EP2945521B1 - Tampon de nettoyage - Google Patents

Tampon de nettoyage Download PDF

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Publication number
EP2945521B1
EP2945521B1 EP14861203.9A EP14861203A EP2945521B1 EP 2945521 B1 EP2945521 B1 EP 2945521B1 EP 14861203 A EP14861203 A EP 14861203A EP 2945521 B1 EP2945521 B1 EP 2945521B1
Authority
EP
European Patent Office
Prior art keywords
pad
layer
fluid
airlaid
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14861203.9A
Other languages
German (de)
English (en)
Other versions
EP2945521A4 (fr
EP2945521A1 (fr
Inventor
Michael J. Dooley
Nikolai Romanov
Marcus Williams
Joseph M. Johnson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
iRobot Corp
Original Assignee
iRobot Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US14/077,296 external-priority patent/US9427127B2/en
Application filed by iRobot Corp filed Critical iRobot Corp
Priority to EP18202105.5A priority Critical patent/EP3453300B1/fr
Publication of EP2945521A1 publication Critical patent/EP2945521A1/fr
Publication of EP2945521A4 publication Critical patent/EP2945521A4/fr
Application granted granted Critical
Publication of EP2945521B1 publication Critical patent/EP2945521B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/16—Cloths; Pads; Sponges
    • A47L13/17—Cloths; Pads; Sponges containing cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/20—Mops
    • A47L13/22—Mops with liquid-feeding devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/20—Mops
    • A47L13/24—Frames for mops; Mop heads
    • A47L13/254—Plate frames
    • A47L13/256—Plate frames for mops made of cloth
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/26—Other cleaning devices with liquid supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06M—TREATMENT, NOT PROVIDED FOR ELSEWHERE IN CLASS D06, OF FIBRES, THREADS, YARNS, FABRICS, FEATHERS OR FIBROUS GOODS MADE FROM SUCH MATERIALS
    • D06M17/00—Producing multi-layer textile fabrics
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2509/00—Medical; Hygiene

