Autonomous surface treatment device

Abstract

An autonomous surface cleaning device is provided. The device includes a body defining a generally planar front surface, a drive system carried by the body and configured to move the autonomous surface cleaning device on the surface, a cleaning assembly disposed at the front of the body, a rechargeable battery system, and charging contacts disposed on the front surface of the body. The device also includes a container configured to receive dirt collected by the cleaning assembly, the container being releasably attached to the body, wherein the device is arranged such that when the container is attached to the body, the container is at least partially disposed in a rearwardly facing recess defined by the body.

Description

Technical Field

[0001] This invention relates to the field of autonomous surface cleaning equipment. More specifically, it relates to robotic vacuum cleaners. Background Technology

[0002] Various proposals have been made regarding autonomous surface cleaning devices that are automatically driven and do not require user pushing across the surface to be cleaned. Essentially, such devices consist of a main body or chassis supported on wheels or tracks driven by an onboard battery pack and guided by a control system that navigates the device within a room so that floors or floor coverings can be cleaned. For cleaning purposes, such devices typically also include a vacuum cleaner head with a suction opening communicating with a dirt or dust collection device, allowing dirt and dust to be sucked from the surface to be cleaned and stored in a container for disposal.

[0003] Typically, the design of such autonomous surface cleaning devices prioritizes mobility and navigation, resulting in an arrangement of components that is not ideal for user interaction with the device. For example, WO2016034843A1 is an example of a conventional robotic vacuum cleaner with a generally circular planar shape, including a container separation device positioned at the front of the vacuum cleaner along with forward-facing navigation sensors. This relative arrangement of components makes removing the container impractical when the device is in contact with an associated docking station, such as during onboard battery charging.

[0004] One object of the present invention is to provide an autonomous surface cleaning device in which the arrangement of components is optimized for mobility, navigation, cleaning and user interaction. Summary of the Invention

[0005] According to a first aspect, an autonomous surface cleaning device is provided. The device includes a body defining a generally planar front surface, a drive system carried by the body and configured to move the autonomous surface cleaning device on the surface, a cleaning component disposed at the front of the body, a rechargeable battery system, and charging contacts disposed on the front surface of the body. The device also includes a container configured to receive dirt collected by the cleaning component, the container being releasably attached to the body, wherein the device is arranged such that when the container is attached to the body, the container is at least partially disposed in a rearwardly facing recess defined by the body.

[0006] The recess may be aligned with the longitudinal axis of the body. A portion of the container may extend beyond the rear portion of the body from the recess. When held within the recess, at least a portion of the container may be visible, wherein the visible portion is at least partially transparent. The container may be generally cylindrical, and the shape of the recess substantially corresponds to the generally cylindrical shape of the container.

[0007] The main body may include a chassis and a housing, the housing defining the outer surface of the main body. The housing may include one or more covers. The front surface of the main body may be substantially perpendicular to the bottom surface of the main body. A cleaning component may be disposed below the front surface of the main body and project forward from the front surface of the main body.

[0008] Multiple contact sensors may be positioned at the front of the cleaning assembly. The cleaning assembly may include a front bumper mounted to the front surface of the cleaning assembly, and multiple contact sensors may then be positioned behind the front bumper, each contact sensor arranged to detect displacement of the front bumper relative to the cleaning assembly.

[0009] The device can be configured such that a container can be removed from a recess by moving the container in a rearward direction relative to the body. The body can define a rear opening leading to the recess, and the body can then be arranged to allow removal of the container from the recess by moving the container through the rear opening in a rearward direction.

[0010] The device may include a retaining assembly for holding a container within a recess, the retaining assembly including a user-actuable release mechanism for releasing the container from the retaining assembly. The retaining assembly may include a movable latch disposed on one of the container and the body, and a latch retainer disposed on the other of the container and the body, the latch retainer being arranged to engage the latch when the container is positioned within the recess. The movable latch may be arranged to move between a first position and a second position, the movable latch being arranged to engage the latch retainer when the container is positioned within the recess and the movable latch is in the first position, and to disengage the latch retainer when in the second position. Preferably, the movable latch is biased to the first position. The user-actuable release mechanism may include a button, which, when operated by a user, is arranged to move the movable latch to the second position.

[0011] The retaining assembly may include another movable latch disposed on one of the container and the body, and another latch retainer disposed on the other of the container and the body, the other latch retainer being arranged to engage with the other latch when the container is disposed within the recess. The other movable latch may be arranged to move between a first position and a second position, the other movable latch being arranged to engage the other latch retainer when the container is disposed within the recess and the other movable latch is in the first position, and to disengage from the other latch retainer when in the second position. Preferably, the other movable latch is biased to the first position. A user-actuable release mechanism may then include a button, which, when operated by a user, is arranged to move both the movable latch and the other movable latch to the second position. One of the movable latch and the other movable latch retainer is positioned adjacent to the upper end of the container, and one of the other movable latch and the other movable latch retainer is positioned adjacent to the lower end of the container.

[0012] When disposed in a recess, the lowermost edge of the container may be at least partially chamfered. The body may include a flange configured to support at least a portion of the container when attached to the body. The flange may be arranged such that, when attached to the body, it does not extend beyond the outer periphery of the container's bottom surface. The flange may extend only partially over the lower end of the recess, and the flange is configured to support the container when disposed in the cavity.

[0013] The body may define side surfaces extending rearward from opposite ends of the front surface, each side surface having a generally planar foremost portion and a curved rear portion, wherein the rear portions curve inward toward each other. The foremost portions of the body side surfaces may be substantially perpendicular to the front surface of the body.

[0014] The cleaning assembly may include a housing defining a suction chamber. The cleaning assembly may also include an agitator disposed within the suction chamber. The device may further include an airflow generator for generating airflow through the suction chamber.

[0015] The device may also include a separation system configured to separate contaminants from the airflow passing through the device and deposit them into a container. The separation system may be arranged in the airflow path between an air inlet located at the cleaning component and an air outlet of the device. The device may include an inlet duct extending from the cleaning component to the separation system. The inlet duct may be straight and extend in a direction parallel to the longitudinal axis of the body. The separation system may be at least partially disposed within the container. The separation system may include a cyclone separator.

[0016] The device may include an airflow generator. The airflow generator may include a motor-driven impeller. The motor may be driven by electricity received from a rechargeable battery system. The rechargeable battery system may include a first set of battery cells carried by the body on a first side of the recess and a second set of battery cells carried by the body on a side of the recess.

