Robotic cleaner

Abstract

A robotic cleaner can include a chassis, an agitator assembly configured to engage a surface to be cleaned, and a lift mechanism movably coupling the agitator assembly to the chassis. The lift mechanism can include a biasing mechanism. The biasing mechanism can be configured to generate a biasing force that urges the agitator assembly in a direction away from the surface to be cleaned. The biasing force can be insufficient to lift the agitator assembly from the surface to be cleaned.

Description

[0001] This application is a divisional application of the invention patent application No. 202090054876.8 entitled "Robot Cleaner", which was filed by the applicant, Shangkeningjia Operation Co., Ltd., on July 29, 2020, under PCT application PCT / US2020 / 043934 and entered the national phase on January 28, 2022.

[0002] Cross-referencing related applications

[0003] This application claims the benefit of U.S. Provisional Application No. 62 / 879,822 entitled “Robotic Cleaner”, filed July 29, 2019, and U.S. Provisional Application No. 62 / 886,600 entitled “Robotic Cleaner”, filed August 14, 2019, each of which is incorporated herein by reference in its entirety. Technical Field

[0004] This disclosure generally relates to autonomous devices, and more specifically, to robotic cleaners. Background Technology

[0005] The following discussion does not imply that anything discussed herein is part of the prior art or common knowledge to those skilled in the art.

[0006] Surface cleaning equipment can be used to clean a variety of surfaces. Some surface cleaning equipment includes a rotating agitator (e.g., a brush roller). One example of surface cleaning equipment includes a vacuum cleaner, which may include a rotating agitator and a vacuum source. Non-limiting examples of cleaners include robotic vacuum cleaners, robotic sweepers, multi-surface robotic cleaners, wet / dry robotic cleaners, upright vacuum cleaners, canister vacuum cleaners, bar vacuum cleaners, and central vacuum systems.

[0007] In the field of robotics and autonomous cleaning devices, a range of sizes and features have been developed to meet a variety of cleaning needs. However, some cleaning applications remain a challenge.

[0008] Traditionally, wet floor cleaning in the home involves manual labor and is typically accomplished with a tool consisting of a wet mop or sponge attached to the end of a handle. The mop or sponge is used to apply a cleaning fluid to the floor surface. The cleaning fluid is applied, and the tool is used to agitate the floor surface through scrubbing motions. The components of the cleaning fluid and the scrubbing agitation help to suspend any dust or contaminants on the surface into the cleaning fluid. As the tool removes the cleaning fluid, the mop or sponge typically absorbs the cleaning fluid, and thus the dust or contaminants, and then removes the contaminants from the floor surface. Water can be used to perform wet cleaning on floors, but it is often more effective to use a mixture of water and soap or a detergent that reacts with the contaminants to emulsify them in the water as the cleaning fluid. The cleaning fluid may further contain other components such as solvents, fragrances, disinfectants, drying agents, abrasive particles, etc., to increase the effectiveness of the cleaning process or improve the end result, such as the appearance of the floor.

[0009] As mentioned above, sponges or mops can be used as scrubbing elements for cleaning subsurface surfaces, especially those with stubborn stains and particulate matter. The scrubbing action agitates the cleaning fluid to mix with the contaminants and applies friction to loosen the contaminants from the surface. Agitation enhances the dissolving and emulsifying effect of the cleaning fluid, and friction helps break down the bond between the surface and the contaminants.

[0010] Before cleaning wet floors, dry debris is typically removed using a vacuum cleaner or by dry mopping. This minimizes contamination of cleaning fluids and tools used during wet floor cleaning. However, this extra step increases the time and labor required for the cleaning process. Summary of the Invention

[0011] According to this disclosure, an example of a robotic cleaner may include a chassis, an agitator assembly configured to engage a surface to be cleaned, and a lifting mechanism movably coupled to the chassis. The lifting mechanism may include a biasing mechanism. The biasing mechanism may be configured to generate a biasing force that pushes the agitator assembly away from the surface to be cleaned. The biasing force may be insufficient to lift the agitator assembly from the surface to be cleaned.

