Robotic cleaner

Abstract

A robotic cleaner can include a chassis; a single drive wheel rotatably coupled to the chassis, the single drive wheel configured to rotate about a steering axis and a drive axis; an agitator chamber having an agitator rotatable therein; and a cleaning motor assembly configured to rotate the agitator and further configured to flow air into the agitator chamber.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims the benefit of U.S. Provisional Application Serial No. 63 / 104,768, entitled “Robotic Cleaner” and filed October 23, 2020, which is incorporated by reference herein in its entirety. TECHNICAL FIELD

[0003] The present disclosure relates generally to surface treatment devices, and more particularly to robotic cleaners. BACKGROUND

[0004] Robotic cleaners have become an increasingly popular device for automated cleaning applications. A robotic cleaner can autonomously move along a surface to be cleaned (e.g., a floor) while cleaning the surface. Examples of robotic cleaners can include robotic vacuum cleaners. A robotic vacuum cleaner can include a suction motor configured to generate a suction force at a suction inlet, an agitator (e.g., a brushroll) configured to engage a surface to be cleaned, and a dust cup configured to collect debris from the surface to be cleaned. BRIEF DESCRIPTION OF DRAWINGS

[0005] These and other features and advantages will be better understood by reading the following detailed description, taken together with the drawings, wherein:

[0006] Figure 1A is a schematic example of a robotic cleaner according to embodiments of the present disclosure.

[0007] Figure 1B is shown engaging a vertically extending surface according to embodiments of the present disclosure. Figure 1A is a schematic block diagram of an example of an obstacle sensor usable with a robotic cleaner according to embodiments of the present disclosure.

[0008] Figure 1C is a schematic block diagram of an example of a wet cleaning module according to embodiments of the present disclosure.

[0009] Figure 2 is a schematic block diagram of a cleaning motor assembly coupled to an agitator of the robotic cleaner of FIG. 1 according to embodiments of the present disclosure.

[0010] Figure 3 is shown engaging a vertically extending surface according to embodiments of the present disclosure. Figure 1A is an example of a robotic cleaner according to embodiments of the present disclosure.

[0011] Figure 4 is shown rotating toward a vertically extending surface according to embodiments of the present disclosure. Figure 3 is an example of a robotic cleaner according to embodiments of the present disclosure.

[0012] Figure 5An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 4 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0013] Figure 6 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 5 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0014] Figure 7 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 1A An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0015] Figure 8 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 7 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0016] Figure 9 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 8 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0017] Figure 10 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 9 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0018] Figure 11 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 1A An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0019] Figure 12 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 11 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0020] Figure 13 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 12 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0021] Figure 14 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 13 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0022] Figure 15 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure. Figure 1A An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.

[0023] Figure 16 An example of a robot cleaner that aligns a front surface of the robot cleaner with a vertically extending surface, in accordance with an embodiment of the disclosure.Figure 15 An example of a robotic cleaner of the type that adjusts to a first direction of movement when attempting to disengage a wedged state.

[0024] Figure 17 An example of a robotic cleaner of the type that adjusts to a first direction of movement when attempting to disengage a wedged state is shown in accordance with embodiments of the present disclosure. Figure 16 An example of a robotic cleaner of the type that attempts to move in accordance with a first adjusted direction of movement.

[0025] Figure 18 An example of a robotic cleaner of the type that adjusts to a second direction of movement when attempting to disengage a wedged state is shown in accordance with embodiments of the present disclosure. Figure 17 An example of a robotic cleaner of the type that attempts to move in accordance with a second direction of movement.

[0026] Figure 19 An example of a robotic cleaner of the type that adjusts to a second direction of movement when attempting to disengage a wedged state is shown in accordance with embodiments of the present disclosure. Figure 18 An example of a robotic cleaner of the type that attempts to move in accordance with a second direction of movement. DETAILED DESCRIPTION

[0027] The present disclosure relates generally to a robotic cleaner. The robotic cleaner includes a chassis, a dust cup removably coupled to the chassis, a drive wheel rotatably coupled to the chassis, an agitator chamber fluidly coupled to the dust cup, an agitator (e.g., a brush roll) rotatably disposed within the agitator chamber, and a cleaning motor assembly configured to rotate the agitator and further configured to generate an airflow within the agitator chamber. The drive wheel and the agitator chamber can be positioned on opposite sides of a chassis centerline of the robotic cleaner. The drive wheel can be configured to rotate about a drive axis and a steering axis, the drive axis extending substantially parallel to a surface to be cleaned, and the steering axis extending transverse (e.g., perpendicular) to the surface to be cleaned. As such, the drive wheel can be coupled to a drive motor and a steering motor, where the drive motor rotates the drive wheel about the drive axis, and the steering motor rotates the drive wheel about the steering axis. Such a configuration can allow for the use of a single drive wheel to drive the robotic cleaner. The use of a single drive wheel and / or the use of the cleaning motor assembly to generate an airflow and rotate the agitator can increase the volume available within the chassis for additional components and / or allow for a reduction in the overall size of the chassis.

