WO2024253933A1 - Robot de nettoyage mobile comprenant un système de frottement - Google Patents

Robot de nettoyage mobile comprenant un système de frottement Download PDF

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Publication number
WO2024253933A1
WO2024253933A1 PCT/US2024/031583 US2024031583W WO2024253933A1 WO 2024253933 A1 WO2024253933 A1 WO 2024253933A1 US 2024031583 W US2024031583 W US 2024031583W WO 2024253933 A1 WO2024253933 A1 WO 2024253933A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning robot
scrubbing
pad
mobile cleaning
mopping
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.)
Ceased
Application number
PCT/US2024/031583
Other languages
English (en)
Inventor
Eric J. Burbank
Timothy R. Ohm
Daniel E.C. Grande
Stephen A. Hickey
Jiaqian Wu
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
Application filed by iRobot Corp filed Critical iRobot Corp
Publication of WO2024253933A1 publication Critical patent/WO2024253933A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • 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
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary 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
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/20—Floor surfacing or polishing machines combined with vacuum cleaning 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

Definitions

  • Autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks within an environment, such as a home. Many kinds of cleaning robots are autonomous to some degree and in different ways. Some robots can perform vacuuming operations and some can perform mopping operations. Other robots can include components or systems to perform both vacuuming and mopping operations.
  • Some autonomous cleaning robots can include both a vacuum system and a mopping system that can allow the robots to perform both mopping and vacuuming operations (such as simultaneously or alternatively), often referred to as two-in-one robots.
  • a vacuum system and a mopping system that can allow the robots to perform both mopping and vacuuming operations (such as simultaneously or alternatively), often referred to as two-in-one robots.
  • some stains or dirt may be difficult to remove from a flooring surface of an environment with only a wet or dry pad.
  • the present disclosure helps to address these issues by including a two-in-one robot that includes a scrubbing system configured to scrub a flooring surface as it mops or cleans the flooring surface, helping to improve cleaning effectiveness or efficiency.
  • Other types of robots include only mopping systems for performing wet or dry mopping operations or missions.
  • a mobile cleaning robot can include a body, a drive system, a mopping pad assembly, and a scrubbing system.
  • the drive system can be connected to the body and can be operable to move the mobile cleaning robot about a floor surface of an environment.
  • the mopping pad assembly can be connected to the body and can be configured to hold a mopping pad that is engageable with the floor surface.
  • the scrubbing system can be connected to the body in front of the mopping pad assembly, The scrubbing system can be operable to engage and scrub the floor surface.
  • FIG. 1 illustrates a plan view' of a mobile cleaning robot in an environment.
  • FIG. 2A illustrates an isometric view of a mobile cleaning robot in a first condition.
  • FIG. 2C illustrates an isometric view of a mobile cleaning robot in a third condition.
  • FIG. 2D illustrates a bottom view of a mobile cleaning robot in a third condition.
  • FIG. 2E illustrates a top isometric view of a mobile cleaning robot in a third condition.
  • FIG. 2F illustrates a side cross-sectional view of a mobile cleaning robot in a first condition.
  • FIG. 3 illustrates a diagram illustrating an example of a communication network in which a mobile cleaning robot operates and data transmission in the network.
  • FIG. 5 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 7 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 8 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 12 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 13 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 14 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 16 illustrates a perspective view of a portion of a mobile cleaning robot.
  • FIG. 17 illustrates a perspective view of a portion of a mobile cleaning robot.
  • FIG. 18 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 19 illustrates an isometric view of a portion of a mobile cleaning robot.
  • FIG. 20 illustrates a block diagram illustrating an example of a machine upon which one or more embodiments may be implemented.
  • FIG. 1 illustrates a plan view of a mobile cleaning robot 100 in an environment 40, in accordance with at least one example of this disclosure.
  • the environment 40 can be a dwelling, such as a home or an apartment, and can include rooms 42a-42e. Obstacles, such as a bed 44, a table 46, and an island 48 can be located in the rooms 42 of the environment. Each of the rooms 42a-42e can have a floor surface 50a-50e, respectively. Some rooms, such as the room 42d, can include a rug, such as a rug 52.
  • the floor surfaces 50 can be of one or more types such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high)-pile carpet, stone, or the like.
  • the cleaning rollers 114a and 114b can be operably connected to an actuator 1 15, e.g., a motor, through a gearbox.
  • the cleaning head 1 13 and the cleaning rollers 114a and 114b can be located forward of the cleaning bin 130.