[0017] The rechargeable battery system can be configured to provide power. Charging contacts can be configured to transmit current when in contact with a corresponding charging contact, which may be located, for example, on a docking station associated with an autonomous surface cleaning device and electrically connected to the rechargeable battery system.

[0018] The body defines a first final portion extending along a first side of the recess and a second final portion extending along a second side of the recess. The rechargeable battery system may then include a first group of battery cells disposed within the first final portion and a second group of battery cells disposed within the second final portion. Preferably, the number of battery cells in the first group is equal to the number of battery cells in the second group.

[0019] According to a second aspect, an autonomous surface cleaning device is provided. The device includes a main body, a drive system carried by the main body and configured to move the autonomous surface cleaning device on a surface, a cleaning component disposed at the front of the main body and projecting forward from the front surface of the main body, and a rechargeable battery system including a plurality of battery cells disposed at the rear of the main body. This arrangement provides the device with a favorable center of gravity because the battery cells provide some balance to the weight of the cleaning component.

[0020] The device may also include a container configured to receive dirt removed from the surface by the cleaning components, the container being releasably attached to the rear of the body. The container may be releasably held within a rearward-facing recess defined by the body. The device may also include charging contacts disposed on the front surface of the body. Preferably, the front surface is planar.

[0021] The drive system can be positioned between the cleaning component and the battery cells of the rechargeable battery system. The cleaning component may include a housing defining a suction chamber. The cleaning component may also include an agitator disposed within the suction chamber. The device may also include an airflow generator for generating airflow through the suction chamber. Attached Figure Description

[0022] Embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, wherein:

[0023] Figure 1 This is a rear perspective view of the autonomous surface cleaning equipment of the near-associated docking station as described in this article;

[0024] Figure 2 yes Figure 1 A front perspective view of the equipment;

[0025] Figure 3 yes Figure 1 Rear perspective view of the lower side of the device;

[0026] Figure 4 yes Figure 1 Bottom view of the device;

[0027] Figure 5 yes Figure 1 The front perspective view of the device, showing the housing and buffer separated from the main body of the device;

[0028] Figure 6 yes Figure 1 A top view of the device, in which the device's casing has been removed;

[0029] Figure 7 yes Figure 1 A front perspective view of the lower side of the suction nozzle of the device;

[0030] Figure 8 yes Figure 1 Front view of the suction nozzle of the device;

[0031] Figure 9 It is in the retracted position. Figure 1 A front perspective view of the suction nozzle of the device;

[0032] Figure 10 It is in the extended position. Figure 1 A front perspective view of the suction nozzle of the device;

[0033] Figure 11 yes Figure 1 A rear perspective view of the equipment, in which the container is separated from the main body of the equipment;

[0034] Figure 12 yes Figure 1 Front perspective view of the device's rechargeable battery system;

[0035] Figure 13 yes Figure 1 A schematic diagram of the equipment's control system; and

[0036] Figure 14 yes Figure 1 An exploded view of the front corner sensor assembly of the device. Detailed Implementation

[0037] An autonomous surface cleaning device will now be described, which offers a variety of advantages over conventional autonomous surface cleaning devices. Figures 1 to 4 This is an external view of an embodiment of such an autonomous surface cleaning device 1000 (hereinafter referred to as "Device 1000"). In this embodiment, Device 1000 is shown against the background of a robotic vacuum cleaner; however, it should be understood that this is not essential to the present invention, and the present invention is applicable to any autonomous surface cleaning device, whether in a home environment or other environments. Figure 1 A rear perspective view of equipment 1000 near the associated docking station 2000 is shown. Figure 2 A front perspective view of device 1000 is shown. Figure 3 A rear perspective view of the bottom of device 1000 is shown. Figure 4 A bottom view of device 1000 is shown.

[0038] like Figure 1As shown, device 1000 has a longitudinal axis (X1) extending between the front and rear of device 1000, a transverse axis (Y1) extending laterally between the left (L) and right (R) sides of device 1000, and a vertical axis (Z1) extending substantially perpendicularly to the surface in which device 1000 travels. For the purposes of this description, in the context of device 1000, terms such as “front” and “rear” are used in the sense of their forward and backward directions during operation. Similarly, the terms “left” and “right” will be used with reference to the forward direction of movement of device 1000.

[0039] Device 1000 includes a main body 1001, a drive system 1002 carried by the main body 1001 and configured to move the autonomous surface cleaning device 1000 on a surface, a cleaning assembly 1003 disposed at the front of the main body 1001, and a container 1004 releasably attached to the main body 1001 and configured to receive dirt collected by the cleaning assembly 1003. Device 1000 also includes a rechargeable battery system 1005 carried by the main body 1001 and arranged to provide power to various systems of device 1000, wherein battery charging contacts 1006 are disposed on the front surface 1007 of the main body 1001. The charging contacts 1006 are electrically connected to the rechargeable battery system 1005 and are configured to transmit current when in contact with a corresponding charging contact 2001, for example, a docking station 2000 associated with the autonomous surface cleaning device 1000.

[0040] In the illustrated embodiment, body 1001 defines a generally planar front surface 1007 that is substantially perpendicular to the bottom or base of body 1001, such that front surface 1007 is substantially vertical when device 1000 is supported on a horizontal surface. Body 1001 also defines first and second (i.e., left and right) side surfaces 1009, 1010, at least a portion of which extends rearward from opposite ends of front surface 1007. First and second side surfaces 1009, 1010 each have a generally planar foremost portion and a curved rearward portion, wherein the rearward portions curve inward toward each other and toward the longitudinal axis (X1) of device 1000. The foremost portions of side surfaces 1009, 1010 of body 1001 are substantially perpendicular to front surface 107 of body 1001 and therefore parallel to each other. Thus, body 1001 of device 1000 has a generally D-shaped planar shape. The term "planar shape" as used herein refers to the peripheral shape when viewed from above.

[0041] like Figure 5As shown, the main body 1001 of the device 1000 includes a chassis 1011 and a housing 1012 mounted on the chassis 1011. The housing 1012 defines the outer surface of the main body 1001 and includes one or more covers arranged together to cover the chassis 1011 and form the outer surface of the main body 1001. In the illustrated embodiment, the housing 1012 includes a bottom cover 1013, a front cover 1014, and a pair of rear covers 1015.

[0042] The drive system 1002 is mounted to the chassis 1011 and includes a pair of differential drive wheels 1016 that partially protrude from the bottom of the body 1001. In the illustrated embodiment, the drive system 1002 is positioned approximately midway between the foremost and rearmost portions of the device 1000, with the first and second (i.e., left and right) drive wheels 1016 positioned adjacent to corresponding side surfaces 1009, 1010.