[0028] Figure 1AA schematic example of a robotic cleaner 100 is shown. As shown, the robotic cleaner 100 includes a chassis 102, a beater chamber 104 coupled to and / or defined within the chassis 102, a beater 106 (e.g., a brush roll) rotatably disposed within (e.g., rotatably coupled to) the beater chamber 104, a dirt cup 108 removably coupled to the chassis 102 and fluidly coupled to the beater chamber 104, and a cleaning motor assembly 110 configured to rotate the beater 106 and further configured to draw air into the beater chamber 104 and through the dirt cup 108 and through at least a portion of the cleaning motor assembly 110. After passing through the cleaning motor assembly 110, the air can be exhausted into the ambient environment through one or more vents 101. The one or more vents 101 can be configured to direct air flowing therethrough toward a particular location. For example, the one or more vents 101 can direct exhaust air toward a surface to be cleaned 118 and / or to one or more vertically extending surfaces (e.g., walls) extending from the surface to be cleaned 118. Additionally or alternatively, air exhausted from the cleaning motor assembly 110 can be used to provide cooling to one or more components of the robotic cleaner 100.

[0029] The chassis 102 can include a substantially planar front surface 103 and a non-planar (e.g., arcuate) rear surface 105. In some cases, one or more substantially planar side surfaces 107 can extend between the front surface 103 and the rear surface 105. As such, the chassis 102 can be generally described as having a D-shape. The D-shaped chassis 102 can allow the robotic cleaner 100 to align the front surface 103 with a vertically extending surface (e.g., a wall) extending from a surface to be cleaned 118. As such, the robotic cleaner 100 can be able to achieve adequate cleaning performance near the vertically extending surface without using one or more side brushes. The D-shaped chassis 102 can also allow the cleaning width of the robotic cleaner 100 to be maximized by allowing the beater 106 and the beater chamber 104 to extend along a greater portion (e.g., at least 80%, 85%, 90%, 95%, or 99%) of the front surface 103. Although the chassis 102 is shown as D-shaped, the chassis 102 can have any other shape. For example, the chassis 102 can have a circular shape, a square shape, a triangular shape, and / or any other shape.

[0030] In some cases, the agitator 106 extends from the agitator chamber 104 in a direction along the surface to be cleaned 118 and extends from the agitator chamber 104 in a direction parallel to the surface to be cleaned 118. As such, at least a portion of the agitator 106 can extend from the front surface 103 and can be a forward-most portion of the robotic cleaner 100. This configuration can allow the agitator 106 to clean at least a portion of a vertically extending surface (e.g., a wall) that extends from the surface to be cleaned 118. In some cases, when the agitator 106 extends from the front surface 103, the robotic cleaner 100 can be able to achieve adequate cleaning performance in the vicinity of the vertically extending surface without using one or more side brushes.

[0031] In some cases, the agitator 106 can be, for example, a soft roller, where the soft roller includes a substantially continuous extension of fur (e.g., velvet) around a core of the agitator 106. As another example, the agitator 106 can be a brush roller, where the brush roller includes a plurality of bristles (e.g., arranged in tufts) extending from a core of the agitator 106. As a further example, the agitator 106 can be a flipper roller, where the flipper roller includes one or more continuous flippers extending from a core of the agitator 106. As a further example, the agitator can include any combination of fur, bristles, and / or flippers extending around and / or from a core of the agitator 106. When the agitator 106 is a soft roller, an amount of noise generated due to engagement between the soft roller and the surface to be cleaned 118 can be less than an amount of noise generated by a brush roller or a flipper roller. In some cases, the agitator 106 can be removable. For example, when the agitator 106 is a soft roller, a user can replace the agitator 106 with a brush roller to obtain different cleaning characteristics (e.g., tailored for a type of surface). As a further example, the agitator 106 can be replaced with a wet roller, where the wet roller is configured to apply a cleaning liquid to the surface to be cleaned 118 and / or agitate a cleaning liquid applied to the surface to be cleaned 118. When a wet roller is used, the dust cup 108 can be replaced by a wet cleaning module 158 (see Figure 1C). The wet cleaning module 158 can be configured to apply cleaning liquid to the surface 118 to be cleaned, collect dispensed / soiled cleaning liquid, and / or apply cleaning liquid to a wet roller. For example, the wet cleaning module 158 can include a liquid pump 160 for moving cleaning liquid from a cleaning liquid reservoir 162 to a wet roller, where the liquid pump 160 is actuated using the cleaning motor assembly 110 and the wet roller is rotated using the cleaning motor assembly 110. In some cases, the wet cleaning module 158 can include a mechanical agitator pad, where the cleaning motor assembly 110 is configured to move the mechanical agitator pad. As such, the wet cleaning module 158 can be generally described as being configured to cooperate with the cleaning motor assembly 110. In some cases, the robotic cleaner 100 can be configured to identify a type of agitator (e.g., soft, flipper, bristles, wet, etc.) disposed within the agitator chamber 104. In these cases, one or more cleaning behaviors can be adjusted based at least in part on the identified type of agitator.

[0032] The dust cup 108 can be coupled to the agitator chamber 104. As such, removal of the dust cup 108 from the chassis 102 results in removal of the agitator chamber 104 and the agitator 106. This configuration can allow for cleaning of the agitator 106 while emptying debris from the dust cup 108, and / or can reduce the amount of debris that inadvertently falls from the inlet of the dust cup 108 when removed from the chassis 102. In some cases, the dust cup 108 can be configured to extend between the agitator chamber 104 and the cleaning motor assembly 110. For example, the dust cup 108 can have a tubular shape, where a central longitudinal axis of the dust cup 108 extends parallel to a rotational axis of the agitator 106. In some cases, at least a portion of the dust cup 108 can be transparent, such that a user of the robotic cleaner 100 can observe an amount of debris collected within the dust cup 108 without having to remove the dust cup 108 from the chassis 102.