[0012] In some cases, the lifting mechanism may include a top plate, a bottom plate, and a plurality of links, each link having a first end pivotally connected to the top plate and a second end slidably connected to the bottom plate. In some cases, the top plate may be connected to a chassis, and the bottom plate may be connected to an agitator assembly. In some cases, a biasing mechanism may be configured to push the links toward each other. In some cases, the biasing mechanism may be a tension spring. In some cases, the biasing mechanism may be a leaf spring. In some cases, the agitator assembly may include at least one motor. In some cases, the lifting mechanism may include a plurality of biasing mechanisms configured to cooperate to promote a uniform weight distribution on the agitator assembly. In some cases, the agitator assembly may include at least one agitator configured to rotate via the at least one motor. In some cases, the agitator assembly may include at least one counterweight positioned on opposite sides of the agitator assembly.

[0013] According to this disclosure, another example of a robotic cleaner may include a chassis, a suction motor, a dust cup fluidly coupled to the suction motor, an agitator assembly configured to engage a surface to be cleaned, and a lifting mechanism movably coupled to the chassis, the agitator assembly being fluidly coupled to the dust cup. The lifting mechanism may include a biasing mechanism. The biasing mechanism may be configured to generate a biasing force that pushes the agitator assembly away from the surface to be cleaned. The biasing force may be insufficient to lift the agitator assembly from the surface to be cleaned.

[0014] In some cases, a bellows can fluidly connect the agitator assembly to the dust collection cup. In some cases, the lifting mechanism may include a top plate, a bottom plate, and a plurality of links, each link having a first end pivotally connected to the top plate and a second end slidably connected to the bottom plate. In some cases, the top plate may be connected to a chassis, and the bottom plate may be connected to the agitator assembly. In some cases, a biasing mechanism may be configured to push the links toward each other. In some cases, the biasing mechanism may be a tension spring. In some cases, the biasing mechanism may be a leaf spring. In some cases, the agitator assembly may include at least one motor. In some cases, the lifting mechanism may include a plurality of biasing mechanisms configured to cooperate to promote a uniform weight distribution on the agitator assembly. In some cases, the agitator assembly may include at least one counterweight, the at least one counterweight and the at least one motor being positioned on opposite sides of the agitator assembly. Attached Figure Description

[0015] These and other features and advantages will be better understood by reading the following detailed description in conjunction with the accompanying drawings, in which:

[0016] Figure 1A This is a top perspective view of a robotic cleaner according to an embodiment of the present disclosure.

[0017] Figure 1B This is another top perspective view of the robotic cleaner shown in FIG1 according to an embodiment of the present disclosure, wherein at least a portion of the robotic cleaner is shown as transparent for clarity.

[0018] Figure 2A Figure 1 is a top view of the robotic cleaner shown according to an embodiment of the present disclosure.

[0019] Figure 2B Figure 1 is a top view of the robotic cleaner shown according to an embodiment of the present disclosure, with the top portion removed for clarity.

[0020] Figure 3 Figure 1 is a bottom view of the robotic cleaner shown according to an embodiment of the present disclosure.

[0021] Figure 4 This is a schematic perspective view of a robotic cleaner with an agitator assembly according to an embodiment of the present disclosure, wherein the robotic cleaner is shown as transparent for clarity.

[0022] Figure 5 It is an embodiment of the present disclosure having an agitator assembly and a dust collection cup. Figure 4 A schematic perspective view of a robotic cleaner, in which the robotic cleaner is shown as transparent for clarity.

[0023] Figure 6 According to embodiments of this disclosure Figure 4 A perspective view of the lifting mechanism shown.

[0024] Figure 7 According to embodiments of this disclosure Figure 4 The side view of the lifting mechanism shown.

[0025] Figure 8 According to embodiments of this disclosure Figure 4 The bottom perspective view of the lifting mechanism shown.

[0026] Figure 8A According to embodiments of this disclosure Figure 4 A perspective view of the linkage of the lifting mechanism shown.

[0027] Figure 9A This is a cross-sectional view of the agitator assembly of a robotic cleaner according to an embodiment of the present disclosure.

[0028] Figure 9B According to embodiments of this disclosure Figure 9ATop perspective view of the agitator assembly shown.

[0029] Figure 10 This is a perspective view of the agitator assembly of a robotic cleaner according to an embodiment of the present disclosure.