[0043] The cleaning assembly 1003 is disposed below the front surface 1007 of the body 1001 and protrudes in front of the front surface 1007 of the body 1001. This arrangement makes the cleaning assembly 1003 the first part of the device 1000 to pass over the surface to be cleaned, and also allows the cleaning assembly 1003 to reach under low objects that might be inaccessible throughout the entire height of the device 1000. In the illustrated embodiment, the cleaning assembly 1003 includes a housing 1017 defining a suction chamber 1018, the suction chamber 1018 having an opening in the bottom surface of the cleaning assembly such that the opening is adjacent to the surface to be cleaned. Figure 6 As shown, the device 1000 also includes an airflow generator 1020 for generating airflow through the suction chamber. The airflow generator 1020 includes an impeller (not shown) driven by a vacuum motor (not shown), wherein the vacuum motor is powered by electricity received from a rechargeable battery system 1005. An agitator 1021 is also disposed within the suction chamber 1018 and arranged to move or remove dirt from the surface to be cleaned, making it easier to collect dirt through the suction chamber 1018. In the illustrated embodiment, the agitator 1021 is provided by a rotatable brush bar.

[0044] The cleaning assembly 1003 has a generally rectangular planar shape. Therefore, the cleaning assembly 1003 has a generally planar front surface 1022 and first and second (i.e., left and right) side surfaces 1023, 1024 extending rearward from opposite ends of the front surface 1022. Figure 3As shown, the housing 1017 of the cleaning assembly 1003 further defines a suction channel 1025 extending from the suction chamber 1018 to a suction channel opening 1026 disposed in a first side surface 1023 of the cleaning assembly 1003. A side suction nozzle 1027 is then mounted to the housing 1017, near the suction channel opening 1026. The side suction nozzle 1027 is mounted to the housing 1017 via a telescopic assembly arranged to allow movement of the side suction nozzle 1027 between an extended position and a retracted position. In the extended position, the side suction nozzle 1027 protrudes away from the suction channel opening 1026 and away from the first side surface 1023 of the cleaning assembly 1003, while in the retracted position, the side suction nozzle 1027 retracts into the cleaning assembly 1003 (i.e., behind the first side surface 1023 of the cleaning assembly 1003).

[0045] like Figure 7 and Figure 8 As shown, the side suction nozzle 1027 includes a first elastic blade 1029 and a second elastic blade 1030. The first elastic blade 1029 is arranged such that its surface 1031 faces substantially forward, and the second elastic blade 1030 is arranged such that its surface 1032 faces substantially downward. In this particular embodiment, when the device 1000 is supported on a horizontal surface, the first elastic blade 1029 is arranged substantially vertically, while the second elastic blade 1030 is arranged substantially horizontally. Therefore, the transverse axis (Y2) of the first elastic blade is perpendicular to the transverse axis (Y3) of the second elastic blade. The first elastic blade 1029 and the second elastic blade 1030 each comprise an elastic material, such as an elastomer, particularly an elastic plastic or rubber. For example, the first elastic blade 1029 and the second elastic blade 1030 may comprise an elastic material, such as thermoplastic polyurethane (TPU). The side suction nozzle 1027 allows the device 1000 to clean close to the edge of a vertical surface such as a wall, because the device 1000 can be manipulated such that the elastic blades 1029, 1030 of the side suction nozzle 1027 contact and slide along these surfaces to ensure that dirt and debris are guided through the side suction channel 1025 into the cleaning assembly 1003.

[0046] The first resilient blade 1029 is substantially planar, having a straight lower edge and an upper edge that is at least partially curved so as to meet the lower edge at a point (i.e., such that the first resilient blade 1029 has the shape of a straight-backed blade). In contrast, the second resilient blade 1030 is corrugated and arranged such that the ridges and grooves of the second resilient blade extend from the proximal end or base of the blade to the distal end or tip of the blade. In the illustrated embodiment, when the device 1000 is supported on a horizontal surface, the second resilient blade 1030 is arranged at an angle (θ1) of 0 to 20 degrees below the horizontal line.

[0047] The side-suction nozzle 1027 also includes a nozzle base 1033, to which a first elastic blade 1029 and a second elastic blade 1030 are attached. The first elastic blade 1029 and the second elastic blade 1030 are connected to the telescopic assembly 1028 via the nozzle base 1033. In the illustrated embodiment, the first elastic blade 1029, the second elastic blade 1030, and the nozzle base 1033 are integrally formed, and the first elastic blade 1029 is connected to the second elastic blade 1030 only via the nozzle base 1033.

[0048] like Figure 3 and Figure 4 As shown, when in the retracted position, the first elastic blade 1029 and the second elastic blade 1030 retract and remain within the cleaning assembly 1003 such that they do not protrude away from the first side surface 1023 of the cleaning assembly 1003. When in the extended position, the first elastic blade 1029 and the second elastic blade 1030 extend away from the first side surface 1023 of the cleaning assembly 1003. Specifically, when the side suction nozzle 1027 is in the extended position, the first elastic blade 1029 protrudes away from the rear edge of the suction channel opening 1026, while the second elastic blade 1030 protrudes away from the upper edge of the suction channel opening 1026.

[0049] Telescopic components such as Figure 9 and Figure 10 As shown, the telescopic assembly includes an extension arm 1034 movably connected to a cleaning assembly 1003, with a suction nozzle 1027 attached to the distal end of the extension arm 1034. The extension arm 1034 is then arranged to move laterally relative to the cleaning assembly 1003 (i.e., towards and away from a first side surface 1023 of the cleaning assembly 1003). For this purpose, the telescopic assembly also includes a linear actuator arranged to laterally move the extension arm 1034 relative to the cleaning assembly 1003. In the illustrated embodiment, the linear actuator includes a nozzle motor 1035 and a driven member 1037, the nozzle motor being arranged to drive a drive member 1036, and the driven member 1037 being arranged to be driven by the drive member 1036 to move the extension arm 1034 laterally relative to the cleaning assembly. Specifically, the drive member 1036 includes a pinion mounted to the shaft of the nozzle motor 1035, and the driven member 1037 includes a rack disposed on the extension arm 1034, the rack being arranged to engage with the first side of the pinion.

