring726 to open the stop valve. The hollow male fitting732 is formed with a flow tube734 along it central longitudinal axis and the flow tube734 includes one or more openings735 at its uppermost end for receiving cleaning fluid into the flow tube734. At its lower end, the flow tube734 is in fluid communication with a hose fitting736 attached to or integrally formed with the male fitting732. The hose fitting736 comprises a tube element having a hollow fluid passage737 passing therethrough, and attaches to hose or fluid conduit704 that receives fluid from the hose fitting736 and delivers the fluid to thepump assembly706. The flow tube734 may also include a user removable filter element739 installed therein for filtering the cleaning fluid as it exits the supply container S.
• According to the invention, the stop valve male portion721 is fixed to thechassis200 and engages with the female portion720, which is fixed to the container S. When the container S is installed onto the chassis in its operating position the male portion721 engages with the female portion720 to open theexit aperture702. A supply of cleaning fluid flows from the supply container S to thepump assembly706 and the flow may be assisted by gravity or suctioned by the pump assembly or both.
• The hose fitting736 is further equipped with a pair of electrically conductive elements, not shown, disposed on the internal surface of the hose fitting fluid flow passage737 and the pair of conductive elements inside the flow chamber are electrically isolated from each other. A measurement circuit, not shown, creates an electrical potential difference between the pair of electrically conductive elements and when cleaning fluid is present inside the flow passage737 current flows from one electrode to the other through the cleaning fluid and the measurement circuit senses the current flow. When the container S is empty, the measurement circuit fails to sense the current flow and in response sends a supply container empty signal to themaster controller300. In response to receiving the supply container empty signal, themaster controller300 takes an appropriate action.
• Thepump assembly706 as depicted inFIG. 5 includes a left pump portion708 and a right pump portion710. Thepump assembly706 receives a continuous flow of cleaning fluid from the supply container S and alternately delivers cleaning fluid to the left nozzle712 and the right nozzle714.FIG. 7 depicts thepump assembly706 in section view and thepump assembly706 is shown mounted on the top surface of thechassis200 inFIG. 3. Thepump assembly706 includescam element738 mounted on a motor drive shaft for rotation about a rotation axis. The motor, not shown, is rotates thecam element738 at a substantially constant angular velocity under the control of themaster controller300. However, the angular velocity of thecam element738 may be increased or decreased to vary the frequency of pumping of the left and right spay nozzles712 and714. In particular, the angular velocity of thecam element738 controls the mass flow rate of cleaning fluid applied onto the cleanings surface. According to one aspect of the present invention, the angular velocity of thecam element738 may be adjusted in proportion to the robot forward velocity to apply a uniform volume of cleaning fluid onto the cleaning surface irrespective of robot velocity. Alternately, changes in the angular velocity in thecam element738 may be used to increase or decrease the mass flow rate of cleaning fluid applied onto the cleanings surface as desired.
• Thepump assembly706 includes arocker element761 mounted to pivot about apivot axis762. Therocker element761 includes a pair of opposedcam follower elements764 on the left side and766 on the right side. Eachcam follower764 and766 remains in constant contact with a circumferential profile of thecam element738 as the cam element rotates about its rotation axis. Therocker element761 further includes a leftpump actuator link763 and a rightpump actuator link765. Eachpump actuator link763 and765 is fixedly attached to a corresponding left pumpchamber actuator nipple759 and a right pumpchamber actuator nipple758. As will be readily understood, rotation of thecam element738 forces each of thecam follower elements764 and766 to follow the cam circumferential profile and the motion dictated by the cam profile is transferred by therocker element761 to each of the left andright actuator nipples759 and758. As described below, the motion of the actuator nipples is used to pump cleaning fluid. The cam profile is particularly shaped to cause therocker element761 to force theright actuator nipple758 downward while simultaneously lifting up on theleft actuator nipple759, and this action occurs during the first 180 degrees of cam. Alternately, the second 180 degrees of cam rotation causes therocker element761 to force theleft actuator nipple759 downward while simultaneously lifting up on theright actuator nipple758.
• Therocker element761 further includes asensor arm767 supporting apermanent magnet769 attached at its end. A magnetic field generated by themagnet769 interacts with anelectrical circuit771 supported proximate to themagnet769 and the circuit generates signals responsive to changes in the orientation of magnetic field. the signals are used to track the operation of thepump assembly706.
• Referring toFIGS. 7-9, thepump assembly706 further comprises aflexible membrane744 mounted between opposing upper and lowernonflexible elements746 and748 respectively. Referring to the section view inFIG. 7 theflexible element744 is captured between an uppernonflexible element746 and a lowernonflexible element748. Each of the uppernonflexible element746, theflexible element744 and the lowernonflexible element748 is formed as a substantially rectangular sheet having a generally uniform thickness. However, each element also includes patterns of raised ridges depressed valleys and other surface contours formed on opposing surfaces thereof.FIG. 8 depicts a top view of theflexible element744 andFIG. 9 depicts a top view of the lowernonflexible element748. Theflexible element744 is formed from a flexible membrane material such as neoprene rubber or the like and thenonflexible elements748 and746 are each formed from a stiff material nonflexible such as moldable hard plastic or the like.
• As shown inFIGS. 8 and 9, each of theflexible element744 and thenonflexible element748 are symmetrical about a center axis designated E in the figure. In particular, the left sides of each of theelements746,744 and748 combine to form a left pump portion and the rights side of each of theelements746,744 and748 combine to form a right pump portion. The left and right pump portions are substantially identical. When the three elements are assembled together, the raised ridges, depressed valleys and surface contours of each element cooperate with raised ridges depressed valleys and surface contours of the contacting surfaces of other of the elements to create fluid wells and passageways. The wells and passageways may be formed between theupper element746 and theflexible element744 or between the lowernonflexible element748 and theflexible element744. In general, theflexible element744 serves as a gasket layer for sealing the wells and passages and its flexibility is used to react to changes in pressure to seal and or open passages in response to local pressure changes as the pump operates. In addition, holes formed through the elements allow fluid to flow in and out of the pump assembly and to flow through theflexible element744.
• Using the right pump portion by way of example, cleaning fluid is drawn into the pump assembly through anaperture765 formed in the center of the lowernonflexible element748. Theaperture765 receives cleaning fluid from the fluid supply container via the conduit704. The incoming fluid fills apassageway766.Ridges775 and768 form a valley between them and a mating raised ridge on the flexible744 fills the valley between theridges775 and768. This confines the fluid within thepassageway766 and pressure seal the passageway. Anaperture774 passes through theflexible element744 and is in fluid communication with thepassageway766. When the pump chamber, described below, expands, the expansion decreases the local pressure, which draws fluid into thepassageway776 through theaperture774.
• Fluid drawn through theaperture774 fills a well772. The well772 is formed between theflexible element744 and the uppernonflexible element746. Aridge770 surrounds the well772 and mates with a feature of the upperflexible element746 to contain the fluid in the well772 and to pressure seal the well. The surface of the well772 is flexible such that when the pressure within the well772 decreases, the base of the well is lifted to open theaperture774 and draw fluid through theaperture774. However, when the pressure within the well772 increases, due to contraction of the pump chamber, theaperture774 is forced against a raisedstop surface773 directly aligned with the aperture and the well772 act as a trap valve. Asecond aperture776 passes through theflexible element744 to allow fluid to pass from the well772 through theflexible element744 and into a pump chamber. The pump chamber is formed between theflexible element744 and the lowernonflexible element748.
• Referring toFIG. 7, aright pump chamber752 is shown in section view. Thechamber752 includes a dome shaped flexure formed by anannular loop756. The dome shaped flexure is a surface contour of theflexible element744. Theannular loop756 passes through alarge aperture760 formed through the uppernonflexible element746. The volume of the pump chamber is expanded when thepump actuator765 pulls up on theactuator nipple758. The volume expansion decreases pressure within the pump chamber and fluid is drawn into the chamber from the well772. The volume of the pump chamber is decreased when thepump actuator765 pushes down on theactuator nipple758. The decrease in volume within the chamber increases pressure and the increased pressure expels fluid out of the pump chamber.