  • the cleaning rollers 114 can be mounted or connected to an underside of the body- 102 so that the cleaning rollers 114a and 114b can engage debris on the floor surface 50 during the cleaning operation when the underside of the body 102 faces the floor surface 50.
  • the sensor data collected by any of the sensors can be stored in the memory 126.
  • other data generated for the SLAM techniques including mapping data forming the map, can be stored in the memory 126.
  • These data produced during the mission can include persistent data that are produced during the mission and that are usable during further missions.
  • the memory 126 can store data resulting from processing of the sensor data for access by the controller 1 1 1.
  • the map can be a map that is usable and updateable by the controller 111 of the robot 100 from one mission to another mission to navigate the robot 100 about the floor surface 50.
  • the persistent data, including the persistent map can help to enable the robot 100 to efficiently clean the floor surface 50.
  • the map can enable the controller 111 to direct the robot 100 toward open floor space and to avoid nontraversable space.
  • the controller 111 can use the map to optimize paths taken during the missions to help plan navigation of the robot 100 through the environment 40.
  • FIG. 3 is a diagram showing a communication network 300 that enables networking between the mobile robot 100 and one or more other devices, a docking station 200 (or any of the docking stations discussed herein), a mobile device 304 (including a controller), a cloud computing system 306 (including a controller), or another autonomous robot separate from the mobile robot 100.
  • the robot 100, the mobile device 304, the docking station 200, and the cloud computing system 306 can communicate with one another to transmit and receive data from one another.
  • the robot 100, the docking station 200, or both the robot 100 and the docking station 200 can communicate with the mobile device 304 through the cloud computing system 306. Alternatively, or additionally, the robot 100.
  • the mobile device 304 can transmit a signal to the cloud computing system 306 to cause the cloud computing system 306 to transmit a command signal to the mobile robot 100.
  • the mobile device 304 can present augmented reality images.
  • the mobile device 304 can be a smart phone, a laptop computer, a tablet computing device, or other mobile device.
  • the 4G standards can correspond to the International Mobile Telecommunications Advanced (IMT- Advanced) specification.
  • cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, and WiMAX- Advanced.
  • Cellular network standards can use various channel access methods, e.g.. FDMA, TDMA, CDMA, or SDMA.
  • the scrubbing head 446 can be or can include a belt 447 configured to rotate with respect to the body 402, such as about a vertical axis (or substantially vertical axis) of the body 402.
  • the scrubbing head 446 can also include bristles or the like configured to engage the floor surface and debris.
  • the scrubbing head 446 can also include pad material, abrasive material, or soft material, configured to scrub or engage debris of a flooring surface.
  • the nozzles 417 can be located within the scrubbing head 446 (e.g., at least partially surrounded by the scrubbing head 446) and the spray nozzles 417 can be configured to distribute fluid onto the bristles or the flooring surface around the cleaning head.
  • the controller can operate the actuator to rotate the belt 447 and bristles to engage and scrub the flooring surface or debris or dirt on the flooring surface.
  • the controller can also operate the spray nozzles 417 to discharge fluid onto the floor surface to help the bristles release dirt from the flooring surface during scrubbing.
  • the released debris can be engaged by (or collected by) the pad assembly 408, such as the cleaning pad thereof, to remove the dirt or debris from the flooring surface.
  • the scrubbing system 444 can be used to effectively lift dirt from a flooring surface for extraction by cleaning pad of the pad assembly 408. Additional examples of scrubbing systems are discussed below.
  • the scrubbing system 444 can be retractable into the body 402 when the scrubbing system 444 is not in use and the scrubbing system 444 can be deployed from the body 402 to engage the flooring surface, such as during a mission including the mopping pad assembly 408.
  • the scrubbing system 444 can also be retracted for docking or other mobility related movements of the mobile cleaning robot 400. Retraction of the scrubbing system 444 can also help to reduce noise during vacuuming only missions.
  • FIG. 5 illustrates an isometric view of a portion of a mobile cleaning robot 500.
  • the mobile cleaning robot 500 can be similar to the robots 100 and 400 discussed above; the mobile cleaning robot 500 can include a reciprocating scrubbing system or agitation system. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 500.
  • the mobile cleaning robot 500 can include a body 502, a mopping pad assembly 508 and a scrubbing system 544.
  • the body 502 and the mopping pad assembly 508 can be similar to the body 102 and the mopping pad assembly 108. respectively, discussed above.