[0033] The robotic cleaner 100 can further include a single drive wheel 112. The single drive wheel 112 can be rotatably coupled to the chassis 102 such that the single drive wheel 112 rotates about at least two axes of rotation. For example, the single drive wheel 112 can rotate about a drive axis 114 and about a steering axis 116. As shown, the drive axis 114 extends substantially (e.g., within 1°, 2°, 3°, 4°, or 5°) parallel to a surface to be cleaned 118, and the steering axis 116 extends transverse (e.g., substantially perpendicular) to the drive axis 114 and / or the surface to be cleaned 118. The single drive wheel 112 can rotate about the steering axis 116 through a predetermined angular range. For example, the single drive wheel 112 can rotate 180° about the steering axis 116. In some cases, the single drive wheel 112 can be configured to rotate at least 360° about the steering axis 116. A drive motor 120 is configured to rotate the single drive wheel 112 about the drive axis 114, and a steering motor 122 is configured to rotate the single drive wheel 112 about the steering axis 116.

[0034] The single drive wheel 112 and the agitator chamber 104 can be disposed on opposite sides of a centerline 124 of the chassis 102. For example, the single drive wheel 112 and the agitator chamber 104 can be positioned such that a center of mass of the robotic cleaner 100 and the agitator chamber 104 are on opposite sides of the centerline 124. The centerline 124 can be generally described as extending perpendicular to a forward direction of movement of the robotic cleaner 100 and through a geometric center of the chassis 102. Positioning the single drive wheel 112 and the agitator chamber 104 on opposite sides of the centerline 124 can facilitate a change in an angle of the chassis 102 relative to the surface to be cleaned 118 in response to a change in surface type. For example, when the surface type of the surface to be cleaned 118 transitions from a hard floor (e.g., hardwood or tile) to a soft floor (e.g., high-pile carpet), the single drive wheel 112 can compress the soft floor and lift the agitator chamber 104 off the surface to be cleaned 118. This configuration can facilitate consistent engagement between the agitator 106 and the surface to be cleaned 118 (e.g., facilitate generation of consistent torque at the agitator 106). In some cases, the chassis 102 can be configured to reduce drag generated between the chassis 102 and the surface to be cleaned 118 when the single drive wheel 112 compresses the soft floor and the separation distance between the chassis 102 at a location proximate the single drive wheel 112 and the surface to be cleaned 118 is reduced. For example, a lower surface of the chassis 102 can include a convex feature extending therefrom that is configured to slidably engage the surface to be cleaned 118.

[0035] The single drive wheel 112 can be disposed along a central axis 125 of the robotic cleaner 100. The central axis 125 can be generally described as extending parallel to a forward direction of movement of the robotic cleaner 100 and through a geometric center of the chassis 102.

[0036] One or more passive wheels 126 can be rotatably coupled to the chassis 102 proximate the agitator chamber 104. As such, the chassis 102 can be supported on the surface to be cleaned 118 using the one or more passive wheels 126 and the single drive wheel 112. Additionally or alternatively, the agitator 106 and the single drive wheel 112 can support the chassis 102 on the surface to be cleaned 118. In this case, rotation of the agitator 106 can be configured to cooperate with the single drive wheel 112 such that the agitator 106 pushes the chassis 102 along the surface to be cleaned 118.

[0037] In some cases, the robotic cleaner 100 can further include a secondary suction source 127. The secondary suction source 127 can be configured to be fluidly coupled to the agitator chamber 104 and the dust cup 108. The secondary suction source 127 can be configured to selectively draw air into the agitator chamber 104 and the dust cup 108.

[0038] The robotic cleaner 100 can further include a controller 128 and one or more sensors 130. For example, the controller 128 can be communicatively coupled to the one or more sensors 130. For example, the one or more sensors 130 can include one or more of: one or more cliff detection sensors, one or more obstacle detection sensors, one or more surface type detection sensors, one or more wheel drop sensors, a docking station detection sensor, navigation sensors (e.g., optical flow sensors, gyroscopes, inertial measurement sensors, and / or any other navigation sensors), and / or any other sensors. The controller 128 can be further communicatively coupled to one or more of, for example, the cleaning motor assembly 110, the drive motor 120, the steering motor 122, and / or the secondary suction source 127. For example, the controller 128 can change the behavior of one or more of the cleaning motor assembly 110, the drive motor 120, the steering motor 122, and / or the secondary suction source 127 based at least in part on input received from one or more of the one or more sensors 130. The controller 128 can be further configured to receive one or more inputs from a user interface 132 and / or from a remote device (e.g., a computer, a tablet, a smartphone, and / or any other remote device). The user interface 132 can include one or more user inputs (e.g., one or more buttons) configured to cause the robotic cleaner 100 to engage in one or more cleaning behaviors. In some cases, the user interface 132 can include a single button. For example, multiple presses of the single button can cause the robotic cleaner 100 to cycle between cleaning behaviors. The controller 128 can include one or more processors 193 and one or more memories 195 (e.g., non-transitory computer-readable media), where the one or more processors 193 are configured to execute one or more instructions stored in one or more of the one or more memories 195 to cause the robotic cleaner 100 to perform one or more operational methods corresponding to the one or more instructions.