[0050] The cleaning assembly 1003 also includes a door 1038 arranged to move between a closed position and an open position. In the closed position, when the suction nozzle 1027 is in the retracted position, the door 1038 covers the suction channel opening 1026. In the open position, when the suction nozzle 1027 is in the extended position, the door 1038 does not cover the suction channel opening 1026. In the illustrated embodiment, the cleaning assembly 1003 includes a door actuation assembly arranged to move the door 1038 between the closed and open positions. The door actuation assembly includes a retractable arm 1040 movably connected to the cleaning assembly 1003, wherein the door 1038 is attached to the distal end of the retractable arm 1040 via a hinge 1041. The retractable arm 1040 is arranged to move laterally relative to the cleaning assembly 1003 (i.e., towards and away from the first side surface 1023 of the cleaning assembly 1003), and the door 1038 is arranged such that the lateral movement of the retractable arm 1040 causes the door 1038 to move between a closed position and an open position. Then, a linear actuator of the telescopic assembly is arranged to move the extension arm 1034 in a first direction and simultaneously move the retractable arm 1040 in a second direction. For this purpose, the retractable arm 1040 is provided with a rack 1042, which is arranged to engage with a second side of a pinion 1036 radially opposite to the first side of the pinion 1036.

[0051] The autonomous surface cleaning device 1000 also includes a separation system 1050 configured to separate dirt from the airflow passing through the device 1000 and deposit the dirt into a container 1004. For this purpose, the separation system 1050 is positioned in the airflow path between an air inlet 1051 disposed at a suction chamber 1018 of the cleaning assembly 1003 and an air outlet or exhaust port 1052 of the device 1000. In the illustrated embodiment, the separation system 1050 includes a cyclone separator partially disposed within the container 1004. The device 1000 then includes an inlet or outlet conduit 1053 extending from the cleaning assembly 1003 into the container 1004 for the separation system 1050. The inlet conduit 1053 is straight and extends through the body 1001 in a direction parallel to the longitudinal axis (X1) of the body 1001. The device 1000 also includes a removable filter assembly 1055 disposed in the airflow path between the separation system 1050 and the air outlet 1052 of the device 1000. In the illustrated embodiment, the removable filter assembly 1055 combines a pre-motor filter and a post-motor filter into a single unit. Therefore, the filter assembly 1055 is arranged such that the pre-motor filter of the filter assembly 1055 is disposed in the airflow path between the separation system 1050 and the motor of the airflow generator 1020, and the post-motor filter of the filter assembly 1055 is disposed in the airflow path between the motor of the airflow generator 1020 and the air outlet 1052 of the device 1000.

[0052] In the illustrated embodiment, device 1000 further includes a vibration sensor 1054 configured to detect vibrations in the inflow pipe 1053 caused by contaminants impacting the inflow pipe 1053 (i.e., when contaminants travel from cleaning assembly 103 through the inflow pipe 1053 to the separation system 150). The vibration sensor 1054 is disposed adjacent to the outer side of the upper surface of the inflow pipe 1053. In the illustrated embodiment, the vibration sensor 1054 includes a piezoelectric sensing element. The vibration sensor 1054 is configured to communicate with the control system of device 1000 to provide vibration data, wherein the control system is configured to process the vibration data received from the vibration sensor 1054 to determine one or more of the following: volume of contaminants, size of contaminant clumps, mass of contaminant clumps, and type of contaminant clumps.

[0053] like Figure 1 As shown, when attached to the body 1001 of device 1000, container 1004 is partially disposed within a rearwardly facing recess 1043 defined by body 1001. Device 1000 is configured such that container 1004 can be removed from recess 1043 by rearwardly moving container 1004 relative to body 1001 (i.e., in a direction substantially parallel to the longitudinal axis (X1) of device 1000), as... Figure 11 As indicated by the arrows in the diagram. Specifically, body 1001 defines a rear opening 1044 leading to recess 1043, and body 1001 is arranged to allow container 1004 to be removed from recess 1043 by moving container 1004 rearward through rear opening 1044. This arrangement of container 1004 relative to battery charging contacts 1006 of device 1000 allows for easy removal of container 1004 when device 1000 is docked with an associated docking station, for example, during charging of rechargeable battery system 1005. This arrangement also makes a portion of the side surface 1045 of container 1004 visible when held within recess 1043, and by making this visible portion at least partially transparent, the fill level of container 1004 is visible during use. In the illustrated embodiment, container 1004 is generally cylindrical, and recess 1043 has a shape substantially corresponding to the generally cylindrical shape of container 1004. Then, the outer wall of the roughly cylindrical container 1004 is completely transparent.

[0054] In the illustrated embodiment, the device 1000 is further configured such that, after the container 1004 has been released from the body 1001, the container 1004 can be removed from the recess 1043 by moving the container 1004 relative to the body 1001 in an upward direction (i.e., when supported on a horizontal surface, in a direction substantially parallel to the vertical axis (Z1) of the device 1000). Specifically, the body 1001 defines a rear opening 1044 leading to the recess 1043 and an upper opening 1046 leading to the recess 1043, which, in the illustrated embodiment, are combined into a single opening.

[0055] When attached to the body 1001, a portion of the container 1004 protrudes from the recess 1043 beyond the rear portion of the body 1001. This arrangement provides a larger container 1004 without increasing the size of the body 1001 of the device 1000. The lower edge 1047 of the container 1004, which is at least partially chamfered when the container 1004 is attached to the body 1001 and thus protrudes beyond the recess 1043, is then at the rear. This chamfer ensures that the protruding lower edge 1047 of the container 1004 will not impede or prevent the device 1000 from tilting slightly backward, which would otherwise prevent the device 1000 from passing low objects in its path. The body 1001 then includes a flange 1048 flush with the bottom surface of the body 1001 and extending partially over the lower end of the recess 1043 to support a portion of the container 1004 when attached to the body 1001. However, the flange 1048 is arranged such that when the container 1004 is attached to the body 1001, the flange 1048 does not extend beyond the outer periphery of the bottom surface of the container 1004. Specifically, the flange 1048 is arranged such that when the container 1004 is attached to the body 1001, the flange 1048 does not extend beyond the lower corner of the chamfered lower edge 1047. Therefore, when the container 1004 is attached to the body 1001, the flange 1048 provides support for the container 1004 without hindering or preventing slight rearward tilting of the device 1000.

[0056] The device 1000 further includes a retaining assembly for holding the container 1004 within the recess 1043, wherein the retaining assembly includes a user-actuable release mechanism for releasing the container 1004 from the retaining assembly. In the illustrated embodiment, the retaining assembly includes a movable upper latch 1056 disposed on the body 1001 and an upper latch retainer 1057 disposed on the container 1004, wherein the upper latch retainer 1057 is arranged to engage with the upper latch 1056 when the container 1004 is maximally positioned within the recess 1043. The movable upper latch 1056 is arranged to move between a first position and a second position, and is arranged to engage with the upper latch retainer 1057 when the container 1004 is maximally positioned within the recess 1043 and the upper latch 1056 is in the first position, and to disengage from the upper latch retainer 1057 when the upper latch 1056 is in the second position. Then, the upper latch 1056 is biased to a first position by an upper latch spring (not shown), and a user-actuable release mechanism is provided by a container release button 1058 provided on the body 1001, which is arranged so that when operated by the user, the upper latch 1056 moves to a second position against the force of the upper latch spring.