  • the mopping pad assembly 508 can include a pad tray 541 and a mopping pad 542, which can be similar to the pad tray 141 and the mopping pad 142, respectively.
  • the pad tray 541 can be connected to the body 502 by arms 548 such that the mopping pad assembly 508 can be movable with respect to the body 502 (e.g., using one or more actuators).
  • the scrubbing system 544 can include a scrubbing head 546, a support 550, a linkage system 552, and an actuator 554 or scrubbing motor.
  • the support 550 can be a rigid or semi-rigid member configured to support or connect components of the scrubbing system 544.
  • the scrubbing head 546, the linkage system 552. and the actuator 554 can be connected to the support 550.
  • the actuator 554 can be a motor or actuator operable to operate or move the scrubbing head 546.
  • the actuator 554 can be in communication with a controller (e.g., the controller 111).
  • the scrubbing head 546 can include brush assemblies 556a and 556b (collectively referred to as brush assemblies 556), which can be connected to the support 550 and can be engaged with the actuator 554 such that operation of the actuator 554 can cause movement of the brush assemblies 556 to scrub or agitate a flooring surface or dirt thereon.
  • the brush assemblies 556 are discussed in further detail below along with other features of the mobile cleaning robot 500. Though referred to as brushes, the brush assemblies 556 can be other scrubbing devices or materials.
  • the linkage system 552 can include links 552a, 552b and 552c that can be connected to the body 502 and can thereby connect the scrubbing system 544 to the body 502.
  • the linkage system 552 can be one or more links, members, or arms connected by one or more joints or fasteners and the linkage system 552 can be configured to allow the actuator 554 and scrubbing head 546 (the scrubbing system 544) to move with respect to the body 502, such as to allow the brush assemblies 556 to maintain contact with a flooring surface during movement about an environment.
  • FIG. 6 illustrates a cross-sectional side view across indicators 6-6 of FIG. 5 of a portion of a mobile cleaning robot.
  • FIG. 7 illustrates an isometric view of a portion of the mobile cleaning robot 500.
  • FIGS. 6 and 7 are discussed together below.
  • the mobile cleaning robot 500 of FIGS. 6 and 7 can be consistent with the mobile cleaning robot 500 of FIG. 5.
  • FIGS. 6 and 7 show s additional details of the mobile cleaning robot 500.
  • FIG. 7 also show s orientation indicators Right, Left, Up, and Down.
  • FIG. 7 shows that the frames 555a and 555b can include or can define tracks 570a and 570b, respectively.
  • the tracks 570a and 570b can receive a head portion of the bristles 566a and 566b, respectively, at least partially therein to secure the bristles 566a and 566b to the frames 555a and 555b, respectively.
  • the tracks 570a and 570b can allow' for user replacement of the bristles 566a and 566b such as by sliding the bristles 566a and 566b out of and into the tracks 570a and 570b, respectively.
  • the scrubbing system 844 can include a scrubbing head 846, a support 850, a linkage system 852, and an actuator 854 or scrubbing motor.
  • the support 850 can be a rigid or semi-rigid member configured to support or connect components of the scrubbing system 844.
  • the scrubbing head 846, the linkage system 852, and the actuator 854 can be connected to the support 850.
  • the scrubbing system 844 can also include a motor mount 878 that can be configured to support the actuator 854 and can be connected to the support 850.
  • the actuator 854 can be a motor or actuator operable to operate or move the scrubbing head 846.
  • the actuator 854 can be in communication with a controller (e.g.. the controller 111).
  • the brushes 856 can be connected to the support 850 such that the brushes 856 move with the support 850 in unison.
  • the brushes 856 can comply to the floor by float or movement of the support 850 (relative to the body 802) or through any compliance of the individual bristles 888.
  • the support 850 will either lift the other brushes off the floor or lose contact with the floor.
  • each brush 856 can be connected to the support 850 such that each of the brushes 856 can float or move individually relative the support 850.
  • a controller can operate the scrubbing system 844 by operating the actuator 854 to operate the scrubbing head 846. More specifically, the actuator 854 can be operated to rotate the drive gear 880 to rotate the idler gear 882, such that the idler gear 882 drives one or more of the brush gears 890, which causes rotation of all of the brush gears 890 and therefore all of the shafts 884 and bristles 888, causing a rotational scrubbing action of all of the brushes 856. such as on a flooring surface for removal of debris or dirt from the flooring surface. This rotational scrubbing of the brushes 856 on the flooring surface can result in effective or efficient removal or agitation or separation of debris from a flooring surface, such that the debris can be effectively collected by the mopping pad 842.