• The pump chamber is further defined by a well780 formed in the lowernonflexible element748. The well780 is surrounded by avalley784 formed in the lowernonflexible element748, shown inFIG. 9, and aridge778 formed on theflexible element744 mates with thevalley784 to pressure seal the pump chamber. Thepump chamber752 further includes anexit aperture782 formed through the lowernonflexible element748 and through which fluid is expelled. Theexit aperture782 delivers fluid to the right nozzle714 via the conduit718. Theexit aperture782 is also opposed to a stop surface which acts as a check valve to close theexit aperture782 when the pump chamber is decreased.
• Thus according to the present invention, cleaning fluid is drawn from a cleaning supply container S by action of thepump assembly706. Thepump assembly706 comprises two separate pump chambers for pumping cleaning fluid to two separate spray nozzles. Each pump chamber is configure deliver cleaning fluid to a single nozzle in response to a rapid increase in pressure inside the pump chamber. The pressure inside the pump chamber is dictated by the cam profile, which is formed to drive fluid to each nozzle in order to spray a substantially uniform layer of cleaning fluid onto the cleaning surface. In particular, the cam profile is configured to deliver a substantially uniform volume of cleaning fluid per unit length of cleaning width W. In generally, the liquid applicator of the present invention is configured to apply cleaning fluid at a volumetric rate ranging from about 0.2 to 5.0 ml per square foot, and preferably in the range of about 0.6-2.0 ml per square foot. However depending upon the application, the liquid applicator of the present invention may apply any desired volumetric layer onto the surface. In addition, the fluid applicator system of the present invention is usable to apply other liquids onto a floor surface such as wax, paint, disinfectant, chemical coatings, and the like.
• As is further described below, a user may remove the supply container S from the robot chassis and fill the supply container with a measured volume of clean water and a corresponding measured volume of a cleaning agent. The water and cleaning agent may be poured into the supply container S through a supplycontainer access aperture168 which is capped by aremovable cap172, shown inFIG. 17. The supply container S is configured with a liquid volume capacity of approximately 1100 ml (37 fluid ounces) and the desired volumes of cleaning agent and clean water may be poured into the supply tank in a ratio appropriate for a particular cleaning application.
• Scrubbing Module
• Thescrubbing module600, according to a preferred embodiment of the present invention, is shown in exploded isometric view inFIG. 10 and in the robot bottom view shown inFIG. 2. Thescrubbing module600 is configured as a separate subassembly that attaches to thechassis200 but is removable therefrom, by a user, for cleaning or otherwise servicing the cleaning elements thereof. However, other arrangements can be configured without deviating from the present invention. Thescrubbing module600 installs and latches into place within ahollow cavity602, formed on the bottom side of thechassis200. A profile of thehollow cavity602 is displayed on the right side of thechassis200 inFIG. 3. The cleaning elements of thescrubbing module600 are positioned aft of theliquid applicator module700 to perform cleaning operations on a wet cleaning surface.
• In the preferred embodiment, thescrubbing module600 includes apassive smearing brush612 attached to a forward edge thereof and disposed across the cleaning width. The smearingbrush612 extends downwardly from thescrubbing module600 and is configured to make contact or near contact with the cleaning surface across the cleaning width. As therobot100 is transported in the forward direction the smearingbrush612 moves over the pattern of cleaning fluid applied down by the liquid applicator and smears, or more uniformly spreads the cleaning fluid over the cleaning surface. The smearingbrush612, shown inFIG. 2 and10, comprises a plurality of soft compliant smearing bristles614 with a first end of each bristle being captured in a holder such as crimped metal channel, or other suitable holding element. A second end of each smearing bristle614 is free to bend as each bristle makes contact with the cleaning surface. The length and diameter of the smearing bristles614, as well as a nominal interference dimension that the smearing bristles makes with respect to the cleaning surface may be varied to adjust bristle stiffness and to thereby affect the smearing action. In a preferred embodiment of the present invention the smearingbrush612 comprises nylon bristles with an average bristle diameter in the range of about 0.05-0.2 mm, (0.002-0.008 inches). The nominal length of each bristle614 is approximately 16 mm, (0.62 inches), between the holder and the cleaning surface and thebristles614 are configured with an interference dimension of approximately 0.75 mm, (0.03 inches). The smearingbrush612 may also wick up excess cleaning fluid applied to the cleaning surface and distribute the wicked up cleaning fluid to other locations. Of course, other smearing elements such as flexible compliant blade member a sponge elements or a rolling member in contact with the cleaning surface are also usable.
• Thescrubbing module600 may include a scrubbing element e.g.604; however, the present invention may be used without a scrubbing element. The scrubbing element contacts the cleaning surface during cleaning operations and agitates the cleaning fluid to mix it with contaminates to emulsify, dissolve or otherwise chemically react with contaminates. The scrubbing element also generates a friction force as it moves with respect to the cleaning surface and the friction force helps to break adhesion and other bonds between contaminates and the cleaning surface. In addition, the scrubbing element may be passive element or an active and may contact the cleaning surface directly, may not contact the cleaning surface at all or may be configured to be movable into and out of contact with the cleaning surface.
• In one embodiment according to the present invention, a passive scrubbing element is attached to thescrubbing module600 or other attaching point on thechassis200 and disposed to contact the cleaning surface across the cleaning width. A friction force is generated between the passive scrubbing element and the cleaning surface as the robot is transported in the forward direction. The passive scrubbing element may comprise a plurality of scrubbing bristles held in contact with the cleaning surface, a woven or non-woven material, e.g. a scrubbing pad or sheet material held in contact with the cleaning surface, or a compliant solid element such as a sponge or other compliant porous solid foam element held in contact with the cleaning surface. In particular, a conventional scrubbing brush, sponge, or scrubbing pad used for scrubbing may be fixedly attached to therobot100 and held in contact with the cleaning surface across the cleaning width aft of the liquid applicator to scrub the cleaning surface as therobot100 advances over the cleaning surface. In addition, the passive scrubbing element may be configured to be replaceable by a user or to be automatically replenished, e.g. using a supply roll and a take up roll for advancing clean scrubbing material into contact with the cleaning surface.
• In another embodiment according to the present invention, one or more active scrubbing elements are movable with respect to the cleaning surface and with respect to the robot chassis. Movement of the active scrubbing elements increases the work done between scrubbing elements and the cleaning surface. Each movable scrubbing element is driven for movement with respect to thechassis200 by a drive module, also attached to thechassis200. Active scrubbing elements may also comprise a scrubbing pad or sheet material held in contact with the cleaning surface, or a compliant solid element such as a sponge or other compliant porous solid foam element held in contact with the cleaning surface and vibrated by a vibrating backing element. Other active scrubbing elements may also include a plurality of scrubbing bristles, and or any movably supported conventional scrubbing brush, sponge, or scrubbing pad used for scrubbing or an ultra sound emitter may also be used to generate scrubbing action. The relative motion between active scrubbing elements and the chassis may comprise linear and or rotary motion and the active scrubbing elements may be configured to be replaceable or cleanable by a user.
• Referring now toFIGS. 10-12 the preferred embodiment of present invention includes an active scrubbing element. The active scrubbing element comprises arotatable brush assembly604 disposed across the cleaning width, aft of the liquid applicator nozzles712,714, for actively scrubbing the cleaning surface after the cleaning fluid has been applied thereon. Therotatable brush assembly604 comprises a cylindricalbristle holder element618 for supporting scrubbing bristles616 extending radially outward there from. Therotatable brush assembly604 is supported for rotation about a rotation axis that extends substantially parallel with the cleaning width. The scrubbing bristles616 are long enough to interfere with the cleaning surface during rotation such that the scrubbing bristles616 are bent by the contact with the cleaning surface.