[0039] In some cases, the robotic cleaner 100 can include a plurality of sensors 130. For example, the plurality of sensors 130 can include at least one cliff sensor and at least one obstacle sensor. The cliff sensor can be an infrared (IR) sensor or a tactile sensor configured to detect an insurmountable surface elevation change along the surface 118 to be cleaned, and the obstacle sensor can include an IR sensor and / or a tactile sensor configured to detect an obstacle in a path of movement of the robotic cleaner 100. In some cases, the obstacle sensor can be an IR sensor further configured to detect a signal generated by a docking station, where the signal is used to guide the robotic cleaner 100 to the docking station. Additionally or alternatively, the plurality of sensors 130 can include at least one docking sensor configured to detect a signal generated by a docking station.

[0040] like Figure 1B As shown, obstacle sensor 150 may be an example of at least one of one or more sensors 130 configured to detect obstacles using a light beam. The obstacle sensor may include a light emitter 152 (e.g., a light-emitting diode) and a photodetector 154 (e.g., a one-dimensional image sensor, such as a complementary metal-oxide-semiconductor sensor). The light emitter 152 is configured to emit a light beam along the direction of movement of the robotic cleaner 100. The light emitter 152 may be optically coupled to a diffuser 156 (e.g., a lens) of obstacle sensor 150, wherein the diffuser 156 is configured to disperse light passing through it. The dispersed light may be incident on one or more obstacles in the path of movement of the robotic cleaner 100, and the incident light may be reflected back towards the robotic cleaner 100. At least a portion of the reflected light may be incident on the photodetector 154. The position and / or width of the obstacle relative to the robotic cleaner 100 can be determined at least in part based on the position and / or intensity of the light incident on the photodetector 154. In other words, the position and / or width of the obstacle can be determined at least in part based on an intensity gradient. For example, the detected incident light intensity can be compared to a threshold, and / or the difference between the intensities detected at adjacent segments of the photodetector can be determined. As another example, the width of an obstacle can be determined at least in part based on the number of pixels of a photodetector with an output greater than a threshold, and the distance can be determined at least in part based on the measured intensity at the pixel. In some cases, the output from one or more navigation sensors (e.g., one or more inertial measurement units and / or one or more optical flow sensors) can be used in conjunction with the output from obstacle sensor 150 to determine the position and / or width of an obstacle. Light emitter 152 can be configured to emit IR light, and photodetector 154 can be configured to detect IR light.

[0041] Figure 2A schematic block diagram of the cleaning motor assembly 110 coupled to the agitator 106 is shown. As shown, the cleaning motor assembly 110 includes a cleaning motor 200. The cleaning motor 200 is coupled to an agitator transmission 202 and an air mover 204 such that the cleaning motor 200 transmits rotational motion to both the agitator transmission 202 and the air mover 204. The agitator transmission 202 is coupled to the agitator 106 such that rotational motion is transmitted from the cleaning motor 200 to the agitator 106 via the agitator transmission 202. The agitator transmission 202 can be configured to increase (or decrease) the amount of torque (or rotational speed) of the agitator 106 relative to the cleaning motor 200. The agitator transmission 202 can include, for example, one or more belts, gears, and / or any other coupling capable of transmitting rotational motion from the cleaning motor 200 to the agitator 106. In some cases, the agitator transmission 202 can be a continuously variable transmission (CVT). For example, a CVT belt drive can be used to dynamically adjust the rotational speed of the agitator 106 without adjusting the rotational speed of the air mover 204. Such a configuration can allow the rotational speed of the agitator 106 to be adjusted based at least in part on, for example, the type of surface, without affecting the rotational speed of the air mover 204.

[0042] The air mover 204 can be any structure capable of moving a volume of air. For example, the air mover 204 can be an impeller, a blower, a fan, and / or any other structure capable of moving a volume of air. The air mover 204 can be directly coupled to a drive shaft of the cleaning motor 200, or coupled to a transmission configured to transmit rotational motion from the cleaning motor 200 to the air mover 204. In some cases, the rotational speed of the air mover 204 can be measured to be at least five times greater than the rotational speed of the agitator 106. In some cases, the transmission coupled to the air mover 204 can be configured to vary the rotational speed of the air mover 204 (e.g., to adjust the suction generated by the air mover 204).

[0043] In some cases, the air mover 204 can be a crossflow blower. Crossflow blowers can generate less noise when compared to radial blowers, have increased airflow when compared to other air movers, have improved efficiency when compared to other air movers, and have a larger intake rate when compared to other air movers. The larger intake rate can reduce the amount of ducting within the robotic cleaner 100. The use of a crossflow blower can facilitate high airflow when there are low restriction airflow paths. Crossflow blowers can have a relatively low static pressure when compared to other air movers. As such, the secondary suction source 127 can be used to increase (e.g., selectively increase) the static pressure. Selective activation of the secondary suction source 127 can facilitate optimization of the static pressure and energy consumption. As such, efficiency gains achieved by using a crossflow blower can be maximized while mitigating the effects of reduced static pressure. The secondary suction source 127 can be further configured to selectively augment the pressure gradient across the crossflow blower. This configuration allows the crossflow blower to operate effectively in high backpressure environments (e.g., when filter media is clogged and / or the surface to be cleaned includes thick pile).