  • FIG. 1 1 illustrates an isometric view of a portion of a mobile cleaning robot 1100.
  • FIG. 12 illustrates an isometric view of a portion of the mobile cleaning robot 1100.
  • FIGS. 11 and 12 are discussed together below.
  • the mobile cleaning robot 1100 can be similar to the robots 100, 400, 500, and 800 discussed above; the mobile cleaning robot 1100 can include a scrubbing system with a roller. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 1100.
  • the scrubbing head 1156, the linkage system 1152, and the actuator 1 154 can be connected to the support 1150.
  • the actuator 1154 can be a motor or actuator operable to operate or move the drive system 1192 to move or rotate the roller 1194.
  • the actuator 1154 can be in communication with a controller (e.g., the controller 111).
  • the drive system 1192 can be a gear train or other driver configured to convert rotation from the actuator 1154 into rotation of the roller 1194.
  • the roller 1194 can be a rotatable member configured to engage and scrub a flooring surface, such as to remove debris therefrom.
  • the roller 1194 can be made of one or more of polymers, foam, rubber, or the like.
  • the roller 1194 can include one or more bristles or fletches extending radially from a core of the roller 1 194.
  • FIG. 13 illustrates an isometric view of a portion of a mobile cleaning robot 1300.
  • the mobile cleaning robot 1300 can be similar to the robots discussed above; the mobile cleaning robot 1300 can include a scrubbing system with a belt. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 1300.
  • the actuator can rotate the shaft 1362 to drive the drive gear 1380.
  • the drive gear 1380 can drive the reversing gear 1382 to drive the driven gears 1383 of the scrubbing head 1356b to rotate in a first direction
  • the drive gear 1380 can drive the driven gear 1383 of the scrubbing head 1356a to rotate in a second direction, opposite the first direction, such that the belt 1396 and one or more bristles 1397 of the scrubbing head 1356a rotate in an opposite direction of the belt 1396 and one or more bristles 1397 and the scrubbing head 1356b, such that each of the belts 1396 rotate about a horizontal axis of the body 1302.
  • the belts 1396 can rotate towards each other along a bottom portion of each belt 1396 such as to motive or bring dirt or debris toward a center of the body 1302 for collection by a cleaning pad or mopping pad.
  • Such as design can also help to limit forces transmitted back to the body 1302 via vibration or rotational forces.
  • FIG. 14 illustrates an isometric view' of a portion of a mobile cleaning robot 1400.
  • FIG. 15 illustrates a cross-sectional side view across indicators 15-15 of FIG. 14 of a portion of the mobile cleaning robot 1400.
  • FIGS. 14 and 15 are discussed together below.
  • the mobile cleaning robot 1400 can be similar to the robots discussed above; the mobile cleaning robot 1400 can include a pad scrubbing system. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 1400.
  • the mobile cleaning robot 1400 can include a body 1402, a mopping pad assembly 1408, and a scrubbing system 1444.
  • the pad plate 1441 can be driven to rotate by the actuator 1454 such as via a controller (e.g.. the controller 111) at a high frequency and a low amplitude to provide a scrubbing action of the mopping pad 1442 while helping to limit transmission of reaction forces to the body 1402, helping to minimize impact of navigation and mobility of the mobile cleaning robot 1400 during scrubbing operations.
  • the pad plate 1441 can be driven to rotate at a frequency between 10 Hertz and 200 Hertz, such as between 800 Hertz and 150 Hertz.
  • FIG. 16 illustrates a perspective view of a portion of a mobile cleaning robot 1600.
  • FIG. 17 illustrates a perspective view of a portion of the mobile cleaning robot 1600.
  • FIGS. 16 and 17 are discussed together below.
  • the mobile cleaning robot 1600 can be similar to the robots discussed above; the mobile cleaning robot 1600 can include a retractable pad with a moving pad scrubbing system. Any of the mobile cleaning robots discussed above or below can include the features of the mobile cleaning robot 1600.
  • the mobile cleaning robot 1600 can be similar to the robot 100 discussed above such that the mobile cleaning robot 1600 can include a body 1602 and a mopping assembly 1608 that is movable with respect to the body 1602 between a stored position and a deployed or mopping position, as shown in FIGS. 2A-2C.
  • the mobile cleaning robot 1600 can also include a driver 1698 that can be WEsimilar to the driver 1498 discussed above such that the 1698 can be driven (e.g., by an actuator connected to a controller such as the controller 111) to rotate eccentrically.