[0057] In the illustrated embodiment, the retaining assembly further includes a movable lower latch 1059 disposed on the body 1001 and a lower latch retainer 1060 disposed on the container 1004, wherein the lower latch retainer 1060 is arranged to engage with the lower latch 1059 when the container 1004 is maximally positioned within the recess 1043. Similar to the upper latch 1056, the lower latch 1059 is arranged to move between a first position and a second position, and is arranged to engage with the lower latch retainer 1060 when the container 1004 is maximally positioned within the recess 1043 and the lower latch 1059 is in the first position, and to disengage from the lower latch retainer 1060 when the lower latch 1059 is in the second position. The lower latch 1059 is biased to a first position by a lower latch spring (not shown). A user-actuable release mechanism is arranged such that operation of the container release button 1058 by the user causes the upper latch 1056 to move against the force of the upper latch spring to a second position, and the lower latch 1059 to move against the force of the lower latch spring to the second position. The lower latch 1059 is also arranged such that when moving from the first position to the second position, the lower latch 1059 will push the container 1004 rearward relative to the body 1001 to aid in the removal of the container 1004. For this purpose, the lower latch 1059 is arranged to extend rearward from the body 1001 and into the recess 1043 when in the second position.

[0058] In an alternative embodiment, the latches 1056, 1059 and the user-actuable release mechanism of the retaining components may be disposed on the container 1004, while the latch retainers 1057, 1060 are disposed on the body 1001. In such an alternative embodiment, the lower latch 1059 is then arranged to extend forward from the container 1004 when in the second position in order to push the container 1004 away from the body 1001 of the device 1000.

[0059] The rechargeable battery system 1005 includes a plurality of battery cells disposed at the rear of the body 1001, such that these battery cells are positioned at opposite ends of the body 1001 relative to the cleaning assembly 1003 to provide a favorable center of gravity for the device 1000. In the illustrated embodiment, a rearwardly facing recess 1043 defined by the body 1001 is aligned with the longitudinal axis (X1) of the body 1001. Therefore, the body 1001 defines a first rear portion 1061 extending along a first (i.e., left) side of the recess 1043 and a second rear portion 1062 extending along a second (i.e., right) side of the recess 1043. Thus, the first rear portion 1061 and the second rear portion 1062 at least partially define the recess 1043. The rechargeable battery system 1005 then includes a first group of battery cells 1063 disposed within the first rear portion 1061 and a second group of battery cells 1064 disposed within the second rear portion 1062. Therefore, the first set of battery cells 1063 is supported by the body 1001 on the first side of the recess 1043, and the second set of battery cells 1064 is supported by the body 1001 on the second side of the recess 1043. This arrangement positions the battery cells 1063 and 1064 at the ends of the device 1000 opposite to the cleaning assembly 1003 to provide some balance to the weight of the cleaning assembly 1003, while also distributing the battery cells 1063 and 1064 on both sides of the longitudinal axis (X1) of the device to maintain a favorable center of gravity. In the illustrated embodiment, the number of battery cells in the first set 1063 is equal to the number of battery cells in the second set 1064, such that the battery cells are evenly distributed on both sides of the longitudinal axis (X1) of the device 1000.

[0060] like Figure 12As shown, the battery cells in the first group of battery cells 1063 are disposed within a first battery housing 1065, which supports and provides interconnection between the battery cells in the first group of battery cells 1063. The battery cells in the second group of battery cells 1064 are disposed within different second battery housings 1066, which support and provide interconnection between the battery cells in the second group of battery cells 1064. The rechargeable battery system 1005 then further includes a cable harness 1067 that extends between and connects the first battery housing 1065 and the second battery housing 1066, thereby connecting the first group of battery cells 1063 and the second group of battery cells 1064 together.

[0061] Then, the device 100 also includes a control system 1070 configured to control the operation of the device 100, wherein... Figure 13 The control system 1070 is schematically illustrated. Specifically, the control system 1070 is responsible for controlling the movement, navigation, cleaning operations, docking, charging, and communication of the device 100. Therefore, the control system 1070 is implemented as a combination of computer hardware and software and includes one or more processors 1071, such as microcontrollers, and a memory 1072 that provides storage for any data required by the control system 1070, such as any computer program / software application implemented by the one or more processors 1071. The control system 1070 also includes one or more transceivers 1073 for wireless communication with other entities such as personal computer devices (e.g., a user's smartphone, tablet, etc.) and / or communication interface devices (e.g., wireless access points, telecommunications base stations). Therefore, the control system includes a communication unit 1074 that controls the transmission and reception of communications via the transceivers 1073.

[0062] In other operations, the control system 1070 is responsible for controlling the movement of the device within the environment. Therefore, it includes a motion control unit 1075 that controls the drive system 1002, and a navigation unit 1076 that receives data from the navigation sensor system 1080 and uses that data to autonomously navigate the device 1000 within the environment. Specifically, the navigation unit 1076 is configured to use data received from the navigation sensor system 1080 to perform functions such as positioning within the environment, mapping the environment, and hazard avoidance.

[0063] In the illustrated embodiment, the navigation sensor system 1080 includes one or more visual sensors 1081 arranged to capture images of the environment surrounding the device 1000; one or more motion sensors 1082 arranged to detect movement of the device 1000; a plurality of proximity sensors 1083-1086 arranged to detect the presence of objects and / or distance to objects; a plurality of cliff sensors 1087-1092 arranged to detect the presence of potential drops; and a plurality of contact or collision sensors 1112, 1117, 1118 arranged to detect collisions between the device and other objects. In the illustrated embodiment, the visual sensor 1081 includes an omnidirectional camera positioned on top of the device 1000 for providing a panoramic view of its surroundings for positioning, etc., and the motion sensor 1082 includes an optical flow sensor pointing towards a surface supporting the device for implementing visual odometry to provide positioning compensation for traction slippage, etc.