[0044] Air drawn into the agitator chamber 104 and through the dust cup 108 can pass through filter media before passing through the air mover 204. This configuration can reduce debris collection on the air mover 204 during operation and / or reduce the amount of debris expelled from the air mover 204 and into the surrounding environment. In some cases, the air mover 204 can be configured to expel air passing therethrough into the surrounding environment using one or more vents 101. The one or more vents 101 can be configured to direct the exhaust air toward a particular location (e.g., to push debris into the path of movement of the robotic cleaner 100). Additionally or alternatively, in some cases, air expelled from the air mover 204 can be used to cool one or more components of the robotic cleaner 100 before being expelled into the surrounding environment. In cases where the robotic cleaner 100 includes a wet module, the exhaust air can not be used to cool one or more components of the robotic cleaner (e.g., to reduce moisture collection on one or more electronic components). In these cases, the vents 101 can be configured to push the exhaust air toward the surface to be cleaned 118 such that the exhaust air facilitates drying of residual cleaning liquid on the surface to be cleaned 118. In some cases, air expelled from the air mover 204 can pass through additional filter media (e.g., a high efficiency particulate air filter) before being expelled into the surrounding environment.

[0045] Figures 3-6 Examples of methods of operation of the robotic cleaner 100 for Figure 1A cleaning an edge (e.g., as defined by a vertically extending surface 300 (e.g., a wall) extending from the surface to be cleaned 118) are shown. As Figure 3As shown in FIG. 3, the robotic cleaner 100 approaches the vertically extending surface 300 until the robotic cleaner 100 engages (e.g., contacts) a portion of the vertically extending surface 300. When the robotic cleaner 100 engages the vertically extending surface 300 (e.g., as detected by at least one of the one or more sensors 130), the single drive wheel 112 is caused to rotate about the steering axis 116. For example, and as shown in FIG. 4, the single drive wheel 112 can rotate about the steering axis 116 until the drive axis 114 intersects a corner 400 defined by the intersection of the front surface 103 and the respective side surface 107. When the drive axis 114 intersects the corner 400, the single drive wheel 112 can be caused to rotate about the drive axis 114 in the forward direction until the front surface 103 is aligned with (e.g., extends substantially parallel to) the vertically extending surface 300, as shown in FIG. 5. At least one of the one or more sensors 130 can indicate that the front surface 103 is aligned with the vertically extending surface 300. In response to the front surface 103 being aligned with the vertically extending surface 300, the single drive wheel 112 can be caused to rotate about the drive axis 114 in the reverse direction until the at least one side surface 107 is aligned with (e.g., extends substantially parallel to) the vertically extending surface 300, as shown in FIG. 6. When the at least one side surface 107 is aligned with the vertically extending surface 300, the single drive wheel 112 is caused to rotate about the steering axis 116 until the drive axis 114 is substantially parallel to the front surface 103 (e.g., such that the drive axis 114 is substantially perpendicular to the vertically extending surface 300). When the drive axis 114 is substantially parallel to the front surface 103, the single drive wheel 112 is caused to rotate about the drive axis 114 in the forward direction, thereby moving the robotic cleaner 100 along the vertically extending surface 300. Figure 4 Figure 5 Figure 6

[0046] Figures 3-6 ​​​The method shown in FIG. 6 can also be used to determine an orientation of the vertically extending surface 300 relative to the robotic cleaner 100. The orientation can then be used to calibrate the cleaning and / or navigation behavior of the robotic cleaner 100. For example, sensor drift caused by mis-measurements of orientation and / or acceleration by an inertial measurement unit (IMU) can cause the robotic cleaner 100 to follow an unintended navigation path. By calibrating the IMU based on the orientation of the vertically extending surface 300 relative to the robotic cleaner 100 each time the vertically extending surface 300 is encountered, the robotic cleaner 100 can correct for mis-measurements of orientation and / or acceleration. This configuration can allow the robotic cleaner 100 to perform more complex navigation behavior without using additional navigation sensors (e.g., one or more cameras or one or more light detection and ranging sensors). For example, when cleaning according to a corn-row pattern (e.g., a pattern having a series of parallel lines extending between opposing vertical surfaces), the vertically extending surface 300 can be used to adjust the position and / or orientation of the robotic cleaner 100 relative to the vertically extending surface 300 such that the robotic cleaner 100 travels away from the vertically extending surface 300 in a direction extending substantially perpendicular to the vertically extending surface 300. In some cases, the orientation of the vertically extending surface 300 relative to the robotic cleaner 100 can be stored in a map for later navigation purposes.

[0047] Figures 7-10 Examples of methods of operation of a robotic cleaner 100 for Figure 1A cleaning an edge (e.g., as defined by a vertically extending surface 700 (e.g., a wall) extending from a surface 118 to be cleaned) are shown. As Figure 7 shown in FIG. 6, the robotic cleaner 100 approaches the vertically extending surface 700 until the robotic cleaner 100 engages (e.g., contacts) a portion of the vertically extending surface 700. When the robotic cleaner 100 engages the vertically extending surface 700 (e.g., as detected by at least one of the one or more sensors 130), the single drive wheel 112 is caused to rotate about the steering axis 116. For example, and as shown in FIG. 7, the single drive wheel 112 can be caused to rotate about the steering axis 116 until the drive axis 114 intersects a corner 800 defined between the front surface 103 and the respective side surface 107. When the drive axis 114 intersects the corner 800, the single drive wheel 112 can be caused to rotate about the drive axis 114 in a forward direction until the front surface 103 is aligned with (e.g., extends substantially parallel to) the vertically extending surface 700, as shown in FIG. 8. Figure 8 Figure 9 ​At least one of the one or more sensors 130 can indicate that the front surface 103 is aligned with the vertically extending surface 700. In response to the front surface 103 being aligned with the vertically extending surface 700, the single drive wheel 112 is caused to rotate about the steering axis 116 such that the drive axis 114 is rotated toward an orientation in which the drive axis 114 intersects the front surface 103 at an intersection angle that measures within 1°, 2°, 5°, 10°, 15°, or 20° of 90°. When the intersection angle measures within 1°, 2°, 5°, 10°, 15°, or 20° of 90°, the single drive wheel 112 can be caused to rotate about the drive axis 114 in a forward direction such that the front surface 103 moves along the vertically extending surface 700, as shown in Figure 10 This configuration can allow the agitator 106 to clean in the vicinity of the vertically extending surface 700. With the agitator 106 extending from the front surface 103, the agitator 106 can engage (e.g., contact) the vertically extending surface 700 to clean at least a portion of the vertically extending surface 700.