• Scrubbing bristles616 are installed in the brush assembly in groups or clumps with each clump comprising a plurality of bristles held by a single attaching device or holder. Clumps locations are disposed along a longitudinal length of thebristle holder element618 in a pattern. The pattern places at least one bristle clump in contact with cleaning surface across the cleaning width during each revolution of therotatable brush element604. The rotation of thebrush element604 is clockwise as viewed from the right side such that relative motion between the scrubbing bristles616 and the cleaning surface tends to flick loose contaminates and waste liquid in the aft direction. In addition, the friction force generated by clockwise rotation of thebrush element604 tends drive the robot in the forward direction thereby adding to the forward driving force of the robot transport drive system. The nominal dimension of each scrubbing bristles616 extended from thecylindrical holder618 causes the bristle to interfere with the cleaning surface and there for bend as it makes contact with the surface. The interference dimension is the length of bristle that is in excess of the length required to make contact with the cleaning surface. Each of these dimensions plus the nominal diameter of the scrubbing bristles616 may be varied to affect bristle stiffness and therefore the resulting scrubbing action. Applicants have found that configuring the scrubbingbrush element604 with nylon bristles having a bend dimension of approximately 16-40 mm, (0.62-1.6 inches), a bristle diameter of approximately 0.15 mm, (0.006 inches) and an interference dimension of approximately 0.75 mm, (0.03 inches) provides good scrubbing performance. In another example, stripes of scrubbing material may be disposed along a longitudinal length of thebristle holder element618 in a pattern attached thereto for rotation therewith.
• Squeegee and Wet Vacuuming
• Thescrubbing module600 may also include a second collecting apparatus configured to collect waste liquid from the cleaning surface across the cleaning width. The second collecting apparatus is generally positioned aft of the liquid applicator nozzles712,714, aft of the smearing brush, and aft of the scrubbing element. In the preferred embodiment according to the present invention, ascrubbing module600 is shown in section view inFIG. 12. The smearingelement612 is shown attached to the scrubbing module at its forward edge and the rotatablescrubbing brush assembly604 is shown mounted in the center of the scrubbing module. Aft of the scrubbingbrush assembly604, asqueegee630 contacts the cleaning surface across its entire cleaning width to collect waste liquid as therobot100 advances in the forward direction. A vacuum system draws air in through ports in the squeegee to suction waste liquid up from the cleaning surface. The vacuum system deposits the waste liquid into a waste storage container carried on therobot chassis200.
• As detailed in the section view ofFIG. 12, thesqueegee630 comprises avertical element1002 and ahorizontal element1004. Each of theelements1002 and1004 are formed from a substantially flexible and compliant material such as neoprene rubber, silicone or the like. A single piece squeegee construction is also usable. In the preferred embodiment, thevertical element1002 comprises a more flexible durometer material and is more bendable and compliant than thehorizontal element1004. Thevertical squeegee element1002 contacts the cleaning surface at alower edge1006 or along a forward facing surface of thevertical element1002 when the vertical element is slightly bent toward the rear by interference with the cleaning surface. Thelower edge1006 or forward surface remains in contact with the cleaning surface during robot forward motion and collects waste liquid along the forward surface. The waste liquid pools up along the entire length of the forward surface andlower edge1006. Thehorizontal squeegee element1004 includesspacer elements1008 extending rear ward form itsmain body1010 and thespacer elements1008 defined asuction channel1012 between thevertical squeegee element1002 and thehorizontal squeegee element1004. Thespacer elements1008 are discreet elements disposed along the entire cleaning width with open space betweenadjacent spacer elements1008 providing a passage for waste liquid to be suctioned through.
• Avacuum interface port1014 is provided in the top wall of thescrubber module600. Thevacuum port1014 communicates with the robot air moving system and withdraws air through thevacuum port1014. Thescrubber module600 is configured with a sealedvacuum chamber1016, which extends from thevacuum port1014 to thesuction channel1012 and extends along the entire cleaning width. Air drawn from thevacuum chamber1016 reduces the air pressure at the outlet of thesuction channel1012 and the reduced air pressures draws in waste liquid and air from the cleaning surface. The waste liquid drawing in through thesuction channel1012 enters thechamber1016 and is suctioned out of thechamber1016 and eventually deposited into a waste material container by the robot air moving system. Each of thehorizontal squeegee element1010 and thevertical squeegee element1002 form walls of thevacuum chamber1016 and the squeegee interfaces with the surrounding scrubbing module elements are configured to pressure seal thechamber1016. In addition, thespacers1008 are formed with sufficient stiffness to prevent thesuction channel1012 form closing.
• The squeegeevertical element1002 includes aflexure loop1018 formed at its mid point. Theflexure loop1018 provides a pivot axis about which the lower end of the squeegee vertical element can pivot when the squeegeelower edge1006 encounters a bump or other discontinuity in the cleaning surface. This also allows theedge1006 to flex as the robot changes travel direction. When the squeegeelower edge1006 is free of the bump or discontinuity it returns to its normal operating position.
• Referring toFIG. 10, thescrubbing module600 is formed as a separate subsystem that is removable from the robot chassis. Thescrubbing module600 includes support elements comprising a molded two-part housing formed by thelower housing element634 and a matingupper housing element636. The lower and upper housing elements are formed to house the rotatablescrubbing brush assembly604 therein and to support it for rotation with respect to the chassis. The lower andupper housing elements634 and636 are attached together at a forward edge thereof by a hinged attaching arrangement. Eachhousing element634 and636 includes a plurality of interlacinghinge elements638 for receiving ahinge rod640 therein to form the hinged connection. Of course, other hinging arrangements can be used. The lower andupper housing elements634 and636 form a longitudinal cavity for capturing the rotatablescrubbing brush assembly604 therein and may be opened by a user when thescrubbing module600 is removed from therobot100. The user may then remove the rotatablescrubbing brush assembly604 from the housing to clean it replace it or to clear a jam.
• The rotatablescrubbing brush assembly604 comprises the cylindrical bristleholder618, which may be formed as a solid element such as a sold shaft formed of glass-filled ABS plastic or glass-filled nylon. Alternately thebristle holder618 may comprise a molded shaft with acore support shaft642 inserted through a longitudinal bore formed through the molded shaft. Thecore support shaft642 may be installed by a press fit or other appropriate attaching means for fixedly attaching thebristle holder618 and thecore support shaft642 together. Thecore support shaft642 is provided to stiffen thebrush assembly604 and is therefore formed from a stiff material such as a stainless steel rod with a diameter of approximately 10-15 mm, (0.4-0.6 inches). Thecore support shaft642 is formed with sufficient stiffness to prevent excessive bending of the cylindrical brush holder. In addition, thecore support shaft642 may be configured to resist corrosion and or abrasion during normal use.
• The bristleholder618 is configured with a plurality ofbristle receiving holes620 bored or otherwise formed perpendicular with the rotation axis of the scrubbingbrush assembly604. Bristle receivingholes620 are filled with clumps of scrubbing bristles616 which are bonded or otherwise held therein. In one example embodiment, two spiral patterns of receivingholes620 are populated withbristles616. A first spiral pattern has afirst clump622 and asecond clump624 and subsequent bristle clumps follow aspiral path pattern626 around the holder outside diameter. Asecond spiral pattern628 starts with afirst clump630 substantially diametrically opposed to theclump622. Each pattern of bristle clumps is offset along the bristle holder longitudinal axis to contact different points across the cleaning width. However, the patterns are arranged to scrub the entire cleaning width with each full rotation of thebristle holder618. In addition, the pattern is arranged to fully contact only a small number of bristle clumps with cleaning surface simultaneously, (e.g. 2) in order to reduce the bending force exerted upon and the torque required to rotate the scrubbingbrush assembly604. Of course, other scrubbing brush configurations having different bristle patterns, materials and insertion angles are usable. In particular, bristles at the right edge of the scrubbing element may be inserted at an angle and made longer to extend the cleaning action of the scrubbing brush further toward the right edge of the robot for cleaning near the edge of a wall.
• The scrubbingbrush assembly604 couples with a scrubbing brushrotary drive module606 which is shown schematically inFIG. 13. The scrubbing brushrotary drive module606 includes a DC brushrotary drive motor608, which is driven at a constant angular velocity by amotor driver650. Themotor driver650 is set to drive themotor608 at a voltage and DC current level that provides the desired angular velocity of therotary brush assembly604, which in the preferred embodiment is 1500 RPM. Thedrive motor608 is drive coupled to amechanical drive transmission610 that increases the drive torque and transfers the rotary drive axis from thedrive motor608, which is positioned on the top side of thechassis200, to the rotation axis of the scrubbingbrush assembly604, which is positioned on a bottom side of thechassis200. Adrive coupling642 extends from themechanical drive transmission610 and mates with the rotatablescrubbing brush assembly604 at its left end. The action of sliding thescrubber module600 into thecavity602 couples the left end of therotatable brush assembly604 with thedrive coupling642. Coupling of therotatable brush assembly604 aligns its left end with a desired rotation axis, supports the left end for rotation, and delivers a rotary drive force to the left end. The right end of thebrush assembly604 includes a bushing or otherrotational support element643 for interfacing with bearing surfaces provided on themodule housing elements634,636.