[0064] As described above, the cleaning assembly 1003 then has a generally planar front surface 1022 and first and second (i.e., left and right) side surfaces 1023, 1024 extending rearward from opposite ends of the front surface 1022. Therefore, the cleaning assembly 1003 has a first (i.e., left) front corner formed at the location where the front surface 1022 meets the first side surface 1023 and a second (i.e., right) front corner formed at the location where the front surface 1022 meets the second side surface 1024. The navigation sensor system 1080 then includes a first front proximity sensor 1083 disposed on the front surface 1022 of the cleaning assembly 1003, adjacent to the first front corner, and a second front proximity sensor 1084 disposed on the front surface 1022 of the cleaning assembly 1003, adjacent to the second front corner. First and second front proximity sensors 1083, 1084 are arranged to detect obstacles present in the path of the device 1000 and the cleaning assembly 1003. For this purpose, both first and second front proximity sensors 1083, 1084 are tilted inward toward the longitudinal axis (X1) of the cleaning assembly 1000. Specifically, the first and second front proximity sensors 1083, 1084 point inward at an acute angle (θ2) relative to the front surface 1022 of the cleaning assembly 1003. This arrangement of the front proximity sensors 1083, 1084 allows only two proximity sensors to monitor obstacles in the path of the device 1000, and improves the sensitivity of hazard detection by ensuring that the fields of view of the proximity sensors at least partially overlap.

[0065] In the illustrated embodiment, the first and second front proximity sensors 1083, 1084 point inward at an angle (θ2) of approximately 25 degrees relative to the front surface 1022 of the cleaning assembly 1003. However, those skilled in the art will recognize that the precise angle (θ2) chosen for the front proximity sensors will depend on the width of the device 1000, the size of the proximity sensor's field of view, and its detection range. In the illustrated embodiment, each of the first and second front proximity sensors 1083, 1084 is provided by a time-of-flight (TOF) sensor, such as an ultrasonic or infrared TOF sensor, and preferably by an invisible infrared laser TOF sensor.

[0066] The navigation sensor system 1080 also includes a first side proximity sensor 1085 disposed on a first side surface 1023 of the cleaning assembly 1003, adjacent to a first front corner of the cleaning assembly 1003, and a second side proximity sensor 1086 disposed on a second side surface of the cleaning assembly 1003, adjacent to a second front corner of the cleaning assembly 1030. The first side proximity sensor 1085 and the second side proximity sensor 1086 point laterally away from the device 1000 and are preferably arranged such that they point substantially parallel to the front surface 1022 of the cleaning assembly 1003 (i.e., such that the axis of the sensor is substantially parallel to the front surface 1022 of the cleaning assembly 1003). This arrangement of the side proximity sensors 1085 and 1086 allows the device 1000 to detect walls or other similar obstacles at the foremost corner, and when their outputs are combined with the outputs of the front proximity sensors 1083 and 1084, allows the device 1000 to accurately detect approaching corners. In the illustrated embodiment, each of the first side proximity sensor 1085 and the second side proximity sensor 1086 is provided by a time-of-flight (TOF) sensor, such as an ultrasonic or infrared TOF sensor, and preferably by an invisible infrared laser TOF sensor.

[0067] In the illustrated embodiment, the navigation sensor system 1080 further includes a first front cliff sensor 1087 disposed on the bottom surface of the cleaning assembly 1003, adjacent to a first front corner of the cleaning assembly 1003, and a second front cliff sensor 1088 disposed on the bottom surface of the cleaning assembly 1003, adjacent to a second front corner of the cleaning assembly 1003. This arrangement of the front cliff sensors 1087 and 1088 ensures that a potential drop is detected at the foremost corner of the device 1000, preventing the cleaning assembly 1003 from crossing the drop, thereby minimizing the risk of the device 1000 falling and avoiding wasted energy by operating a vacuum motor and / or agitator above the drop.

[0068] In the illustrated embodiment, the navigation sensor system 1080 also includes rear cliff sensors 1089 and 1090 disposed near the last bottom edge of the body 1001. Specifically, the first rear cliff sensor 1089 is disposed near the last bottom edge of the first last portion 1061, and the second rear cliff sensor 1090 is disposed near the last bottom edge of the second last portion 1062. These rear cliff sensors 1089 and 1090 provide the ability to detect potential drops by the last edge of the device 1000 to minimize the risk that the device 1000 will cross a drop during reverse movement. However, because these rear cliff sensors 1089 and 1090 are disposed on the last portion of the body 1001, and because these last portions 1061 and 1062 of the body 1001 curve inward, these rear cliff sensors 1089 and 1090 are closer to the longitudinal axis (X1) of the body 1001 than the drive wheel 1016. Therefore, the navigation sensor system 1080 also includes a first side cliff sensor 1091 and a second side cliff sensor 1092, each of which is disposed directly behind and parallel to (i.e., longitudinally aligned with) the corresponding drive wheel 1016. Thus, these side cliff sensors 1091, 1092 are located directly behind each drive wheel 1016 to detect drops that may be directly behind the drive wheel 1016 but may not be detected by the rear cliff sensors 1089, 1090.

[0069] like Figure 6 As shown, the navigation sensor system 1080 of the illustrated embodiment includes a pair of front corner sensor assemblies 1101 and 1102, each of which includes a front proximity sensor, a side proximity sensor, and a front cliff sensor. Specifically, the navigation sensor system 1080 includes a first front corner sensor assembly 1101 disposed at a first (i.e., left) front corner of the cleaning assembly 1003 and a second front corner sensor assembly 1102 disposed at a second (i.e., right) front corner of the cleaning assembly 1003. The first front corner sensor assembly 1101 includes a first front proximity sensor 1083, a first side proximity sensor 1085, and a first front cliff sensor 187, while the second front corner sensor assembly 1102 includes a second front proximity sensor 1084, a second side proximity sensor 1086, and a second front cliff sensor 1088.

[0070] like Figure 14As shown, each of the front corner sensor assemblies 1101 and 1102 includes a single circuit board, such that the front proximity sensor, side proximity sensor, and front cliff sensor of the front corner sensor assembly are all mounted on the same circuit board. Specifically, the first front corner sensor assembly 1101 includes a first corner sensor circuit board 1103, on which the first front proximity sensor 1083, the first side proximity sensor 1085, and the first front cliff sensor 1087 are all mounted. The second front corner sensor assembly 1102 includes a second corner sensor circuit board 1104, on which the second front proximity sensor 1084, the second side proximity sensor 1086, and the second front cliff sensor 1088 are all mounted. Combining the three sensors onto a single circuit board simplifies the manufacture and assembly of the device 1000.