Definitions

  • the pad 100 may disturb the physics of a compact, lightweight robot 400, causing the compact robot 400 to tilt upward and apply less force to the pad 100 for debris removal from the floor 10. Therefore, less superabsorbent polymers 108 may be used to meet a cleaning pad absorbency requirement.
  • the pad 100 may contain pockets in a middle section along the pad length that allow superabsorbent polymers to expand into those pockets and allow the pad to maintain a constant thickness as the superabsorbent polymers expand.
  • the wrap layer 105 may be of any material that is thin and absorbs fluid.
  • the wrap layer 105 may be smooth to prevent scratching the floor surface 10.
  • the cleaning pad 100 may include one or more of the following cleaning agent constituents butoxypropanol, alkyl polyglycoside, dialkyl dimethyl ammonium chloride, polyoxyethylene castor oil, linear alkylbenzene sulfonate, glycolic acid - which for example serve as surfactants, and to attack scale and mineral deposits, among other things; and including scent, antibacterial or antifungal preservatives.
  • the wrap layer 105 may be a herring bone hydroembossed nonwoven material, which is made of a ratio of viscose (rayon) fibers blended with polyester fibers.
  • the abrasion meltblown layer 106 has a basis weight (also known as grammage) equal to 55g/m 2 (grams per square meter).
  • the wrap layer 105 may have a basis weight of between about 30 gsm (grams per square meter) and about 65 gsm. In other examples, the wrap layer may have a basis weight of between about 35-40 gsm. Basis weight is a measurement used in both the fabric and paper industries to measure the mass of the product per unit of area.
  • the spunbond or spunlace wrap layer 105 is manufactured with hydrophilic fibers that minimize the surface area of the pad 100 exposed to air between the pad 100 and the floor surface 10. A wet pad 100 would stick to the hydrophilic floor surface 10 if the indentations or needle punches were not part of the wrap layer 100. Applying a surface texture to the spunbond or spunlace of the wrap layer 105 breaks the surface tension that would otherwise case a wet pad 100 to stick to a wet floor surface 10.
  • extrusion die 312 (beam) that extrudes the melt blown polypropylene fibers into a continuous porous conveyor to form the nonwoven web 106. It is made up of six major components: the extruder, metering pump, extrusion die, web forming, web consolidation and winding. Other processes are possible as well.
  • the meltblown fibers 107 may be created using homopolymer polypropylene; however, several other resins can be extruded by the meltblown process as well, such as polyethylene, polyester, polyamides and polyvinyl alcohols.
  • the meltblown layer 106 is formed from polylactic acids (PLA), a biodegradable nonwoven.
  • the airlaid layers 101, 102, 103, the abrasion layer 104 and the wrap layer 104 i.e., the cleaning pad 100
  • the airlaid layers 101, 102, 103, the abrasion layer 104 and the wrap layer 104 have a combined width W T of between about 68 millimeters and about 80 millimeters and a combined length (not shown) of between about 200 millimeters and about 212 millimeters.
  • the cleaning pad 100 including the airlaid layers 101, 102, 103, the abrasion layer 104 and the wrap layer 105 have a combined thickness T T of between 6.5 millimeters and about 8.5 millimeters.
  • the airlaid layers 101, 102, 103 have a combined airlaid width (W A1 + W A2 + W A3 ) of between 69 millimeters and about 75 millimeters and a combined airlaid length (L A1 + L A2 + L A3 ) of between about 165 millimeters and about 171 millimeters.
  • the cleaning pad 100 withstands pressure being applied to it by an implement 400, 500 (e.g., robot or mop), since an implement 400, 500 will cause back and forth movement of the cleaning pad 100 mimicking a scrubbing action as the robot 400 traverses the floor surface 10.
  • the wrap layer 104 has the specifications listed in Table 1 below: Table 1 Wrap Layer Characteristic Unit Average Value Tolerance Test Method Weight g/m 2 55 +/- 10% ASTM D3776M-09A Thickness mm 0.6 0.55-0.65 WSP 120.6 Tensile Strength (DRY) N/2.54cm (MD) 50 > 40 ASTM D5034-09 N/2.54cm (CD) 25 > 20 Elongation at break (DRY) % (MD) 45 25 - 65 ASTM D5034-09 % (CD) 90 65 - 115 Water absorption % 600 > 500 WSP 10.0 (05) Abrasion resistance Visual at 80 cycles OK No visible degradation - Meltblown Abrasive Covered surface ratio % 50 44 - 57 - Scrubbing fiber average size ⁇ m N/A 8 ⁇ m - 20 ⁇ m -
  • the implement 400 is a compact, lightweight autonomous mobile robot 400 that weighs less than 51bs and navigates and cleans a floor surface 10.
  • the mobile robot 400 may include a body 410 supported by a drive system (not shown) that can maneuver the robot 400 across the floor surface 10 based on a drive command having x, y, and ⁇ components, for example.
  • the robot body 410 has a square shape.
  • the body 410 may have other shapes, including but not limited to a circular shape, an oval shape, a tear drop shape, a rectangular shape, a combination of a square or rectangular front and a circular back, or a longitudinally asymmetrical combination of any of these shapes.
  • the one or more forward cliff sensors and one or more rear cliff sensors are placed at an angle relative to the forward and rear corners, respectively, such that they cut the corners, spanning between sidewalls of the robot 400 and covering the corner as closely as possible to detect flooring height changes beyond a threshold accommodated by reversible robot wheel drop prior. Placing the cliff sensors proximate the corners of the robot 400 ensures that they will trigger immediately when the robot 400 overhangs a flooring drop and prevent the robot wheels from advancing over the drop edge.
  • the forward portion 412 of the body 410 carries a movable bumper 430 for detecting collisions in longitudinal (A,F) or lateral (L,R) directions.
  • the bumper 430 has a shape complementing the robot body 410 and extends forward the robot body 410 making the overall dimension of the forward portion 412 wider than the rearward portion 414 of the robot body 410 (the robot as shown has a square shape).
  • the bottom portion of the robot body 410 supports the cleaning pad 100.
  • the pad 100 has bluntly cut ends 100d such that the airlaid layers 101, 102, 103 are exposed at both ends 100d of the pad 100.