[0048] Figures 11-14 Commonly shown Figure 1A An example method of operation of the robotic cleaner 100 in which the method of operation is a method of obstacle cleaning and avoidance. An obstacle can generally be described as including one or more vertically extending surfaces that extend from the surface to be cleaned 118, where the length of the one or more vertically extending surfaces can measure less than a corresponding length of the front surface 103 of the chassis 102 (e.g., the obstacle can be a leg of a chair, bed, or table).

[0049] As Figure 11 The robotic cleaner 100 approaches the obstacle 1100 until the robotic cleaner 100 engages (e.g., contacts) the obstacle 1100, as shown in FIG. 11. When the robotic cleaner 100 engages the obstacle 1100, the robotic cleaner 100 determines whether the obstacle 1100 has a length that measures less than a corresponding length of the front surface 103 and determines a position of the obstacle 1100 relative to the robotic cleaner 100 (e.g., using output from a one-dimensional image sensor). In response to determining that the obstacle 1100 has a length that measures less than the length of the front surface 103, the single drive wheel 112 is caused to rotate about the steering axis 116 until the drive axis 114 intersects the front surface 103, as shown in FIG. 11. Figure 12The direction of rotation of the single drive wheel 112 about the steering axis 116 can be based at least in part on the position of the obstacle 1100 relative to the robotic cleaner 100 (e.g., relative to the front surface 103 of the robotic cleaner 100). For example, the drive axis 114 can intersect the front surface 103 at a position between the obstacle 1100 and a corner 1200 (e.g., the corner 1200 can be the corner of the robotic cleaner 100 closest to the obstacle 1100), the corner 1200 being defined at the intersection of the front surface 103 and the respective side surface 107. In some cases, the drive axis 114 can extend perpendicular to the obstacle 1100. As shown in Figure 13 and 14 When the drive axis 114 intersects the front surface 103, the single drive wheel 112 is caused to rotate in a forward direction, which causes the robotic cleaner 100 to move about the obstacle 1100. As the robotic cleaner 100 moves about the obstacle 1100, the front surface 103 moves along the obstacle 1100 such that the agitator 106 can clean in the vicinity of the obstacle 1100. In cases where the agitator 106 extends from the front surface 103, the agitator 106 can contact the obstacle 1100 to clean at least a portion of the obstacle 1100. The robotic cleaner 100 can be configured to determine (e.g., using the output of a gyroscope) whether the entire perimeter of the obstacle 1100 has been traversed. When the robotic cleaner 100 has traversed the entire perimeter of the obstacle 1100, the single drive wheel 112 can be rotated about the steering axis 116 such that forward or rearward rotation of the single drive wheel 112 propels the robotic cleaner 100 away from the obstacle 1100 to allow the robotic cleaner 100 to resume cleaning the remainder of the surface 118 to be cleaned.

[0050] Figures 15-19 Commonly shown Figure 1A is an example method of operation of the robotic cleaner 100, where the method of operation is a method for disengaging from a wedged state. The wedged state can be generally described as a situation in which the robotic cleaner 100 is positioned between two opposing vertically extending surfaces and is unable to move further forward and is unable to move in reverse due to frictional forces generated between the robotic cleaner 100 and the two opposing vertically extending surfaces.

[0051] As shown in Figure 15 , the robotic cleaner 100 is in a wedged state between two opposing vertically extending surfaces 1500 and 1502. While the robotic cleaner 100 is in the wedged state, the single drive wheel 112 can be caused to rotate about the steering axis 116 until a plane of rotation 1600 (e.g., a central plane of rotation) of the single drive wheel 112 intersects a first corner 1602 defined at the intersection of the front surface 103 and the respective side surface 107, as shown in Figure 16The rotation plane 1600 can be generally described as a plane in which the single drive wheel 112 rotates as it rotates about the drive axis 114. In other words, the drive axis 114 extends perpendicular to the rotation plane 1600. When the rotation plane 1600 intersects the first corner 1602, the single drive wheel 112 can be caused to rotate in the reverse direction about the drive axis 114 for a predetermined time, as shown in FIG. 16B. The predetermined time can be a time period that is sufficient to cause the single drive wheel 112 to rotate about the drive axis 114 a predetermined number of revolutions. The predetermined number of revolutions can be a number of revolutions that is sufficient to cause the single drive wheel 112 to rotate about the drive axis 114 a distance that is greater than a distance between the first corner 1602 and the second corner 1800. Figure 17 After rotating the single drive wheel 112 in the reverse direction for the predetermined time, the robotic cleaner 100 can be configured to determine whether the wedged state has been eliminated. If the wedged state still exists after the predetermined time, the single drive wheel 112 can be caused to rotate about the steering axis 116 until the rotation plane 1600 intersects a second corner 1800 defined at another intersection of the front surface 103 and another side surface 107, as shown in FIG. 16C. The first corner 1602 and the second corner 1800 can be on opposite ends of the front surface 103. Figure 18 When the rotation plane 1600 intersects the second corner 1800, the single drive wheel 112 can be caused to rotate in the reverse direction about the drive axis 114 for a predetermined time, as shown in FIG. 16D. The predetermined time can be a time period that is sufficient to cause the single drive wheel 112 to rotate about the drive axis 114 a predetermined number of revolutions. The predetermined number of revolutions can be a number of revolutions that is sufficient to cause the single drive wheel 112 to rotate about the drive axis 114 a distance that is greater than a distance between the first corner 1602 and the second corner 1800. Figure 19 After rotating the single drive wheel 112 in the reverse direction for the predetermined time, the robotic cleaner 100 can be configured to determine whether the wedged state has been eliminated. If the wedged state still exists after the predetermined time, the single drive wheel 112 can be caused to rotate about the steering axis 116 until the rotation plane 1600 intersects a second corner 1800 defined at another intersection of the front surface 103 and another side surface 107, as shown in FIG. 16C. The first corner 1602 and the second corner 1800 can be on opposite ends of the front surface 103. Figures 16-19 The described method can be repeated until the wedged state is eliminated and / or can be repeated a predetermined number of repetitions.