  • the driver 1698 can be operated (e.g., via an actuator and controller) to rotate eccentrically to cause the pad tray 1641 and the mopping pad 1642 to move or oscillate to create a scrubbing or cleaning action on a flooring surface.
  • the eccentricity' of the driver 1698 can be selected along with the rotational speed of the driver 1698 such that the mopping assembly 1608 oscillates or moves within a tolerance of the arms (e.g., arms 106) supporting the mopping assembly 1608.
  • the mopping assembly 1608 can oscillate between 5 Hertz and 100 Hertz, such as between 20 Hz and 30 Hz.
  • the frequency can be selected to increase a total distance covered by the mopping pad 1642 on the floor and can be optimized to balance noise, a natural frequency of the mopping assembly 1608. and improved distance covered.
  • the actuator 1826 of the pad drive system 1824 can be operable to move the arm 1828 to move the pad tray 1841 and the mopping pad 1842 with respect to the body 1802 (e.g., vertically) between a cleaning position and a stored position.
  • the mobile cleaning robot 1800 can also include a cover 1830 connected to the body 1802 and movable with respect to the body 1802 between a first position and a second position.
  • the mobile cleaning robot 1800 can also include a cover drive system 1832 connected to the body 1802 and connected to the cover 1830.
  • the cover drive system 1832 can include an actuator and a gear train or other driver that can be operable to move the cover 1830 between the first position to the second position.
  • the gear train can operate arms 1833 (that can be connected to the body 1802) to rotate to push the cover 1830 in or out.
  • the arms 1833 can also include one or more springs (or biasing elements) such as nested within the arms 1833 to bias the cover 1830 toward its open or closed position.
  • the cover 1830 can also include or define a slot 1834 through which the arm 1828 can extend to allow the arm 1828 and the mopping assembly 1808 to move with respect to the body 1802 and to allow the cover 1830 to move with respect to the mopping assembly 1808 and the body 1802.
  • the cover 1830 can be movable, such as laterally or horizontally, away from the body 1802 to make space for the mopping assembly 1808 to move vertically.
  • the cover 1830 can be in the first position, as shown in FIG. 18 and the mopping assembly 1808 can be in a stored position, above the cover 1830. In such a position, the cover 1830 can restrict movement of the mopping assembly 1808 between the stored position and the cleaning or mopping position.
  • the cover 1830 can then be moved by the cover drive system 1832 to the second position (away from the body 1802) and the actuator 1826 can be operated to move the arm 1828 and the mopping assembly 1808 downw ard below' the cover 1830.
  • the cover 1830 can be moved back to the first position such as to close the body 1802 but keeping the mopping pad 1842 in a mopping configuration, as shown in FIG. 19.
  • the cover 1830 can be moved back to the second position to allow the mopping assembly 1808 to be moved vertically or upward back to the stored position.
  • the drive systems pad drive system 1824 and cover drive system 1832 and moving plate 1830 can be incorporated with any of the robots discussed above or any other robots.
  • FIG. 20 illustrates a block diagram of an example machine 2000 upon which any one or more of the techniques (e.g.. methodologies) discussed herein may perform. Examples, as described herein, may include, or may operate by, logic or a number of components, or mechanisms in the machine 2000.
  • Circuitry e.g., processing circuitry
  • Circuitry membership may be flexible over time. Circuitries include members that may, alone or in combination, perform specified operations when operating.
  • hardware of the circuitry' may be immutably designed to cany' out a specific operation (e.g., hardwired).
  • the hardware of the circuitry may include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.) including a machine readable medium physically modified (e.g., magnetically, electrically, moveable placement of invariant massed particles, etc.) to encode instructions of the specific operation.
  • variably connected physical components e.g., execution units, transistors, simple circuits, etc.
  • a machine readable medium physically modified e.g., magnetically, electrically, moveable placement of invariant massed particles, etc.
  • machine shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations.
  • cloud computing software as a service
  • SaaS software as a service
  • the machine 2000 may include a hardware processor 2002 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), a main memory 2004, a static memory (e.g., memory or storage for firmware, microcode, a basic-input- output (BIOS), unified extensible firmware interface (UEF1), etc.) 2006, and mass storage 2008 (e.g., hard drive, tape drive, flash storage, or other block devices) some or all of which may communicate with each other via an interlink (e.g., bus) 2030.