  • the wrap layer 105 is sealed at the ends 100d of the pad 100 and compressing the ends 100d of the airlaid layers 101, 102, 103, the full length of the pad 100 is available for fluid absorption and cleaning. No portion of the airlaid core is compressed by the wrap layer 105 and therefore unable to absorb fluid 172.
  • a used disposable pad 100 of this embodiment will not have soaking wet, floppy ends of sealed wrap layer 105 at the completion of a cleaning run. All fluid 172 will be securely absorbed and held by the airlaid core, preventing any drips and preventing a user from undesirably contacting dirty wet ends of the pad 100.
  • the nozzle 464 or nozzles 464a, 464b dispense fluid 172, 172a, 172b in an area pattern that extends one robot width W R and at least one robot length L R in dimension.
  • the top nozzle 464a and bottom nozzle 464b apply fluid 172a, 172b in two distinct spaced apart strips of applied fluid 173a, 173b that do not extend to the full width W R of the robot 400 such that the pad 100 passes through the outer edges of the strips of applied fluid 173a, 173b in forward and backward angled scrubbing motions as described herein.
  • the back and forth movement of the robot 400 breaks down stains on the surface floor 10.
  • the broken down stains are then absorbed by the cleaning pad 100.
  • the cleaning pad 100 picks up enough of the sprayed fluid to avoid uneven streaks if the cleaning pad 100 picks up too much liquid, e.g fluid 172.
  • the robot 400 might leave fluid and wheel traces.
  • the cleaning pad 100 leaves a residue of the fluid, which could be water or some other cleaning agent including solutions containing cleansing agents, to provide a visible sheen on the surface floor 10 being scrubbed.
  • the fluid contains antibacterial solution, e.g., an alcohol containing solution.
  • a thin layer of residue therefore, is purposely not absorbed by the cleaning pad 100 to allow the fluid to kill a higher percentage of germs. Therefore, the cleaning pad 100 does not swell or expand and provides a minimal increase in total pad thickness T T . This characteristic of the cleaning pad 100 prevents the robot 400 from tilting backwards or pitching up if the cleaning pad 100 expands.
  • the cleaning pad 100 is sufficiently rigid to support the front of the robot. In some examples, the cleaning pad 100 absorbs up to 180 ml or 90% of the total fluid contained in the robot reservoir 475. In some examples, the cleaning pad holds about 55 to about 60 ml of fluid and a fully saturated wrap layer holds about 6 to about 8 ml of fluid 172. In some examples the ratio of fluid retention in the airlaid core 101,102,103 to the outer wrap layer 105 is about 9:1 to about 5:1.
  • the pad 100 and robot 400 are sized and shaped such that the transfer of fluid from the reservoir to the absorptive pad 100 maintains the forward and aft balance of the less than 51b robot 400 during dynamic motion.
  • the fluid distribution is designed so that the robot 400 continually propels the pad 100 over a floor surface 10 without the interference of the increasingly saturated pad 100 and decreasingly occupied fluid reservoir 475 lifting the back 414 of the robot 400 and pitching the front 412 of the robot 400 downward and thereby applying movement-prohibitive downward force to the robot 400.
  • the robot 400 is able to move the pad 100 across the floor surface 10 even when the pad 100 is fully saturated with fluid.
  • the robot 400 however includes the feature of tracking the amount of floor surface 10 travelled and/or the amount of fluid remaining in the reservoir 475 and provides an audible and/or visible alert to a user that the pad 100 requires replacement and/or the reservoir 475 requires refilling.
  • the robot 400 stops moving and remains in place on the floor surface if the pad 100 is fully saturated, and there remains floor to be cleaned once the pad 100 is replaced.
  • FIGS. 9A through 9G detail the spraying, pad wetting, and scrubbing motions of one embodiment of the mobile robot 400.
  • the robot 400 only applies fluid 172 to areas of the floor surface 10 that the robot 100 has already traversed.
  • the fluid applicator 462 has multiple nozzles 464a, 464b each configured to spray the fluid 172a, 172b in a direction different than another nozzle 464a, 164b.
  • the fluid applicator 462 may apply fluid 172 downward rather than outward, dripping or spraying fluid 172 directly in front of the robot 100.
  • the fluid applicator 462 is a microfiber cloth or strip, a fluid dispersion brush, or a sprayer.
  • the robot 400 may execute a cleaning behavior by moving in a forward direction F toward an obstacle 20, followed by moving in a backward or reverse direction A. As indicated in FIGS. 9A and 9B , the robot 400 may drive in a forward drive direction a first distance Fd to a first location L1.
  • the two nozzles 464a, 464b are vertically stacked in a recess in the fluid applicator 462 and angled from horizontal and spaced apart from one another such that one nozzle 464a sprays relatively longer lengths of fluid 172a forward and downward to cover an area in front of the robot 400 with a forward supply of applied fluid 173a, and the other nozzle 464b sprays relatively shorter lengths fluid 172b forward and downward to leave a rearward supply of applied fluid 173b on an area in front of but closer to the robot 400 than the area of applied fluid 173a dispensed by the top nozzle 464a.
  • the strips of applied fluid 173a, 173b cover a width W S of 75-95% of the robot width W R and a combined length L S of 75-95% of the robot length L R .
  • the strips of applied fluid 173a, 173b may be substantially rectangular shaped or ellipse shaped.
  • the nozzles 464a, 464b complete each spray cycle by sucking in a small volume of fluid at the opening of the nozzle so that no fluid 172 leaks from the nozzle following each instance of spraying.
  • the robot 400 may drive back and forth to cover a specific portion of the floor surface 10, wetting the cleaning pad 100 at the start of a cleaning run and/or scrubbing the floor surface 10.
  • the robot 400 drives back and forth, cleaning the area traverse and therefore providing a thorough scrub to the floor surface 10.
  • the robot 400 oscillates the attached pad 100 in an orbit of 12-15mm to scrub the floor 10 and applies 1 pound of downward pushing force or less to the pad.
  • the fluid applicator 462 applies fluid 172 to an area in front of the cleaning pad 100 and in the direction of travel (e.g., forward direction F) of the mobile robot 100.
  • the fluid 172 is applied to an area the cleaning pad 100 has previously occupied.