[0052] In conjunction with Figures 3-19 One or more steps of the described method can be embodied as one or more instructions stored in one or more memories (e.g., one or more non-transitory memories), where the one or more instructions are configured to be executed on one or more processors. For example, the controller 128 can be configured to cause one or more steps of the method to be performed. Additionally or alternatively, one or more steps of the described method can be performed in any combination of software, firmware, and / or circuitry (e.g., an application specific integrated circuit).

[0053] An example of a robotic cleaner according to the present disclosure can include a chassis; a single drive wheel rotatably coupled to the chassis, the single drive wheel configured to rotate about a steering axis and a drive axis; an agitator chamber having an agitator rotatable therein; and a cleaning motor assembly configured to cause the agitator to rotate and further configured to cause air to flow into the agitator chamber.

[0054] In some cases, cleaning the motor assembly can include cleaning the motor, a blender transmission configured to transfer rotational motion from the cleaning motor to the blender, and an air mover configured to be rotated by the cleaning motor. In some cases, the air mover can be a cross-flow blower. In some cases, the air mover can be configured to expel air into the ambient environment through one or more vents. In some cases, the chassis can include a substantially planar front surface and an arcuate rear surface. In some cases, at least a portion of the blender can extend from the front surface. In some cases, the chassis can be D-shaped. In some cases, the single drive wheel and the blender chamber can be on opposite sides of a centerline of the chassis. In some cases, the robotic cleaner can further include an obstacle sensor including an emitter, a detector, and a disperser, the emitter being optically coupled to the disperser. In some cases, the detector can be a one-dimensional image sensor.

[0055] Another example of a robotic cleaner according to the present disclosure can include a chassis having a substantially planar front surface and one or more substantially planar side surfaces; a single drive wheel rotatably coupled to the chassis, the single drive wheel being configured to rotate about a steering axis and a drive axis; a blender chamber having a blender rotatable therein; a cleaning motor assembly configured to rotate the blender and further configured to flow air into the blender chamber; and a controller having one or more processors and one or more memories, the one or more memories being configured to store one or more instructions corresponding to an operating method, the one or more processors being configured to execute the one or more instructions to cause the robotic cleaner to perform the operating method.

[0056] In some cases, the method of operation can be a method of cleaning an edge. The method of cleaning an edge can include approaching a vertically extending surface; engaging the vertically extending surface; rotating the single drive wheel about the steering axis until the drive axis intersects a corner defined at an intersection of the front surface and a respective side surface; in response to the drive axis intersecting the corner, rotating the single drive wheel in a forward direction about the drive axis until the front surface is aligned with the vertically extending surface; in response to the front surface being aligned with the vertically extending surface, rotating the single drive wheel about the steering axis until the drive axis extends substantially parallel to the front surface and rotating the single drive wheel in the forward direction about the drive axis. In some cases, the method of operation can be a method of cleaning an edge. The method of cleaning an edge can include approaching a vertically extending surface; engaging the vertically extending surface; rotating the single drive wheel about the steering axis until the drive axis intersects a corner defined at an intersection of the front surface and a respective side surface; in response to the drive axis intersecting the corner, rotating the single drive wheel in a forward direction about the drive axis until the front surface is aligned with the vertically extending surface; in response to the front surface being aligned with the vertically extending surface, rotating the single drive wheel about the steering axis until the drive axis intersects the front surface at an intersection angle; and in response to the drive axis intersecting the front surface at the intersection angle, rotating the single drive wheel in the forward direction about the drive axis. In some cases, the intersection angle can be measured within 20° of 90°. In some cases, the method of operation can be a method of cleaning an obstacle. The method of cleaning an obstacle can include approaching an obstacle, engaging the obstacle, rotating the single drive wheel about the steering axis until the drive axis intersects the front surface, and in response to the drive axis intersecting the front surface, rotating the single drive wheel in a forward direction about the drive axis. In some cases, the method of cleaning an obstacle can further include determining whether the robotic cleaner has traversed an entire perimeter of the obstacle. In some cases, the method of operation can be a method of disengaging a wedged state.The method of disengaging the wedged state can include rotating the single drive wheel about a steering axis until a rotational plane of the single drive wheel intersects a first corner defined at an intersection of the front surface and a respective side surface; in response to the rotational plane intersecting the first corner, rotating the single drive wheel in a reverse direction about the drive axis; rotating the single drive wheel about the steering axis until the rotational plane intersects a second corner defined at another intersection of the front surface and another side surface; and in response to the rotational plane intersecting the second corner, rotating the single drive wheel in the reverse direction about the drive axis. In some cases, the method of disengaging the wedged state can include determining whether the wedged state has been eliminated in response to rotating the single drive wheel in the reverse direction about the drive axis.