[0071] Both the first corner sensor circuit board 1103 and the second corner sensor circuit board 1104 are rigid-flexible circuit boards. As used herein, the term "rigid-flexible circuit board" refers to a single circuit board composed of a hybrid of flexible and rigid circuit boards, and therefore includes one or more flexible portions that provide interconnections between the rigid portions. The use of rigid-flexible circuit boards simplifies the manufacture and assembly of these circuit boards because it allows electronic components, including a single sensor, to be mounted on the board when it is in a flat configuration, and then the board can be reconfigured so that the sensor mounted thereon is in a desired different orientation. Each of the first corner sensor circuit board 1103 and the second corner sensor circuit board 1104 includes a first rigid portion 1105 on which a front proximity sensor is mounted, a second rigid portion 1106 on which a front cliff sensor is mounted, a third rigid portion 1107 on which a side proximity sensor is mounted, a first flexible portion 1108 connecting the first rigid portion 1105 and the second rigid portion 1106, and a second flexible portion 1109 connecting the second rigid portion 1106 and the third rigid portion 1107.

[0072] The first front corner sensor assembly 1101 also includes a first corner circuit board frame 1110, on which a first corner sensor circuit board 1103 is mounted. The first circuit board frame 1110 is arranged to hold the first corner sensor circuit board 1103 in a fixed configuration such that the relative positions of the sensors are fixed in a desired orientation. Correspondingly, the second front corner sensor assembly 1102 includes a second corner circuit board frame 1111, on which a second corner sensor circuit board 1104 is mounted. The second corner circuit board frame 1111 is arranged to hold the second corner sensor circuit board 1104 in a fixed configuration such that the relative positions of the sensors mounted thereon are fixed in different desired orientations. Then, the first corner sensor circuit board 1103 is mounted to the chassis 1011 of the device 1000 via the first circuit board frame 1110, and the second corner sensor circuit board 1104 is mounted to the chassis 1011 of the device 1000 via the second circuit board frame 1111.

[0073] As described above, the navigation sensor system 1080 includes a plurality of contact or collision sensors arranged to detect collisions between the device 1000 and other objects. In the illustrated embodiment, the contact sensors include a plurality of foremost contact sensors 1112 disposed behind a front bumper 1113 mounted to the front surface 1022 of the cleaning assembly 1003, wherein each foremost contact sensor 1112 is then arranged to detect displacement of the front bumper 1113 relative to the cleaning assembly 1003.

[0074] The front buffer 1113 is arranged to displace relative to the cleaning assembly 1003 in response to a force applied due to an impact on the buffer 1113. Specifically, the front buffer 1113 includes a plurality of rigid segments 1114 arranged together to extend laterally along the front surface 1022 of the cleaning assembly 1003, wherein each of the plurality of rigid segments 1114 is movable relative to another of the plurality of rigid segments 1114 in response to an applied force. For this purpose, the plurality of rigid segments 1114 are connected by flexible joints 1115, preferably by resilient flexible joints. In the illustrated embodiment, these flexible joints 1115 are provided by movable hinges. The term “movable hinge” as used herein refers to a flexible joint made of the same material as the rigid component to which it is connected. A foremost contact sensor 1112 is then disposed below each of the plurality of rigid segments 1114, wherein each foremost contact sensor 1112 is arranged to detect displacement of the corresponding rigid segment 1114 of the front buffer 1113. In the illustrated embodiment, each rigid segment 1114 includes a protrusion 1116 extending inwardly from the front buffer 1113, and the protrusion 1116 is arranged to contact the corresponding foremost contact sensor 1112 as the rigid segment 1114 is longitudinally displaced toward the body 1001 of the device 1000. This arrangement of the front buffer 1113 and the foremost contact sensor 1112 allows the foremost contact sensor 1112 to be activated independently of each other, which in turn allows the collision position on the front buffer 1113 to be accurately determined based on which foremost contact sensor 1112 is activated by a collision.

[0075] In addition to extending along the front surface 1022 of the cleaning assembly 1003, the front bumper 1113 extends above and around the first and second front corners of the cleaning assembly 1003, and partially along both the first and second (i.e., left and right) sides 1023, 1024 of the cleaning assembly 1003. Specifically, a first (i.e., left) end rigid segment 1114a of the bumper 1113 extends around the first front corner of the cleaning assembly 1003, and a second (i.e., right) end rigid segment 1114b of the bumper 1113 extends around the second front corner of the cleaning assembly 1003. The first end rigid segment 1114a of the bumper 1113 is arranged to be displaced by a force applied to the first front corner of the bumper 1113, and the second end rigid segment 1114b of the bumper 1113 is arranged to be displaced by a force applied to the second front corner of the bumper 1113.

[0076] The contact sensors also include a first plurality of housing contact sensors 1117a, 1117b disposed behind the housing 1012, each of which is arranged to detect longitudinal displacement of the housing 1012 relative to the chassis 1011, and a second plurality of housing contact sensors 1118a, 1118b disposed behind the housing 1012, each of which is arranged to detect lateral displacement of the housing 1012 relative to the chassis 1011 and the cleaning assembly 1003. Therefore, the housing 1012 is arranged to be displaceable relative to the chassis 1011 in both longitudinal and lateral directions in response to forces applied due to impacts on the housing 1012. Then, the device 1000 further includes a first biasing component 1119 arranged to apply a restoring force to the housing 1012 after rearward displacement to return the housing 1012 to its initial longitudinal position relative to the chassis 1011, and second biasing components 1120, 1121 arranged to apply a restoring force to the housing 1012 after lateral displacement to return the housing 1012 to its initial lateral position relative to the chassis 1011.

[0077] In the illustrated embodiment, a first plurality of housing contact sensors 1117a, 1117b are disposed behind the front surface 1007 of the housing 1012, and each sensor is arranged to detect longitudinal displacement of an adjacent portion of the front surface 1007 of the housing 1012 toward the chassis 1011. Specifically, the first plurality of housing contact sensors include a first front housing contact sensor 1117a disposed near a first front corner of the housing 1012 and a second front housing contact sensor 1117b disposed near a second front corner of the housing 1012. This arrangement of the housing contact sensors 1117a, 1117b behind the front corners of the housing 1012 allows the location of an impact on the front of the housing 1012 to be determined based on which front housing contact sensor 1117a, 1117b is activated by an impact.