  • the area the cleaning pad 100 has occupied is recorded on a stored map that is accessible to a robot controller 150, as shown in the diagram of FIG. 10 .
  • the robot 400 may include a cleaning system 1060 for cleaning or treating a floor surface 10.
  • the robot 400 knows where it has been based on storing its coverage locations on a map stored on the non-transitory-memory 1054 of the robot 400 or on an external storage medium accessible by the robot 400 through wired or wireless means during a cleaning run.
  • the robot 400 sensors 5010 may include a camera and/or one or more ranging lasers for building a map of a space.
  • the robot controller 1050 uses the map of walls, furniture, flooring changes and other obstacles 10 to position and pose the robot 400 at locations far enough away from obstacles and/or flooring changes prior to the application of cleaning fluid 172. This has the advantage of applying fluid 172 to areas of floor surface 10 having no known obstacles thereon.
  • the robot 100 moves in a back and forth motion to moisten the cleaning pad 100 and/or scrub the floor surface 10 to which fluid 172 has been applied.
  • the robot 400 may move in a birdsfoot pattern through the footprint area AF on the floor surface 10 to which fluid 172 has been applied.
  • the birdsfoot cleaning routine involves moving the robot 100 in forward direction F and a backward or reverse direction A along a center trajectory 1000 and in forward direction F and a backward direction A along left 1010 and right 1005 trajectories.
  • the left trajectory 1010 and the right trajectory 1005 are arcuate trajectories that extend outward in an arc from a starting point along the center trajectory 1000.
  • the left trajectory 1010 and the right trajectory 1005 may be straight line trajectories that extend outward in a straight line from the center trajectory 1000.
  • FIGS. 9D and 9F depict two birdsfoot trajectories.
  • the robot 400 moves in a forward direction F from Position A along the center trajectory 1000 until it encounters a wall 20 and triggers a sensor 5010, such as a bump sensor, at Position B.
  • the robot 400 then moves in a backward direction A along the center trajectory to a distance equal to or greater than the distance to be covered by fluid application.
  • the robot 400 moves backward along the center trajectory 1000 by at least one robot length 1 to Position G, which may be the same position as Position A.
  • the robot 400 applies fluid 172 to an area substantially equal to or less than the footprint area AF of the robot 100 and returns to the wall 20, the cleaning pad 400 passing through the fluid 172 and cleaning the floor surface 10.
  • the robot 100 retracts either along a left trajectory 1010 or a right trajectory 1005 before returning to Position B and covering the remaining trajectory.
  • the cleaning pad 100 passes through the applied fluid 172, scrubbing dirt, debris and other particulate matter from the floor surface 10 to which the fluid 172 is applied and absorbing the dirty fluid into the cleaning pad 100 and away from the floor surface 10.
  • the scrubbing motion of the moistened pad combined with the solvent characteristics of the cleaning fluid 172 breaks down and loosens dried stains and dirt.
  • the cleaning fluid 172 applied by the robot 400 suspends loosened debris such that the cleaning pad 100 absorbs the suspended debris and wicks it away from the floor surface 10.
  • the robot 400 similarly moves from a starting position, Position A, through applied fluid 172, along a center trajectory 1000 to a wall position, Position B.
  • Position C which may be the same position as Position A, before covering left and right trajectories 1010, 1005, extending to positions D and F, with the cleaning fluid 172 distributed along the trajectories 1010, 1005 by the cleaning pad 100.
  • the robot 400 each time the robot 400 extends along a trajectory outward from the center trajectory 1000, the robot 400 returns to a position along the center trajectory as indicated by Positions A, C, E and G, as depicted in FIG. 9F .
  • the robot 400 may vary the sequence of backward direction A movements and forward direction F movements along one or more distinct trajectories to move the cleaning pad 100 and cleaning fluid 172 in an effective and efficient coverage pattern across the floor surface.
  • the robot 100 may move in a birdsfoot coverage pattern to moisten all portions of the cleaning pad 100 upon starting a cleaning run.
  • the bottom surface 100b of the cleaning pad 100 has a center area PC and right and left lateral edge areas PR and PL.
  • the cleaning pad 100 is dry and needs to be moistened to reduce friction and also to spread cleaning fluid 172 along the floor surface 10 to scrub debris therefrom.
  • the robot 400 After a period of time and/or distance, such as a duration of 2-10 minutes, the robot 400 applies fluid at intervals of every three to five feet because the pad 100 is moistened and able to scrub the floor 10.
  • FIG. 9G depicts, in some examples, at the start of a cleaning run, the robot 400 drives the cleaning pad 100 through applied fluid 172 such that the center area PC of the bottom surface 100b of the cleaning pad 100 and the left and right lateral edge areas PR and PL of the cleaning pad 100 each pass through the applied fluid 172 separately, thereby moistening the entire cleaning pad 100 along the entire bottom surface 100b of the cleaning pad 100 in contact with the floor surface 10.
  • the robot applies fluid 172 at a relatively high initial volumetric flow rate Vi and/or high initial frequency of application, applying a larger quantity of fluid 172 more frequently to the surface 10 and/or applying a fixed amount of fluid 172 more frequently to the surface 10 to moisten the cleaning pad 100 quickly. Moistening the cleaning pad reduces friction and also enables the pad 100 to dissolve more debris 22 without requiring more frequent applications of fluid 172.
  • the coefficient of friction of the warp layer 105 of the pad 100 varies from 0.3 to 0.5 depending on material of the floor 10 and wetness of the pad 100.
  • a dry pad 100 moving on glass has a coefficient of friction of around 0.4 to 0.5
  • wet on tiles has a coefficient of friction of about 0.25 to 0.4.
  • the robot 400 adjusts the volumetric flow rate V such that a cleaning pad 100 of specified dimensions is moistened on the bottom surface 100b ( FIG. 9E ) without being fully wetted to capacity internally in the airlaid layers 101, 102, 103.