• Thescrubber module600 further includes a moldedright end element644, which encloses the right end of the module to prevent debris and spray from escaping the module. Theright end element644 is finished on its external surfaces to integrate with the style and form of adjacent external surfaces of therobot100. Thelower housing element634 is configured to provide attaching features for attaching the smearingbrush612 to its forward edge and for attaching thesqueegee630 to its aft edge. Apivotal latching element646 is shown inFIG. 10 and is used to latch thescrubber module600 in its operating position when it is correctly installed in the cavity632. Thelatch646 attaches to attaching features provided on the top side of thechassis200 and is biased into a closed position by atorsion spring648. A latchingclaw649 passes through thechassis200 and latches onto a hook element formed on theupper housing636. The structural elements of thewet cleaning module600 may be molded from a suitable plastic material such as a Polycarbonate (PC) (ABS) blend. In particular, these include thelower housing634, theupper housing636, theright end element644, and thelatch646.
• Air moving Subsystems
• FIG. 14 depicts a schematic representation of a wetdry vacuum module500 and its interface with the cleaning elements of therobot100. The wetdry vacuum module500 interfaces with the first collecting apparatus to suction up loose particulates from the cleaning surface and with the second collecting apparatus to suction up waste liquid from the cleaning surface. The wetdry vacuum module500 also interfaces with an integratedliquid storage container800 attached to thechassis200 and deposits loose particulates and waste liquid into one or more waste containers housed therein.
• Referring toFIGS. 14 and 15, the wetdry vacuum module500 comprises asingle fan assembly502; however, two or more fans can be used without deviating from the present invention. Thefan assembly502 includes arotary fan motor504, having a fixedhousing506 and arotating shaft508 extending therefrom. The fixedmotor housing506 attaches to thefan assembly502 at an external surface of arear shroud510 by threaded fasteners, or the like. Themotor shaft508 extends through therear shroud510 and afan impeller512 is attached to themotor shaft508 by a press fit, or by another appropriate attaching means, for causing theimpeller512 to rotate with themotor shaft508. Afront shroud514 couples with therear shroud510 for housing thefan impeller512 in a hollow cavity formed between the front and rear shrouds. Thefan front shroud514 includes a circularair intake port516 formed integral therewith and positioned substantially coaxial with a rotation axis of themotor shaft508 andimpeller512. The front andrear shrouds510,514 together form anair exit port518 at a distal radial edge of thefan assembly502.
• Thefan impeller512 generally comprises a plurality of blade elements arranged about a central rotation axis thereof and configured to draw air axially inward along its rotation axis and expel the air radially outward when the impeller718 is rotated. Rotation of theimpeller512 creates a negative air pressure zone, or vacuum, on its input side and a positive air pressure zone at its output side. The fan motor710 is configured to rotate the impeller715 at a substantially constant rate of rotational velocity, e.g. 14,000 RPM.
• As shown schematically inFIG. 14, a closed air duct orconduit552 is connected between the fanhousing exit port518 and theair jet port554 of the first cleaning zone A and delivers high pressure air to theair jet port554. At the opposite end of the first cleaning zone A, a closed air duct orconduit558 fluidly connects theair intake port556 with the integrated liquidstorage container module800 at a container intake aperture557. Integral with theintegrated storage container800 is aconduit832, detailed below, fluidly connects the container intake aperture557 with aplenum562. Theplenum562 comprises a union for receiving a plurality of air ducts connected thereto. Theplenum562 is disposed above a waste storage container portion of the integrated liquidstorage container module800. Theplenum562 and waste container portion are configured to deposit loose particulates suctioned up from the cleaning surface by theair intake port556 into the waste container. The plenum652 is in fluid communication with thefan intake port516 via a closed air duct or conduit comprising aconduit564, not shown, connected between the fan assembly and a containerair exit aperture566. The containerair exit aperture566 is fluidly connected with theplenum562 by anair conduit830 that is incorporated within the integrated liquidstorage tank module800. Rotation of thefan impeller512 generates a negative air pressure or vacuum inside the plenum560. The negative air pressure generated within the plenum560 draws air and loose particulates in from theair intake port556.
• As further shown schematically inFIG. 14, a pair of closed air ducts orconduits666 interface with scrubbingmodule600 of the second cleaning zone B. Theair conduits666, shown in section view inFIG. 10 comprise external tubes extending downwardly from the integratedliquid container module800. Theexternal tubes666 insert into the scrubber module upper housing gaskets670.
• As shown inFIG. 14,conduits834 and836 fluidly connect eachexternal tube666 to the plenum652. Negative air pressure generated within the plenum652 draws air from the vacuum chamber664 via theconduits834,836 and666 to suction up waste liquid up from the cleaning surface via the suction ports668 passing from the vacuum chamber664 to the waste liquid collecting volume674. The waste liquid is draw into theplenum562 and deposited into the waste liquid storage container.
• Of course other wet dry vacuum configurations are usable without deviating from the present invention. In one example, a first fan assembly may be configured to collect loose particulates from the first cleaning zone and deposit the loose particulates in the first waste storage container and a second fan assembly may be configured to collect waste liquid from the second cleaning zone and deposit the waste liquid into a second waste storage container.
• Integrated Liquid Storage Tank
• Elements of the integrated liquidstorage container module800 are shown inFIGS. 1, 12,14,16 and17. Referring toFIG. 16, the integratedliquid storage container800 is formed with at least two liquid storage container portions. One container portion comprises a waste container portion and the second container portion comprises a cleaning fluid storage container portion. In the prefer embodiment of the present invention the two storage containers are formed as an integral unit that is configured to attach thechassis200 and to be removable from the chassis by a user to empty the waste container portion and to fill the cleaning fluid container portion. In an alternate embodiment, the integrates storage containers can be filled and emptied autonomously hen therobot100 is docked with a bas station configured for transferring cleaning fluid and waste material to and from therobot100. The cleaning fluid container portion S comprises a sealed supply tank for holding a supply the cleaning fluid. The waste container portion W comprises a sealed waste tank for storing loose particulates collected by the first collecting apparatus and for storing waste liquid collected by the second collecting apparatus.
• The waste container W comprises a first molded plastic element formed with abase surface804 and an integrally formedperimeter wall806 disposed generally orthogonal from thebase surface804. Thebase surface804 is formed with various contours to conform to the space available on thechassis200 and to provide adetent area164 that is used to orient the integrated liquidstorage container module800 on thechassis200. Thedetent164 includes a pair ofchannels808 that interface with corresponding alignment rails208 formed on ahinge element202, attached to thechassis200 and described below. Theperimeter wall806 includes finishedexternal surfaces810 that are colored and formed in accordance with the style and form of other external robot surfaces. The waste tank D may also include a tank level sensor housed therein and configured to communicate a tank level signal to themaster controller300 when the waste tank D is full. The level sensor may comprise a pair of conductive electrodes disposed inside the tank and separated from each other. A measurement circuit applies an electrical potential difference between the electrodes from outside the tank. When the tank is empty no current flow between the electrodes. However, when both electrodes are submerged in waste liquid, current flows through the waste liquid from one electrode to the other. Accordingly, the electrodes may be located at positions with the tank for sensing the level of fluid within the tank.
• The cleaning fluid storage container S is formed in part by a second moldedplastic element812. The second moldedelement812 is generally circular in cross-section and formed with a substantially uniform thickness between opposing top and bottom surfaces. Theelement812 mates with the wastecontainer perimeter wall810 and is bonded or otherwise attached thereto to fluidly seal the waste container W. Theplenum562 is incorporated into the second moldedelement812 and positioned vertically above the waste container W when the cleaning robot is operating. Theplenum562 may also comprise a separate molded element.