[0030] Figure 11 According to embodiments of this disclosure Figure 10 A front view of the agitator assembly of a robotic cleaner.

[0031] Figure 12 According to embodiments of this disclosure Figure 10 A perspective view of the lifting mechanism shown.

[0032] Figure 13A This is a front view of the agitator assembly of FIG1 in the retracted position according to an embodiment of the present disclosure.

[0033] Figure 13B It is an extension of the embodiments of this disclosure. Figure 10 A front view of the agitator assembly.

[0034] Figure 14 According to embodiments of this disclosure Figure 10 A top perspective view of a portion of the agitator assembly.

[0035] Figure 15 According to embodiments of this disclosure Figure 10 A perspective view of a portion of the lifting mechanism shown.

[0036] Figure 16 According to embodiments of this disclosure Figure 10 A bottom perspective view of a portion of the lifting mechanism shown.

[0037] Figure 17 This is a perspective view of the spring of the lifting mechanism of a robotic cleaner according to an embodiment of the present disclosure.

[0038] Figure 18 It is an incorporation of embodiments according to this disclosure. Figure 17 A perspective view of a portion of the lifting mechanism of the spring shown.

[0039] Figure 19 This is a perspective view of the agitator assembly of a robotic cleaner according to an embodiment of the present disclosure.

[0040] Figure 20 According to embodiments of this disclosure Figure 19 A top view of the agitator assembly shown.

[0041] Figure 21A According to embodiments of this disclosure Figure 19Bottom perspective view of the counterweight of the agitator assembly shown.

[0042] Figure 21B According to embodiments of this disclosure Figure 19 A perspective view of the counterweight of the agitator assembly shown.

[0043] Figure 22 This is a perspective view of a lifting mechanism connected to an agitator assembly according to an embodiment of the present disclosure.

[0044] Figure 23 According to embodiments of this disclosure Figure 22 A perspective view of a portion of the lifting mechanism, with the lifting mechanism in an extended position.

[0045] Figure 24 According to embodiments of this disclosure Figure 22 A perspective view of a portion of the lifting mechanism, with the lifting mechanism in the retracted position.

[0046] Figure 25 This is an exploded cross-sectional view of the robot cleaner chassis, agitator assembly, and lifting mechanism according to embodiments of the present disclosure.

[0047] Figure 26 Linked to embodiments of this disclosure Figure 25 Part of the agitator assembly Figure 25 An example of a part of the lifting mechanism.

[0048] Figure 27 According to embodiments of this disclosure Figure 25 An enlarged view of a portion of the robot cleaner's chassis, lifting mechanism, and agitator assembly.

[0049] Figure 28 According to embodiments of this disclosure Figure 25 An enlarged cross-sectional view of a portion of the robot cleaner chassis, lifting mechanism, and agitator assembly. Detailed Implementation

[0050] This disclosure is generally directed to robotic cleaners. A robotic cleaner may include a suction motor, a dust cup, an air inlet, an agitator assembly, and a lifting mechanism. The agitator assembly may include a housing and one or more agitators (e.g., brush rollers) rotatably coupled to the housing. The lifting mechanism is coupled to the agitator assembly (e.g., the housing) and configured such that the agitator assembly moves in response to changes in the surface to be cleaned (e.g., in response to changes in surface type, such as from carpet to hardwood). The movement of the agitator assembly relative to the surface to be cleaned causes a corresponding movement of the one or more agitators relative to the surface to be cleaned. Thus, it is possible to facilitate consistent engagement (e.g., contact) between the one or more agitators and the surface to be cleaned.

[0051] The lifting mechanism includes a biasing mechanism (e.g., a tension spring) and at least two pivoting links, wherein the links pivot in response to movement of the agitator assembly. The biasing mechanism extends between and is coupled to the links. The biasing mechanism can be configured such that it pushes the links to pivot in a direction that pushes the agitator assembly away from the surface to be cleaned, wherein the force applied by the biasing mechanism is insufficient to remove the agitator assembly from the surface. Thus, the biasing mechanism can be generally described as being configured to reduce the amount of force required to move the agitator assembly. This configuration allows the agitator assembly to be moved more easily as the robotic cleaner traverses the surface to be cleaned.