  • the bottom surface 100b of the cleaning pad 100 is initially moistened without the absorbent interior of the pad 100 being water logged such that the cleaning pad 100 remains fully absorbent for the remainder of the cleaning run.
  • the back and forth movement of the robot 400 breaks down stains 22 on the floor surface 10. The broken down stains 22 are then absorbed by the cleaning pad 100.
  • the cleaning agent is applied to only the back surface (unexposed, non-meltblown side) of the liner in contact with the lower most airlaid core member such that the cleaning agent is released through the porous liner, onto the cleaning surface when in contact with fluid.
  • the cleaning agent may be a foaming agent and/or a cleaning agent with a visibly glossy sheen indicating the application of the cleaning agent the cleaning surface.
  • the pad includes one or more chemical preservatives applied to or manufactured within the cardboard backing element. The preservatives are selected to prevent the growth of wood spores that may be present in the wood based backing element. Some embodiments of the pad may include all of these features - conventional scent agent, cleaning agent, antibacterial agent and preservatives - or combinations of fewer than all of these features, including, for example, an encapsulated scent..
  • the implement 500 is a mop 500.
  • the mop 500 includes a body 502 supporting a reservoir 504 that holds a cleaning fluid 172 (e.g. a cleaning solution).
  • a handle 506 is disposed on one side of the body 502.
  • the handle includes a controller 508 for controlling the release of the fluid from the reservoir 504.
  • a movable rotatable base 510 is disposed on the other end of the body 502 opposite the handle 506.
  • the base 510 includes a fluid applicator 512 connected to the reservoir 504 by a tube (not shown).
  • the fluid applicator 512 may be a sprayer having at least one nozzle 514 that distributes fluid over the floor surface 10.
  • the nozzle 514 sprays forward and downwards of the base 510 towards the floor surface 10.
  • a user controlling the controller 508 sprays the fluid 172 when needed.
  • the fluid applicator 512 may have multiple nozzles 514 each configured to spray the fluid in a direction different than another nozzle 514.
  • retainers may be used to connect the cleaning pad 100 to implement 400, 500, such as snaps, clamps, brackets, adhesive, etc., which may be configured to allow the release of the cleaning pad 100 upon activation of a pad release mechanism located on the implement 400, 500 such that user need not touch the dirty used pad to remove the pad from the cleaning implement 400, 500.
  • FIG. 7 provides an exemplary arrangement of operations for a method 700 of constructing a cleaning pad 100.
  • the method 700 includes disposing 710 a first airlaid layer 101 on a second airlaid layer 102 and disposing 720 the second airlaid layer 102 on a third airlaid layer 103.
  • the method 700 further includes wrapping 730 a wrap layer 104 around the first, second, and third airlaid layers 101, 102, 103.
  • the wrap layer 104 includes a spunlace wrap layer 105, and a meltblown abrasive 107 adhered to the spunlace wrap layer 105.
  • the method 700 further includes adhering and randomly arranging meltblown abrasive 107 on the spunlace wrap layer 105. Additionally or alternatively, the meltblown abrasive fibers may have a diameter of between about 0.1 ⁇ m and about 20 ⁇ m. The method 700 may further include arranging the meltblown abrasive and the spunlace wrap layer 105 to have a collective thickness of between 0.5 mm and about 0.7 mm on the spunlace wrap layer 105. In some examples, the melblown abrasive 107 creates a thickness gap of 0.5mm between the wrap layer 105 and the floor 10. Because of this thickness gap, the pad 100 can pick up a 1.5mm diameter bubble of fluid sitting on the floor 10 with surface tension without requiring force. The lowest points of the embossed cover 105 layer are only 0.5 mm from the floor 10 and the remainder of the surface area of wrap layer 105 is 3mm from the floor 10.
  • the method 700 may further include arranging the meltblown abrasive 107 on the spunlace wrap layer 105 to provide a covered surface ratio between the meltblown abrasive 107 and the spunlace wrap layer 105 of between about 60% and about 70%.
  • the method 700 may include adhering the first airlaid layer 101 to the second airlaid layer 102 and adhering the second airlaid layer 102 to the third airlaid layer 103.
  • the airlaid layers 101, 102, 103 may be of a cellulose based textile material (e.g., a material including fluff pulp).
  • the method 700 may include where the first, second, and third airlaid layers 101, 102, 103, the spunlace wrap layer 105, and the meltblown abrasive are configured to increase in thickness by less than 30% after fluid absorption.
  • the method 700 may further include embossing the spunlace layer105.
  • the method 700 may also include disposing sodium polyacrylate in one or more of the airlaid layers 101, 102, 103.
  • the method 700 further includes configuring the airlaid layers 101, 102, 103 and wrap layer 104 to have a combined width of between about 80 millimeters and about 68 millimeters, and a combined length of between about 200 millimeters and about 212 millimeters.
  • the method 700 may further include configuring the airlaid layers 101, 102, 103 and the wrap layer 104 to have a combined thickness of between about 6.5 millimeters and about 8.5 millimeters.
  • the method 700 may include configuring the airlaid layers 101, 102, 103 to have a combined airlaid width of between 69 millimeters and about 75 millimeters, and a combined airlaid length of between about 165 millimeters and about 171 millimeters.
  • FIGS.8E-G demonstrate an exemplary release mechanism for the pad 100 as described herein.
  • FIGS. 8A-8C show an embodiment of the pad 100 having a core of three airlaid layers 101, 102, 103 bonded and enclosed in a wrap layer 105 adhered to the top surface of the top airlaid layer 101.
  • the embodiment of FIGS. 8A-8C include a cardboard backing layer 85 adhered to the top surface of the pad 100.
  • the cardboard backing layer 85 protrudes beyond the longitudinal edges of the pad 100 and the protruding longitudinal edges 86 of the cardboard backing layer 85 attach to the pad holder 82 of the robot 100.
  • the cardboard backing layer 85 is between 0.02" and 0.03" thick, between 68 and 72 mm wide and between 90-94mm long.