[0057] While the principles of the application have been described herein, it is to be understood that the present description is by way of example and not by way of limitation. Other embodiments are contemplated within the scope of the application. Modifications and alternatives are considered within the scope of the application, which is not to be limited except by the following claims, in which reference characters refer to the same elements throughout.

Claims

1. A robotic cleaner comprising: a chassis having a substantially planar front surface and one or more substantially planar side surfaces; a single drive wheel rotatably coupled to the chassis, the single drive wheel configured to rotate about a steering axis and a drive axis; an agitator chamber having an agitator rotatable in the agitator chamber; a cleaning motor assembly configured to rotate the agitator and further configured to flow air into the agitator chamber; and a controller configured to cause the robotic cleaner to: approach a vertically extending surface; engage the vertically extending surface; rotate the single drive wheel about the steering axis until the drive axis intersects a corner defined at an intersection of the front surface and a respective side surface; in response to the drive axis intersecting the corner, rotate the single drive wheel in a forward direction until the front surface is aligned with the vertically extending surface; in response to the front surface being aligned with the vertically extending surface, rotate the single drive wheel about the drive axis in a reverse direction until the respective side surface is aligned with the vertically extending surface; and in response to the respective side surface being aligned with the vertically extending surface, rotate the single drive wheel about the steering axis until the drive axis extends substantially parallel to the front surface and rotate the single drive wheel about the drive axis in the forward direction.

2. The robotic cleaner of claim 1, wherein the cleaning motor assembly includes a cleaning motor, an agitator transmission configured to transmit rotational motion from the cleaning motor to the agitator, and an air mover configured to be rotated by the cleaning motor.

3. The robotic cleaner of claim 2, wherein the air mover is a crossflow blower.

4. The robotic cleaner of claim 2, wherein the air mover is configured to expel air into a surrounding environment through one or more vents.

5. The robotic cleaner of claim 1, wherein the chassis includes an arcuate rear surface.

6. The robotic cleaner of claim 5, wherein at least a portion of the agitator extends from the front surface.

7. The robotic cleaner of claim 5, wherein the chassis is D-shaped.

8. The robotic cleaner of claim 1, wherein the single drive wheel and the agitator chamber are on opposite sides of a centerline of the chassis.

9. The robotic cleaner of claim 1, further comprising an obstacle sensor including an emitter, a detector, and a disperser, the emitter being optically coupled to the disperser.

10. The robotic cleaner of claim 9, wherein the detector is a one-dimensional image sensor.

11. A robotic cleaner comprising: a chassis having a substantially planar front surface and one or more substantially planar side surfaces; ​ ​ a single drive wheel rotatably coupled to the chassis, the single drive wheel configured to rotate about a steering axis and a drive axis; a beater chamber having a beater rotatable in the beater chamber; a cleaning motor assembly configured to rotate the beater and further configured to cause air to flow into the beater chamber; and a controller configured to cause the robotic cleaner to: approach a vertically extending surface; engage the vertically extending surface; rotate the single drive wheel about the steering axis until the drive axis intersects a corner defined at an intersection of the front surface and a respective side surface; in response to the drive axis intersecting the corner, rotate the single drive wheel about the drive axis in a forward direction until the front surface is aligned with the vertically extending surface; in response to the front surface being aligned with the vertically extending surface, rotate the single drive wheel about the steering axis until the drive axis intersects the front surface at an intersection angle; and in response to the drive axis intersecting the front surface at the intersection angle, rotate the single drive wheel about the drive axis in the forward direction.

12. The robotic cleaner of claim 11, wherein the intersection angle is within 20° of 90°.

13. The robotic cleaner of claim 11, wherein the cleaning motor assembly includes a cleaning motor, a beater transmission configured to transmit rotational motion from the cleaning motor to the beater, and an air mover configured to be rotated by the cleaning motor.

14. The robotic cleaner of claim 11, further comprising an obstacle sensor including an emitter, a detector, and a disperser, the emitter being optically coupled to the disperser.

15. A robotic cleaner, comprising: a chassis having a substantially planar front surface and one or more substantially planar side surfaces; a single drive wheel rotatably coupled to the chassis, the single drive wheel configured to rotate about a steering axis and a drive axis; a beater chamber having a beater rotatable in the beater chamber; a cleaning motor assembly configured to rotate the beater and further configured to cause air to flow into the beater chamber; and a controller configured to cause the robotic cleaner to: rotate the single drive wheel about the steering axis until a rotational plane of the single drive wheel intersects a first corner defined at an intersection of the front surface and a respective side surface; in response to the rotational plane intersecting the first corner, rotate the single drive wheel about the drive axis in a reverse direction; rotate the single drive wheel about the steering axis until the rotational plane intersects a second corner defined at another intersection of the front surface and another side surface; and in response to the plane of rotation intersecting the second corner, rotating the single drive wheel about the drive axis in the reverse direction.

16. The robotic cleaner of claim 15, wherein in response to rotating the single drive wheel about the drive axis in the reverse direction, the controller is configured to determine whether the wedged condition has been eliminated.

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