  • a hardware processor 2002 e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof
  • main memory e.g., a static memory (e.g., memory or storage for firmware, microcode, a basic-input- output (BIOS), unified extensible firmware interface (UEF1), etc.) 2006
  • mass storage 2008 e.g., hard
  • the machine 2000 may include an output controller 2028, such as a serial (e.g., universal serial bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, etc.).
  • a serial e.g., universal serial bus (USB), parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connection to communicate or control one or more peripheral devices (e.g., a printer, card reader, etc.).
  • USB universal serial bus
  • IR infrared
  • NFC near field communication
  • Registers of the processor 2002, the main memory 2004, the static memory 2006, or the mass storage 2008 may be, or include, a machine readable medium 2022 on which is stored one or more sets of data structures or instructions 2024 (e.g., software) embodying or utilized by any one or more of the techniques or functions described herein.
  • the instructions 2024 may also reside, completely or at least partially, within any of registers of the processor 2002, the main memory 2004, the static memory 2006, or the mass storage 2008 during execution thereof by the machine 2000.
  • one or any combination of the hardware processor 2002, the main memory' 2004, the static memory 2006, or the mass storage 2008 may constitute the machine readable media 2022.
  • machine readable medium 2022 is illustrated as a single medium, the term “machine readable medium” may include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) configured to store the one or more instructions 2024.
  • machine readable medium may include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) configured to store the one or more instructions 2024.
  • machine readable medium’ 7 may include any medium that is capable of storing, encoding, or carrying instructions for execution by the machine 2000 and that cause the machine 2000 to perform any one or more of the techniques of the present disclosure, or that is capable of storing, encoding or carry ing data structures used by or associated with such instructions.
  • Non-limiting machine readable medium examples may include solid-state memories, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon based signals, sound signals, etc.).
  • a non-transitory machine readable medium comprises a machine readable medium with a plurality of particles having invariant (e.g.. rest) mass, and thus are compositions of matter.
  • non-transitory machine-readable media are machine readable media that do not include transitory propagating signals.
  • Specific examples of non-transitory machine readable media may include: non-volatile memory, such as semiconductor memory devices (e.g., Electrically Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM)) and flash memory devices; magnetic disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.
  • non-volatile memory such as semiconductor memory devices (e.g., Electrically Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM)) and flash memory devices
  • EPROM Electrically Programmable Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • flash memory devices e.g., electrically Erasable Programmable Read-Only Memory (EEPROM)
  • EPROM Electrically Programmable Read-On
  • the instructions 2024 may be further transmitted or received over a communications network 2026 using a transmission medium via the network interface device 2020 utilizing any one of a number of transfer protocols (e.g., frame relay, internet protocol (IP), transmission control protocol (TCP), user datagram protocol (UDP), hypertext transfer protocol (HTTP), etc.).
  • Example communication networks may include a local area network (LAN), a wide area network (WAN), a packet data network (e.g., the Internet), mobile telephone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, and wireless data networks (e.g., Institute of
  • transmission medium shall be taken to include any intangible medium that is capable of storing, encoding or carrying instructions for execution by the machine 2000, and includes digital or analog communications signals or other intangible medium to facilitate communication of such software.
  • a transmission medium is a machine readable medium.
  • Example 23 is a method to implement of any of Examples 1-27. [00158] In Example 24, the apparatuses or method of any one or any combination of Examples 1 - 23 can optionally be configured such that all elements or options recited are available to use or select from.

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  • Electric Vacuum Cleaner (AREA)

Abstract

Un robot de nettoyage mobile peut comprendre un corps, un système d'entraînement, un ensemble tampon de nettoyage et un système de frottement. Le système d'entraînement peut être relié au corps et utilisé pour déplacer le robot de nettoyage mobile autour d'une surface de sol d'un environnement. L'ensemble tampon de nettoyage peut être relié au corps et peut être configuré pour maintenir un tampon de nettoyage qui peut venir en prise avec la surface de sol. Le système de frottement peut être relié au corps devant l'ensemble tampon de nettoyage. Le système de frottement peut être utilisé pour venir en prise avec la surface de sol et la frotter.
PCT/US2024/031583 2023-06-08 2024-05-30 Robot de nettoyage mobile comprenant un système de frottement Ceased WO2024253933A1 (fr)

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US18/207,346 2023-06-08
US18/207,346 US20240407618A1 (en) 2023-06-08 2023-06-08 Mobile cleaning robot including scrubbing features

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WO2024253933A1 true WO2024253933A1 (fr) 2024-12-12

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