[0078] The first biasing assembly then includes two biasing arms 1119 rotatably mounted on corresponding pins (not shown) located at the right and left front corners of the chassis 1011. The pins extend vertically, allowing each arm 1119 to rotate about a vertical axis between a biased position and an actuated position. The arms 1119 extend generally inward toward the longitudinal axis of the body 1001, with front housing contact sensors 1117a, 1117b positioned distal to the ends of the respective arms 1119. In their biased positions, each arm 1119 pushes forward against the inside of the front surface 1007 of the housing 1012, holding the housing 1012 in its initial position in front of the chassis 1011. When the impact occurs at the front of the housing 1012, the housing 1012 moves rearward against the biasing force of the corresponding torsion spring (not shown), causing at least one of the arms 1119 to move to an actuated position, in which the distal end of the arm 1119 activates the corresponding front housing contact sensors 1117a, 1117b. Then, after the longitudinal force is removed, the arm 1119 returns to the biased position, causing the housing 1012 to return to its initial position.

[0079] The second plurality of housing contact sensors 1118a, 1118b then include at least one housing contact sensor disposed behind the first side surface 1009 of the housing 1012 and at least one housing contact sensor disposed behind the second side surface 1010 of the housing 1012. Specifically, the second plurality of housing contact sensors includes a first (i.e., left) side housing contact sensor 1118a mounted to the first side 1023 of the cleaning assembly 1003 and a second (i.e., right) side housing contact sensor 1118b mounted to the second side 1024 of the cleaning assembly 1003. Then, the foremost portions of the first side surface 1009 and the second side surface 1010 of the housing 1012 also extend in front of the front surface 1007 of the housing 1012 to cover these contact sensors disposed on the sides 1023, 1024 of the cleaning assembly 1003. Therefore, the first side housing contact sensor 1118a is arranged to detect the lateral displacement of the first side surface 1009 of the housing 1012 toward the cleaning assembly 1003, while the second side housing contact sensor 1118b is arranged to detect the lateral displacement of the second side surface 1010 of the housing 1012 toward the cleaning assembly 1003.

[0080] In the illustrated embodiment, the second biasing assembly includes a centering device 1120 centrally mounted toward the front of the chassis 1011, and the centering device 1120 is biased to a laterally central position by compression springs 1021 disposed on either side of the centering device 1020. The housing 1012 is then mounted to the chassis 1011 via the centering device 1120 such that the housing 1012 is held in a laterally central position relative to the chassis 1011. The centering device 1020 is also used to return the housing 1012 to the laterally central position after an impact that causes the housing 1012 to laterally displace from its central position.

[0081] The aforementioned arrangement of the contact sensors allows device 1000 to accurately determine the location of contact made by any of the front portions of device 1000, namely each of the cleaning assembly 1003 and the front portion 1007 of housing 1012, while also detecting contact made by the cleaning assembly 1003 and / or the sides of body 1001 of device 1000. Furthermore, combining the outputs of the contact sensors arranged in this manner allows device 1000 to more effectively determine maneuvers to avoid obstacles contacted by device 1000.

[0082] It should be understood that the individual items described above may be used alone or in combination with other items shown in the drawings or described in the specification, and items mentioned in the same paragraph or the same drawing need not be used in combination with each other. Furthermore, the expression "means" may be replaced by an actuator, system, or device, as desired. Moreover, any reference to "comprising" or "consisting of" is not intended to be limiting in any way, and the reader should interpret the specification and claims accordingly.

[0083] Furthermore, although the invention has been described with reference to the preferred embodiments described above, it should be understood that these embodiments are merely illustrative. Those skilled in the art will be able to make modifications and substitutions based on this disclosure, which are considered to fall within the scope of the appended claims.

Claims

1. An autonomous surface cleaning device, comprising: The main body, defining the roughly planar front surface; A drive system, carried by the main body, is configured to move the autonomous surface cleaning device on the surface; A cleaning component is disposed at the front of the main body; Rechargeable battery system; Charging contacts are electrically connected to the rechargeable battery system and are disposed on the front surface of the body; as well as A container configured to receive dirt collected by the cleaning assembly, the container being releasably attached to the body, wherein the device is arranged such that when the container is attached to the body, the container is at least partially disposed in a rearwardly facing recess defined by the body; The cleaning component is disposed below the front surface of the main body and protrudes forward to the front of the front surface of the main body, and also protrudes forward to the charging contacts.

2. The autonomous surface cleaning device according to claim 1, wherein, The front surface of the main body is perpendicular to the bottom surface of the main body.

3. The autonomous surface cleaning device according to claim 1 or 2, wherein, The cleaning component is disposed below the front surface of the body and protrudes to the front of the front surface of the body.

4. The autonomous surface cleaning device according to claim 1 or 2, wherein, Multiple contact sensors are located on the front part of the cleaning assembly.

5. The autonomous surface cleaning device according to claim 4, wherein, The cleaning assembly includes a front buffer mounted to the front surface of the cleaning assembly, and a plurality of contact sensors are disposed below / behind / covered by the front buffer, each front contact sensor being arranged to detect displacement of the front buffer relative to the cleaning assembly.

6. The autonomous surface cleaning device according to any one of claims 1 to 2 and 5, wherein, The device is configured to remove the container from the recess by moving the container in a rearward direction relative to the body.

7. The autonomous surface cleaning device according to any one of claims 1 to 2 and 5, wherein, The body defines a rear opening leading to the recess, and the body is arranged to allow the container to be removed from the recess by moving the container through the rear opening in a rearward direction.

8. The autonomous surface cleaning device according to any one of claims 1 to 2 and 5, wherein, When the container is set in a recess, the rearmost lower edge is at least partially chamfered.

9. The autonomous surface cleaning device according to any one of claims 1 to 2 and 5, wherein, The body includes a flange configured to support at least a portion of the container when attached to the body.

10. The autonomous surface cleaning device according to any one of claims 1 to 2 and 5, wherein, The body defines side surfaces extending rearward from opposite ends of the front surface, each side surface having a generally flat foremost portion and a curved rear portion, wherein the rear portions are curved inward toward each other.

11. The autonomous surface cleaning device according to any one of claims 1 to 2 and 5, wherein, The body defines a first final portion extending along a first side of the recess (and at least partially defining the recess) and a second final portion extending along a second side of the recess (and at least partially defining the recess).

12. The autonomous surface cleaning device according to claim 11, wherein, The rechargeable battery system includes a first set of battery cells disposed in the first last part and a second set of battery cells disposed in the second last part.

13. An autonomous surface cleaning device, comprising: main body; A drive system, carried by the main body, is configured to move the autonomous surface cleaning device on the surface; A cleaning component is disposed below the front surface of the body and protrudes to the front of the front surface of the body, and protrudes to the front of the charging contacts disposed on the front surface of the body; as well as A rechargeable battery system includes a plurality of battery cells disposed at the rear of the main body, wherein the charging contacts are electrically connected to the rechargeable battery system.

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