  • the cardboard backing layer 85 is .026" thick, 70mm wide and 92mm long. In one embodiment, the cardboard backing layer 85 is coated on both sides with a water resistant coating, such as wax or polymer or a combination of water resistant materials, such as wax/polyvinyl alcohol, polyamine, and the cardboard backing layer 85 does not disintegrate when wetted.
  • a water resistant coating such as wax or polymer or a combination of water resistant materials, such as wax/polyvinyl alcohol, polyamine
  • the bottom surface 100b of the pad 100 may include one or more hair catching strips 100c for catch and collect loose hair during cleaning.
  • two hair catching strips 100c are depicted in dashed line to indicate the option nature of this feature.
  • the strip or strips 100c may be located on outer longitudinal edges of the pad 100 or in a single strip on either longitudinal edge of the pad or down the middle of the pad.
  • each hair catching strip 100c is less than 30% of the total surface area of the bottom surface 100b of the pad 100 and preferably is less than 20% of the surface area of the bottom surface 100b of the pad 100.
  • the hair catching strip 100c may be a strip of material added to the wrap layer 105 that includes loose fibers with catching features, such as Velcro® hooks, rough edged fibers or fibers with a fused tip.
  • the pad 100 as described herein can be secured to an autonomous robot through a pad holder 82 which can be attached to the robot 400.
  • An exemplary pad release mechanism 83 is also shown in an up or pad-secure position.
  • the pad release mechanism 83 includes a retainer 600a, or lip, that holds the pad 100 securely in place by grasping the protruding longitudinal edges 86 of the cardboard backing layer 85.
  • the tip or end 84 of the pad release mechanism 83 includes a moveable retention clip 600a and an eject protrusion 84 that slides up through a slot or opening in the pad holder 82 when the pad is inserted into the holder 82, and is pushed into a down position to release the secured pad 100 as shown in FIG 8G , as shown here pushing down on the attached backing layer 85, e.g. cardboard backing.
  • the relationship between the pad and the pad holder 82 is also shown in a top view in FIG 8F .
  • the pad release mechanism 83 is activated by a toggle button 477 located under the handle 419 of the robot 400, as shown in FIG. 4 .
  • the toggle motion is indicated by the dotted double arrow 478.
  • the cardboard backing layer 85 may include cutouts 88 centered along the protruding longitudinal edges 86 of the cardboard backing layer 85 and corresponding in position with raised protrusion 94 on the bottom of the pad holder 82, as shown in FIG. 8D .
  • the cardboard backing layer 85 contains a first set of cutouts 88 centered on the protruding longitudinal edges 86 of the cardboard backing layer 85 and a second set of cutouts 90 on the lateral edges of the cardboard backing layer 85.
  • the cutouts 88, 90 are symmetrically centered along the longitudinal center axis PCA lon of the pad 100 and lateral center axis PCA lat of the pad 100 and engage with corresponding protrusions 92, 94 centered on the longitudinal center axis HCA lon of the underside of the pad holder 82 and lateral center axis PCA lat on the underside of the pad holder 82.
  • the pad holder 82 of the embodiment of FIG. 8D includes three raised protrusions 92, 94. This is so that a user may install the pad 100 in either of two identical directions (180 degrees opposite to one another) while allowing the pad holder 82 to more easily release the pad 100 when the release mechanism 83 is triggered.
  • the pad holder include four protrusions 92, 94 corresponding in position to the four cutouts 88, 90 on the cardboard backing layer in FIG. 8C .
  • the pad holder 82 and pad 100 respectively include raised protrusions and corresponding cut outs in any other number or configuration for holding the pad in place and enabling selective release.
  • the raised protrusion 94 on the longitudinal edge of the pad holder 82 is obscured by the retaining bracket 600a, which is shown in phantom view so that the raised protrusion 94 therebeneath is visible in the exemplary view.
  • the protrusions 92, 94 both poke yoke attachment of the disposable pad 100 to the bottom of the pad holder 82 so that alignment if the pad 100 to the holder 82 is precise and retain the pad 100 relatively stationary to the pad holder 82 by preventing lateral and/or transverse slippage.
  • the cutouts 88, 90 extend into the surface area of the cardboard backing layer 85, they respectively interface with more lateral and longitudinal surface area of the raised protrusions 92, 94 and the pad is held in place against rotational forces as well by the cutout-protrusion retention system.
  • the robot 100 moves in a scrubbing motion, as described above, and, in embodiments, the pad holder 82 oscillates the pad for additional scrubbing.
  • the robot 400 oscillates the attached pad 100 in an orbit of 12-15mm to scrub the floor 10 and applies 1 pound of downward pushing force or less to the pad.
  • the pad 100 remains stationary relative to the holder during use, and the application of scrubbing motion, including oscillation motion, directly transfers from the pad holder 82 through the layers of the pad without loss of transferred movement.
  • the pad of FIGS. 1A-1D and 8A-8C are disposable pads.
  • the pad 100 is a reusable microfiber cloth pad having the same absorptive characteristics as those described herein with regard to embodiments.
  • the top surface of the cloth includes a secured stiff backing layer shaped and positioned like the cardboard backing layer of the embodiments of FIGS. 8A-8C .
  • the stiff backing layer is made of heat resistant, washable material that can be machine dried without melting or degrading the backing.
  • the stiff backing layer is dimensioned and has cutouts as described herein for interchangeable use with the embodiment of the pad holder 82 described with regard to the embodiments of FIGS. 8A-8G .
  • the pad 100 is intended for use as a disposable dry cloth and comprises a single layer of needle punched spunbond or spunlace material having exposed fibers for entrapping hair.
  • the dry pad 100 embodiment further comprises a chemical treatment that adds a tackiness characteristic to the pad 100 for retaining dirt and debris.
  • the chemical treatment is a material such as that marketed under the trade name DRAKES OL.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nonwoven Fabrics (AREA)
  • Laminated Bodies (AREA)