• The second moldedelement812 is contoured to provide a second container portion for holding a supply of cleaning fluid. The second container portion is formed in part by a downwardly sloping forward section having an integrally formedfirst perimeter wall816 disposed generally vertically upward. Thefirst perimeter wall816 forms a first portion of an enclosing perimeter wall of the liquid storage container S. The moldedelement812 is further contoured to conform to the space available on thechassis200. The moldedelement812 also includes the containerair input aperture840, for interfacing with first cleaningzone air conduit558. The moldedelement812 also includes the containerair exit aperture838, for interfacing with thefan assembly502 via theconduit564.
• A moldedcover assembly818 attaches to moldedelement812. Thecover assembly818 includes a second portion of the supply tank perimeter wall formed thereon and provides atop wall824 of the supply tank enclosure. Thecover assembly818 attaches to the firstperimeter wall portion816 and to other surfaces of the moldedelement814 and is bonded or otherwise attached thereto to fluidly seal the supply container S. The supply container S may include a tank empty sensor housed therein and configured to communicate a tank empty signal to themaster controller300 when the upper tank is empty.
• Thecover assembly818 comprises a molded plastic cover element having finishedexternal surfaces820,822 and824. The finished external surfaces are finished in accordance with the style and form of other external robot surfaces and may therefore be colored and or styled appropriately. Thecover assembly818 includesuser access ports166 to the waste container W, and168 to the supply container S. Thecover assembly818 also includes thehandle162 and ahandle pivot element163 attached thereto and operable to unlatch the integratedliquid storage tank800 from thechassis200 or to pick up theentire robot100.
• According to the invention, theplenum562 and each of theair conduits830,832,834 and836 are inside the cleaning fluid supply container S and the inter-connections of each of these elements are liquid and gas sealed to prevent cleaning fluid and waste materials from being mixed together. Theplenum562 is formed vertically above the waste container W so that waste liquid waste and loose particulates suctioned into theplenum562 will drop into the waste container W under the force of gravity. The plenum side surfaces828 include four apertures formed therethrough for interconnecting theplenum562 with the four closed air conduits interfaced therewith. Each of the fourclosed air conduits830,832,834 and836 may comprise a molded plastic tube element formed with ends configured to interface with an appropriate mating aperture.
• As shown inFIG. 16, the containerair exit aperture838 is generally rectangular and theconduit830 connecting the containerair exit aperture838 and theplenum562 is shaped with a generally rectangular ends. This configuration provides a largearea exit aperture838 for receiving an air filter associated therewith. The air filter is attached to thefan intake conduit564 to filter air drawn in by thefan assembly502. When theintegrated storage tank800 is removed from the robot, the air filter remains attached to theair conduit564 and may be cleaned in place or removed for cleaning or replacement as required. The area of the air filter and thecontainer exit aperture838 are formed large enough to allow the wet dry vacuum system to operate even when up to 50% of the air flow through the filter is blocked by debris trapped therein.
• Each of thecontainer apertures840 and838 are configured with a gasket, not shown, positioned external to the container aperture. The gaskets provide substantially airtight seal between thecontainer assembly800 and theconduits564 and558. In a preferred embodiment, the gaskets remain affixed to thechassis200 when the integratedliquid supply container800 is removed from thechassis200. The seal is formed when thecontainer assembly800 is latched in place on the robot chassis. In addition, some of the container apertures may include a flap seal or the like for preventing liquid from exiting the container while it is carried by a user. The flap seal remains attached to the container.
• Thus according to the present invention, thefan assembly502 generates a negative pressure of vacuum which evacuatesair conduit564, draws air through the air filter disposed at the end ofair conduit564, evacuates thefan intake conduit830 and theplenum562. The vacuum generated in theplenum562 draws air from each of the conduits connected thereto to suction up loose particulates proximate to theair intake port556 and to draw waste liquid up form the cleaning surface via theair conduits834,836 and666, and via the vacuum chamber664 and the suction ports668. The loose particulates and waste liquid drawn into theplenum562 and fall into the waste container W.
• Referring toFIGS. 1, 316 and17 the integratedliquid storage container800 attaches to a top side of therobot chassis200 by ahinge element202. Thehinge element202 is pivotally attached to therobot chassis200 at an aft edge thereof. Theliquid storage container800 is removable from therobot chassis200 by a user and the user may fill the cleaning fluid supply container S with clean water and a measured volume of cleaning fluid such as soap or detergent. The user may also empty waste from the waste container W and flush out the waste container if needed.
• To facilitate handling, the integratedliquid storage tank800 includes a usergraspable handle162 formed integral with thecover assembly818 at a forward edge of therobot100. Thehandle162 includes apivot element163 attached thereto and attached by a hinge arrangement to thecover assembly818. In one mode of operation, a user may grasp thehandle162 to pick up theentire robot100 thereby. In the preferred embodiment, therobot100 weights approximately 3-5 kg, (6.6-11 pounds), when filled with liquids, and can be easily carried by the user in one hand.
• In a second mode of operation, thehandle162 is to remove theintegrated tank800 from thechassis200. In this mode, the user presses down on an aft edge of thehandle162 to initially pivot the handle downward. The action of the downward pivot releases a latching mechanism, not shown, that attaches a forward edge of theliquid storage container800 to therobot chassis200. With the latching mechanism unlatched the user grasps thehandle162 and lifts vertically upwardly. The lifting force pivots theentire container assembly800 about apivot axis204, provided by a hinge element which pivotally attached to the aft edge of thechassis200. Thehinge element202 supports the aft end of the integratedliquid storage container800 on thechassis200 and further lifting of the handle rotates thehinge element202 to an open position that facilities removal of thecontainer assembly800 from thechassis200. In the open position, the forward edge of theliquid storage container800 is elevated such that further lifting of thehandle162 lifts theliquid storage tank800 out of engagement with thehinge element202 and separates it from therobot100.
• As shown inFIG. 17, the integratedliquid storage container800 is formed with recessed aft exterior surfaces forming adetent area164 and thedetent area164 is form matched to a receiving area of thehinge element202. As shown inFIG. 3, the hinge element receiving area comprises a clevis-like cradle having upper and loweropposed walls204 and206 form matched to engage with and orient the storagecontainer detent area164. The alignment of thedetent area164 and thehinge walls204 and206 aligns theintegrated storage container800 with therobot chassis200 and with the latching mechanism used to attach the container forward edge to thechassis200. In particular, thelower wall206 includes alignment rails208 form-matched to mate withgrooves808 formed on the bottom side of thedetent area164. InFIG. 3, thehinge element202 is shown pivoted to a fully open position for loading and unloading thestorage container800. The loading and unloading position is rotated approximately750 from a closed or operating position; however other loading and unloading orientations are usable. In the loading and unloading position, the storagecontainer detent area164 is easily engaged or disengaged from the clevis-like cradle of thehinge element202. As shown inFIG. 1, the integratedliquid storage tank800 and thehinge element202 are configured to provide finished external surfaces that integrate smoothly and stylishly with other external surfaces of therobot100.
• Two access ports are provided on an upper surface of theliquid storage container800 in thedetent area164 and these are shown inFIGS. 16 and 17. The access ports are located in thedetent area164 so as to be hidden by the hinge elementupper wall204 when the liquidstorage tank assembly800 is in installed in therobot chassis200. Aleft access port166 provides user access to the waste container W through theplenum562. Aright access port168 provides user access to the cleaning fluid storage container S. The left andright access ports166,168 are sealed by user removable tank caps that may be color or form coded to be readily distinguishable.
• Transport Drive System900
• In the preferred embodiment, therobot100 is supported for transport over the cleaning surface by a three-point transport system900. Thetransport system900 comprises a pair of independent rear transportdrive wheel modules902 on the left side, and904 on the right side, attached to thechassis200 aft of the cleaning modules. In a preferred embodiment, the rearindependent drive wheels902 and904 are supported to rotate about a common drive axis906 that is substantially parallel with thetransverse axis108. However, each drive wheel may be canted with respect to thetransverse axis108 such that each drive wheel has its own drive axis orientation. Thedrive wheel modules902 and904 are independently driven and controlled by themaster controller300 to advance the robot in any desired direction. Theleft drive module902 is shown protruding from the underside of thechassis200 inFIG. 3 and the right drive module904 is shown mounted to a top surface of thechassis200 inFIG. 4. In the preferred embodiment, each of the left andright drive modules902 and904 is pivotally attached to thechassis200 and forced into engagement with the cleaning surface byleaf springs908, shown inFIG. 3. The leaf springs908 are mounted to bias the each rear drive module to pivot downwardly toward the cleaning surface when the drive wheel goes over a cliff or is otherwise lifted from the cleaning surface. A wheel sensor associated with each drive wheel senses when a wheel pivots down and sends a signale to themaster controller300.
• The drive wheels of the present invention are particularly configured for operating on wet soapy surfaces. In particular, as shown inFIG. 20, eachdrive wheel1100 comprises a cup shapedwheel element1102, which attaches to the a drive wheel module,902 and904. The drive wheel module includes a drive motor and drive train transmission for driving the drive wheel for transport. The drive wheel module may also include sensor for detecting wheel slip with respect to the cleaning surface.
• The cup shapedwheel elements1102 is formed from a stiff material such as a hard molded plastic to maintain the wheel shape and to provide stiffness. The cup shapedwheel element1102 provides anouter diameter1104 sized to receive anannular tire element1106 thereon. Theannular tire element1106 is configured to provide a non-slip high friction drive surface for contacting the wet cleaning surface and for maintaining traction on the wet soapy surface.
• Theannular tire element1106 comprises aninternal diameter1108 of approximately37 mm and sized to fit appropriately over theouter diameter1104. The tire may be bonded taped or otherwise contacted to theouter diameter1104 to prevent slipping between the tire insidediameter1108 and theoutside diameter1104. Thetire radial thickness1110 is approximately 3 mm. The tire material comprises a chloroprene homopolymer stabilized with thiuram disulfide black with a density of 15 pounds per cubic foot foamed to a cell size of 0.1 mm plus or minus 0.002 mm. The tire has a post-foamed hardness 69 shore 00. The tire material is sold by Monmouth Rubber and plastics Corporation under the trade name DURAFOAM DK5151HD.
• To increase traction, the outside diameter of the tire is sipped. The term sipped refers to slicing the tire material to provide a pattern ofthin grooves1110 in the tire outside diameter. In the preferred embodiment, each groove has a depth of approximately 1.5 mm and a width or approximately 20 to 300 microns. The groove pattern provides grooves that are substantially evenly spaced apart with approximately 2 to 200 mm spaces between adjacent grooves. The groove cut axis makes an angle G with the tire longitudinal axis and the angle G ranges from 10-50 degrees.
• Thenose wheel module960, shown in exploded view inFIG. 18 and in section view inFIG. 19, includes a nose wheel962 housed in a caster housing964 and attached to avertical support assembly966. Thenose wheel module960 attaches to thechassis200 forward of the cleaning modules and provide a third support element for supporting thechassis200 with respect to the cleaning surface. Thevertical support assembly966 is pivotally attached to the caster housing964 at a lower end thereof and allows the caster housing to pivot away from thechassis200 when the chassis is lifted from the cleaning surface or when the nose wheel goes over a cliff. A top end of thevertical support assembly966 passes through thechassis200 and is rotatably supported with respect thereto to allow the entirenose wheel module960 to rotate freely about a substantially vertical axis as therobot100 is being transported over the cleaning surface by the reartransport drive wheels902 and904. Accordingly, the nose wheel module is self-aligning with respect to the direction of robot transport.
• Thechassis200 is equipped with a nose wheel mounting well968 for receiving thenose wheel module960 therein. The well968 is formed on the bottom side of thechassis200 at a forward circumferential edge thereof. The top end of thevertical support assembly966 passes through a hole through thechassis200 and is captured in the hole to attach the nose wheel to the chassis. The top end of thevertical support assembly966 also interfaces with sensor elements attached to thechassis200 on its top side.
• The nose wheel assembly962 is configured with a moldedplastic wheel972 havingaxle protrusions974 extending therefrom and is supported for rotation with respect to the caster housing964 by opposed co-aligned axle holes970 forming a drive wheel rotation axis. Theplastic wheel972 includes with three circumferential grooves in its outer diameter. Acenter groove976 is providing to receive acam follower998 therein. The plastic wheel further includes a pair of symmetrically opposedcircumferential tire grooves978 for receiving an elastomeric o-ring980 therein. The elastomeric o-rings980 contacts the cleaning surface during operation and the o-ring material properties are selected to provide a desired friction coefficient between the nose wheel and the cleaning surface. The nose wheel assembly962 is a passive element that is in rolling contact with the cleaning surface via the o-rings980 and rotates about its rotation axis formed by theaxle protrusion974 when therobot100 is transported over the cleaning surface.
• The caster housing964 is formed with a pair of opposed clevis surfaces with co-aligned opposed pivot holes982 formed therethrough for receiving thevertical support assembly966 therein. A vertical attachingmember984 includes apivot element986 at its bottom end for installing between the clevis surfaces. Thepivot element986 includes a pivot axis bore988 formed therein for alignment with theco-aligned pivot hole982. Apivot rod989 extends through the co-aligned pivot holes982 and is press fit within the pivot axis bore988 and captured therein. Atorsion spring990 installs over thepivot rod988 and provides a spring force that biases the caster housing964 and nose wheel assembly962 to a downwardly extended position forcing the nose wheel962 to rotate to an orientation that places the nose wheel962 more distally below the bottom surface of thechassis200. The downwardly extended position is a non-operating position. The spring constant of thetorsion spring990 is small enough that the weight of therobot100 overcomes its biasing force when therobot100 robot is placed onto the cleaning surface for cleaning. Alternately, when the nose wheel assembly goes over a cliff, or is lifted off the cleaning surface, the torsion spring biasing force pivots the nose wheel to the downwardly extended non-operating position. This condition is sensed by a wheel down sensor, described below, and a signal is sent to themaster controller300 to stop transport or to initiate some other action.
• The vertical attachingmember984 includes a hollowvertical shaft portion992 extending upward from thepivot element986. Thehollow shaft portion992 passes through the hole in thechassis200 and is captured therein by ane-ring retainer994 and thrustwasher996. This attaches thenose wheel assembly960 to the chassis and allows it to rotate freely about a vertical axis when the robot is being transported.
• Thenose wheel module960 is equipped with sensing elements that generate sensor signals used by themaster control module300 to count wheel revolutions, to determine wheel rotational velocity, and to sense a wheel down condition, i.e. when the caster964 is pivoted downward by the force of thetorsion spring990. The sensors generate a wheel rotation signal using acam following plunger998 that include a sensor element that moves in response to wheel rotation. Thecam follower998 comprises an “L” shaped rod with the a vertical portion being movably supported inside thehollow shaft992 thus passing through the hole in thechassis200 to extend above the top surface thereof. The lower end of therod992 forms a cam follower that fits within the wheel centercircumferential groove976 and is movable with respect thereto. Thecam follower998 is supported in. contact with an offsethub1000 shown inFIG. 18. The offsethub1000 comprises an eccentric feature formed non-symmetrically about the nose wheel rotation axis inside thecircumferential groove976. With each rotation of the wheel962, the offsethub1000 forces and oscillation of thecam follower998 which moves reciprocally along a substantially vertical axis.
• A once per revolution wheel sensor includes apermanent magnet1002 attached to the top end of the “L” shaped rod by an attachingelement1004. Themagnet1002 oscillates through a periodic vertical motion with each full revolution of the nose wheel. Themagnet1002 generates a magnetic field which is used to interact with a reed switch, not shown, mounted to thechassis200 in a fixed location with respect to movingmagnet1002. The reed switch is activated by the magnetic field each time themagnet1002 is in the full up position in its travel. This generates a once per revolution signal which is sensed by themaster controller300. A second reed switch may also be positioned proximate to themagnet1002 and calibrated to generate a wheel down signal. The second reed switch is positioned in a location that will be influenced by the magnetic field when themagnet1002 drops to the non-operating wheel down position.
• It will also be recognized by those skilled in the art that, while the invention has been described above in terms of preferred embodiments, it is not limited thereto. Various features and aspects of the above described invention may be used individually or jointly. Further, although the invention has been described in the context of its implementation in a particular environment, and for particular applications, e.g. floor cleaning, those skilled in the art will recognize that its usefulness is not limited thereto and that the present invention can be beneficially utilized in any number of environments and implementations including but not limited to cleaning any horizontal surface. Accordingly, the claims set forth below should be construed in view of the full breadth and spirit of the invention as disclosed herein.