Claims (15)

  1. Tampon pour le nettoyage de surfaces (100), comprenant :
    une partie centrale absorbante (101, 102, 103) contenant un matériau fibreux qui absorbe et retient un matériau liquide,
    une couche de couverture (104 ; 105) en contact avec et recouvrant au moins un côté de la partie centrale absorbante, contenant un matériau fibreux qui retient et transporte par effet de mèche un matériau liquide à travers la couche de couverture, et
    une couche de support (85) fixée au tampon, la couche de support étant configurée pour fixer le tampon à un robot de nettoyage,
    caractérisé en ce que
    la couche de support dépasse des bords longitudinaux (86) du tampon, et les bords longitudinaux saillants de la couche de support sont configurés pour une fixation à un support de tampon du robot, et
    dans lequel la couche de support comprend des échancrures (88) centrées le long des bords longitudinaux saillants (86) de la couche de support (85).
  2. Tampon selon la revendication 1, dans lequel le matériau central absorbe jusqu'à environ 7 à environ 10 fois son poids, et dans lequel la couche de couverture retient jusqu'à environ 10 % du matériau liquide absorbé.
  3. Tampon selon la revendication 1, dans lequel la partie centrale absorbante comprend de la pâte de bois cellulosique non tissée, et dans lequel la partie centrale absorbante contient en outre une couche de surface comprenant un latex acrylique.
  4. Tampon selon la revendication 1, dans lequel la couche de support est un support en carton revêtu d'un polymère hydrophobe de moins de 0,1 cm d'épaisseur.
  5. Tampon selon la revendication 1, dans lequel la partie centrale absorbante comprend une première couche, une deuxième couche et une troisième couche formées par voie aérodynamique (101 ; 102 ; 103), chaque couche formée par voie aérodynamique ayant une surface supérieure et une surface inférieure, la surface inférieure de la première couche formée par voie aérodynamique étant disposée sur la surface supérieure de la deuxième couche formée par voie aérodynamique, la surface inférieure de la deuxième couche formée par voie aérodynamique étant disposée sur la surface supérieure de la troisième couche formée par voie aérodynamique.
  6. Tampon selon la revendication 5, dans lequel les couches sont collées les unes aux autres au moyen d'un matériau adhésif, dans lequel le matériau adhésif est appliqué en au moins deux bandes uniformément espacées sur la longueur d'au moins un côté d'une couche formée par voie aérodynamique et ne recouvre pas plus de 10 % de l'aire de surface dudit au moins un côté, ou dans lequel le matériau adhésif est pulvérisé sur la longueur d'au moins un côté d'une couche formée par voie aérodynamique et ne recouvre pas plus de 10 % de l'aire de surface dudit au moins un côté.
  7. Tampon selon la revendication 1, dans lequel la couche de couverture comprend une couche produite par un procédé spunlace ou spunbond (105).
  8. Tampon selon la revendication 7, dans lequel la couche produite par un procédé spunlace ou spunbond comporte des trous formés par aiguilletage.
  9. Tampon selon la revendication 1, dans lequel la couche de couverture comprend une couche spunbond hydroliée comportant des renfoncements d'épaisseur réduite sur une surface orientée vers le sol et ayant un grammage de 35 à 40 g/m2.
  10. Tampon selon l'une quelconque des revendications 1, 7 ou 8, dans lequel la couche de couverture contient des fibres abrasives extrudées-soufflées (106) collées sur le côté de la couche de couverture qui n'est pas en contact avec la partie centrale absorbante.
  11. Tampon selon la revendication 10, dans lequel les fibres extrudées-soufflées ont un diamètre d'environ 0,1 µm à environ 20 µm.
  12. Tampon selon la revendication 10, dans lequel les fibres abrasives extrudées-soufflées recouvrent d'environ 44 % à environ 75 % de la surface de la couche de couverture.
  13. Tampon selon la revendication 10, dans lequel les fibres abrasives extrudées-soufflées et la couche de couverture ont une épaisseur collective d'environ 0,5 mm à environ 0,7 mm sur la surface de la couche de couverture.
  14. Tampon selon la revendication 1, l'épaisseur du tampon augmentant de moins de 30 % après l'absorption du matériau liquide.
  15. Tampon selon la revendication 1, le tampon ayant une épaisseur d'environ 6,5 mm à environ 8,5 mm, une largeur d'environ 68 mm à environ 80 mm et une longueur d'environ 165 mm à environ 212 mm, et la partie centrale absorbante retenant jusqu'à environ 180 ml.
EP14861203.9A 2013-11-12 2014-11-11 Tampon de nettoyage Active EP2945521B1 (fr)