Claims (41)

1. An autonomous cleaning robot (100) comprising:

a chassis (200) supported for transport over a cleaning surface, the chassis (200) being defined by a fore-aft axis (106) and a perpendicular transverse axis (108);

a first collecting apparatus A, attached to the chassis (200) and configured to collect loose particulates from the cleaning surface across a cleaning width, said cleaning width being disposed generally parallel with the transverse axis (106);

a liquid applicator (700), attached to the chassis (200) and configured to apply a cleaning fluid onto the cleaning surface; and,

wherein the arrangement of the first collecting apparatus A with respect to the liquid applicator (700) causes the first collecting apparatus A to precede the liquid applicator (700) over the cleaning surface when transporting the chassis (200) in a forward direction.

2. An autonomous cleaning robot according toclaim 1 further comprising:

a smearing element (612) attached to the chassis (200) and configured to smear the cleaning fluid applied onto the cleaning surface to more uniformly spread the cleaning fluid over the cleaning surface; and,

wherein the arrangement of the liquid applicator (700) with respect to the smearing element (612) causes the liquid applicator (700) to precede the smearing element (612) over the cleaning surface when transporting the chassis (200) in a forward direction.

3. An autonomous cleaning robot according toclaim 1 further comprising:

a scrubbing element configured to scrub the cleaning surface; and,

wherein the arrangement of the liquid applicator with respect to the scrubbing element causes the liquid applicator to precede the scrubbing element over the cleaning surface when transporting the chassis (200) in the forward direction.

4. An autonomous cleaning robot according toclaim 3 further comprising:

a second collecting apparatus configured to collect waste liquid from the cleaning surface, the waste liquid comprising the cleaning fluid applied by the liquid applicator plus any contaminates, removed from the cleaning surface by the clean fluid; and,

wherein the arrangement of the scrubbing element with respect to the second collecting apparatus causes the scrubbing element to precede the second collecting apparatus over the cleaning surface as the chassis (200) is transported in the forward direction.

5. An autonomous cleaning robot according toclaim 4 further comprising a first waste storage container, attached to the chassis (200), and arranged to receive the loose particulates therein.

6. An autonomous cleaning robot according toclaim 5 further comprising a second waste storage container, attached to the chassis (200), and arranged to receive the waste liquid therein.

7. An autonomous cleaning robot according toclaim 6 further comprising a cleaning fluid storage container, attached to the chassis (200) and configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator.

8. An autonomous cleaning robot according toclaim 7 wherein said cleaning fluid comprises water.

9. An autonomous cleaning robot according toclaim 8 wherein said cleaning fluid comprises water mixed with any one of soap, solvent, fragrance, disinfectant, emulsifier, drying agent and abrasive particulates.

10. An autonomous cleaning robot according toclaim 6 wherein each of said first and said second waste containers are configured to be removable from the chassis (200) by a user and to be emptied by the user.

11. An autonomous cleaning robot according toclaim 10 wherein said cleaning fluid storage container is configured to be removable from the chassis (200) by a user and to be filled by the user.

12. An autonomous cleaning robot according toclaim 4 further comprising a combined waste storage container, attached to the chassis (200) and configured to receive the loose particulates from the first collecting apparatus and to receive the waste liquid from the second collecting apparatus therein.

13. An autonomous cleaning robot according toclaim 12 wherein the waste storage container is configured to be removable from the chassis (200) by a user and to be emptied by the user.

14. An autonomous cleaning robot according toclaim 13 further comprising a cleaning fluid storage container, attached to the chassis (200) and configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator.

15. An autonomous cleaning robot according toclaim 14 wherein said cleaning fluid storage container is configured to be user removable from the chassis (200) and to be filled by the user.

16. An autonomous cleaning robot according toclaim 4 further comprising:

an integrated liquid storage container, attached to the chassis (200), and formed with two separate container portions comprising;

a waste storage container portion configured to receive the loose particulates from the first collecting apparatus and the waste liquid from the second collecting apparatus therein; and,

a cleaning fluid storage container portion configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator.

17. An autonomous cleaning robot according toclaim 16 wherein said integrated liquid storage container is configured to be removable from the chassis (200) by a user and for the cleaning fluid storage container to be filled by and for the waste storage container to be emptied by the user.

18. An autonomous cleaning robot according toclaim 1 further comprising:

a second collecting apparatus configured to collect waste liquid from the cleaning surface, the waste liquid comprising the cleaning fluid applied by the liquid applicator plus any contaminates, removed from the cleaning surface by the cleaning fluid; and,

wherein the arrangement of the liquid applicator with respect to the second collecting apparatus causes the liquid applicator to precede the second collecting apparatus over the cleaning surface as the chassis (200) is transported in the forward direction.

19. An autonomous cleaning robot according toclaim 18 further comprising:

a smearing element (612) attached to the chassis (200) and configured to smear the cleaning fluid applied onto the cleaning surface to more uniformly spread the cleaning fluid over the cleaning surface; and,

wherein the arrangement of the liquid applicator (700) with respect to the smearing element (612) causes the liquid applicator (700) to precede the smearing element (612) over the cleaning surface when transporting the chassis (200) in a forward direction.

20. An autonomous cleaning robot according toclaim 19 further comprising a waste storage container, attached to the chassis (200) and configured to receive the loose particulates from the first collecting apparatus and to receive the waste liquid from the second collecting apparatus therein.

21. An autonomous cleaning robot according toclaim 20 wherein the waste storage container is configured to be removable from the chassis (200) by a user and to be emptied by the user.

22. An autonomous cleaning robot according toclaim 21 further comprising a cleaning fluid storage container, attached to the chassis (200) and configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator.

23. An autonomous cleaning robot according toclaim 22 wherein said cleaning fluid storage container is configured to be removable from the chassis (200) by a user and to be filled by the user.

24. An autonomous cleaning robot according toclaim 19 further comprising:

an integrated liquid storage container, attached to the chassis (200), and formed with two separate container portions comprising;

a waste storage container portion configured to receive the loose particulates from the first collecting apparatus and to receive the waste liquid from the second collecting apparatus therein; and,

a cleaning fluid storage container configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator.

25. An autonomous cleaning robot according toclaim 24 wherein said integrated liquid storage container is configured to be removable from the chassis (200) by a user and for the cleaning fluid storage container to be filled by and for the waste storage container to be emptied by the user.

26. An autonomous cleaning robot according toclaim 1 further comprising:

a motive drive subsystem (900) attached to chassis (200) for transporting the chassis over the cleaning surface;

a power module (310) attached to the chassis (200) for delivering electrical power to each of a plurality of power consuming subsystems attached to the chassis (200); and,

a master control module (300) attached to the chassis (200) for controlling the motive drive module (310), the first collecting apparatus, and the liquid applicator, to autonomously transport the robot (100) over the cleaning surface and to autonomously clean the cleaning surface.

27. An autonomous cleaning robot according toclaim 26 further comprising:

a sensor module (340) configured to sense conditions external to the robot (100) and to sense conditions internal to the robot (100) and to generate electrical sensor signals in response to sensing said conditions;

means for communicating the electrical sensor signals to the master control module (300); and,

control means incorporated within the master control module (300) for implementing predefined operating modes of the robot (100) in response to said conditions.

28. An autonomous cleaning robot according toclaim 27 further comprising:

a user control module (330) configured to receive an input command from a user and to generate an electrical input signal in response to the input command;

means for communicating the electrical input signal to the master control module (300); and,

control means incorporated within the master control module (300) for implementing predefined operating modes of the robot (100) in response to the input command.

29. An autonomous cleaning robot according toclaim 28 further comprising an interface module320 attached to the chassis (200) and configured to provide an interface between an element external to the robot (100) and at least one element attached to the chassis (200).

30. An autonomous cleaning robot according toclaim 29 wherein the element external to the robot (100) comprises one of a battery-charging device and a data processor.

31. An autonomous cleaning robot according toclaim 8 further comprising an interface module320 attached to the chassis (200) and configured to provide an interface between an element external to the robot (100) and at least one element attached to the chassis (200).

32. An autonomous cleaning robot according toclaim 31 wherein the element external to the robot (100) comprises one of a battery-charging device, a data processor, a device for autonomously filling the cleaning fluid storage container with cleaning fluid, and a device for autonomously emptying the waste liquid container.

33. An autonomous cleaning robot according toclaim 18 wherein the first collecting apparatus comprises:

an air jet port (554), attached to the chassis (200) disposed at a first edge of the cleaning width and configured to blow a jet of air across the cleaning width proximate to the cleaning surface, to thereby force loose particulates on the cleaning surface to move away from the first edge in a direction generally parallel with the transverse axis (108);

an air intake port (556), attached to the chassis (200) and disposed at a second edge of the cleaning width, opposed from the first edge and proximate to the cleaning surface for suctioning up the loose particulates;

a waste storage container configured to receive the loose particulates from the air intake port (556), and,

a fan assembly (502) configured to generate a negative pressure within the waste storage container.

34. An autonomous cleaning robot according toclaim 33 wherein the fan assembly is further configured to generate a positive air pressure at the air jet port (554).

35. An autonomous cleaning robot according toclaim 18 wherein the second collecting apparatus comprises:

a squeegee (630) attached to the chassis (200) and formed with a longitudinal ridge (672) disposed proximate to the cleaning surface and extending across the cleaning width for providing a liquid collection volume (676) at a forward edge of the ridge (672), said longitudinal ridge (672) collecting waste liquid within the liquid collection volume (676) as the chassis (200) is transported in the forward direction;

a vacuum chamber (664) partially formed by the squeegee (630) disposed proximate to the longitudinal ridge (672) and extending across the cleaning width;

a plurality of suction ports (668) passing through the squeegee (630) for providing a plurality of fluid passages for fluidly connecting the liquid collection volume (676) and the vacuum chamber (664); and,

means for generating a negative air pressure within the vacuum chamber (664) for drawing waste liquid collected within the liquid collection volume into the vacuum chamber (664).

36. An autonomous cleaning robot according toclaim 35 further comprising:

a waste storage container W configured to receive the waste liquid from the vacuum chamber (664),

at least one fluid conduit fluidly connecting the vacuum chamber and the waste storage container; and,

a fan assembly (502) configured to generate a negative air pressure within the waste storage container W and the vacuum chamber (664) to thereby suction waste liquid up from the cleaning surface and deposit the waste liquid in the waste storage container W.

37. An autonomous cleaning robot according toclaim 33 wherein the second collecting apparatus comprises:

a squeegee (630) attached to the chassis (200) and formed with a longitudinal ridge (672) disposed proximate to the cleaning surface and extending across the cleaning width for providing a liquid collection volume (676) at a forward edge of the ridge (672), said longitudinal ridge (672) collecting waste liquid within the liquid collection volume (676) as the chassis (200) is transported in the forward direction;

a vacuum chamber (664) partially formed by the squeegee (630) disposed proximate to the longitudinal ridge (672) and extending across the cleaning width;

a plurality of suction ports (668) passing through the squeegee (630) for providing a plurality of fluid passages for fluidly connecting the liquid collection volume (676) and the vacuum chamber (664); and,

means for generating a negative air pressure within the vacuum chamber (664) for drawing waste liquid collected within the liquid collection volume (676) into the vacuum chamber (664).

38. An autonomous cleaning robot according toclaim 37 further comprising:

a waste storage container W configured to receive the waste liquid from the vacuum chamber (664),

at least one fluid conduit fluidly connecting the vacuum chamber and the waste storage container; and,

a fan assembly (502) configured to generate a negative air pressure within the waste storage container and the vacuum chamber to thereby suction waste liquid from the cleaning surface and deposit the waste liquid in the waste storage container.

39. An autonomous cleaning robot according toclaim 38 wherein the fan assembly is configured to generate a positive air pressure at the air jet port (554).

40. An autonomous cleaning robot (100) for transporting cleaning elements over a cleaning surface comprising:

a chassis (200), supported in rolling contact with the cleaning surface for transporting the chassis in a forward direction defined by a fore-aft axis (106), the chassis being further defined by a transverse axis (108);

a first cleaning zone A comprising cleaning elements attached to the chassis (200) and arranged to collect loose particulates from the cleaning surface across a cleaning width, the cleaning width being disposed generally perpendicular with the fore-aft axis (106);

a second cleaning zone B comprising cleaning elements attached to the chassis (200) and arranged to apply a cleaning fluid onto the cleaning surface and to collect a waste liquid from the cleaning surface across the cleaning width, said waste liquid comprising the cleaning fluid plus any contaminates removed from the cleaning surface by the cleaning fluid; and,

a motive drive subsystem (900) controlled by a master control module (300) and powered by a power module (310), the motive drive subsystem, master control module and power module each being electrically interconnected and attached to the chassis (200) configured to autonomously transporting the robot (100) over the cleaning surface and to clean the cleaning surface.

41. An autonomous cleaning robot according toclaim 40 wherein the robot (100) is configured with a circular cross-section having a vertical center axis (104) and wherein said fore-aft axis (106), said transverse axis (108) and said vertical axis (104) are mutually perpendicular and wherein the motive drive subsystem (900) is configured to rotate the robot (100) about the center vertical axis (104) for changing the orientation of the forward travel direction.

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