Priority Applications (1)

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EP18202105.5A EP3453300B1 (fr) 2013-11-12 2014-11-11 Tampon de nettoyage

Applications Claiming Priority (4)

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US201361902838P 2013-11-12 2013-11-12
US14/077,296 US9427127B2 (en) 2013-11-12 2013-11-12 Autonomous surface cleaning robot
US201462059637P 2014-10-03 2014-10-03
PCT/US2014/065004 WO2015073429A1 (fr) 2013-11-12 2014-11-11 Tampon de nettoyage

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EP2945521A1 EP2945521A1 (fr) 2015-11-25
EP2945521A4 EP2945521A4 (fr) 2017-02-15
EP2945521B1 true EP2945521B1 (fr) 2018-10-24

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EP14861203.9A Active EP2945521B1 (fr) 2013-11-12 2014-11-11 Tampon de nettoyage

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JP (6) JP6165317B2 (fr)
KR (1) KR101880832B1 (fr)
CN (5) CN107028564B (fr)
AU (3) AU2014348883C1 (fr)
ES (1) ES2703924T3 (fr)
WO (1) WO2015073429A1 (fr)

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JP6763930B2 (ja) 2020-09-30
WO2015073429A1 (fr) 2015-05-21
AU2016259361B2 (en) 2018-02-22
JP2021000475A (ja) 2021-01-07
AU2014348883A1 (en) 2015-08-27
JP6165317B2 (ja) 2017-07-19
JP2021164652A (ja) 2021-10-14
CN108514386A (zh) 2018-09-11
CN108378786B (zh) 2024-05-10
JP7214788B2 (ja) 2023-01-30
AU2014348883C1 (en) 2017-11-09
AU2018203583B2 (en) 2019-08-15
CN105120726A (zh) 2015-12-02
EP2945521A4 (fr) 2017-02-15
KR101880832B1 (ko) 2018-07-20
KR20160085815A (ko) 2016-07-18
AU2018203583A1 (en) 2018-06-14
CN108378786A (zh) 2018-08-10
EP2945521A1 (fr) 2015-11-25
JP2017080522A (ja) 2017-05-18
EP3453300A1 (fr) 2019-03-13
JP2023052443A (ja) 2023-04-11
JP2019048130A (ja) 2019-03-28
CN107028564B (zh) 2020-04-21
CN107028564A (zh) 2017-08-11
ES2703924T3 (es) 2019-03-13
JP2016520354A (ja) 2016-07-14
JP6896926B2 (ja) 2021-06-30
JP6440752B2 (ja) 2018-12-19
EP3453300B1 (fr) 2023-10-18
AU2014348883B2 (en) 2017-06-15
AU2016259361A1 (en) 2016-12-08
CN105120726B (zh) 2018-06-08
CN121220996A (zh) 2025-12-30

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