[0052] The suction motor is fluidly coupled to the dust cup and the air inlet, such that the suction motor pushes air along an airflow path extending through at least a portion of the agitator assembly, into the air inlet, and through the dust cup and the suction motor. Debris may be entrained in the airflow along the airflow path. As the airflow passes through the dust cup, at least a portion of the debris entrained in the air may detach and deposit in the dust cup before the air passes through the suction motor. In some cases, the housing may define at least a portion of the air inlet. In this case, movement of the agitator assembly relative to the surface to be cleaned can promote the inflow of air into the agitator assembly at a substantially constant velocity, which can promote the generation of a consistent suction (or vacuum) force within the agitator assembly.

[0053] As used herein, the terms “up” and “down” are used relative to the orientation of the cleaning equipment on the surface to be cleaned, and the terms “front” and “rear” are used relative to the direction in which the cleaning equipment moves on the surface to be cleaned during normal cleaning operations (i.e., from back to front). As used herein, the term “front edge” refers to a position in front of at least one other component, but not necessarily in front of all other components.

[0054] As used herein, an acoustic sensor can generally refer to a sensor configured to detect sound within the range of human hearing (e.g., between 20 Hz and 20,000 Hz). As used herein, an ultrasonic sensor can generally refer to a sensor configured to detect sound in the ultrasonic range (e.g., greater than 20,000 Hz).

[0055] refer to Figures 1A to 3 This document illustrates and describes embodiments of a robotic cleaner 100 according to embodiments of the present disclosure. Although specific embodiments of robotic cleaners are shown and described herein, the concepts of this disclosure can be applied to other types of robotic vacuum cleaners or robotic cleaners. The robotic cleaner 100 includes a housing or chassis 102 having a front side 112 and a rear side 114, a left side 116a and a right side 116b, an upper side (or top surface) 118, and a lower or bottom side (or bottom surface) 125. A shock absorber 103 is movably coupled to the housing and / or the robotic cleaner chassis 102. The shock absorber 103 may extend around at least a portion (e.g., the majority) of the front portion of the housing 102. The top of the housing 102 may include controls (or user interfaces) 150 for initiating one or more operations, such as autonomous cleaning, spot cleaning, and docking, as well as indicators (e.g., LEDs) indicating operation, battery level, errors, and other information. For example, the controls 150 may include one or more buttons configured to initiate one or more operations.

[0056] As shown in the figure, the robotic cleaner 100 includes a suction conduit (or air inlet) 155 fluidly coupled to a dust collection cup 144 and a suction motor 142. The suction motor 142 draws debris into the suction conduit 155 and deposits it into the dust collection cup 144 for later disposal. An air exhaust port 143 is fluidly coupled to the suction motor 142. In various embodiments, the air exhaust port 143 may be configured such that the air exhausted therefrom pushes debris toward a common location, promotes the drying of the liquid cleaning fluid, and / or prevents unwanted debris agitation.

[0057] As also shown in the figure, the robotic cleaner 100 includes a plurality of rollers 130, which are connected to corresponding drive motors contained within the drive wheel assembly 141. Thus, each roller 130 can be generally described as being independently driven. The robotic cleaner 100 can be steered by adjusting the rotational speed of one of the plurality of rollers 130 relative to the others.

[0058] The movable shock absorber 103 can be disposed along a portion of the perimeter defined by the housing 102 of the robotic cleaner 100. The movable shock absorber 103 is configured to switch between an inactive and an actuated position in response to engagement with, for example, an obstacle. The movable shock absorber 103 can be configured to be movable along a first axis extending generally parallel to the top surface of the housing 102. Thus, the movable shock absorber 103 displaces in response to engagement (e.g., contact) with at least a portion of an obstacle disposed on and extending from the surface to be cleaned. Alternatively, the movable shock absorber 103 can be configured to be movable along a second axis extending transversely to (e.g., perpendicular to) the first axis. Thus, the movable shock absorber 103 displaces in response to engagement (e.g., contact) with at least a portion of an obstacle spaced apart from the surface to be cleaned. Therefore, the robotic cleaner 100 can avoid getting stuck between the obstacle and the surface to be cleaned.

[0059] A user interface 150 may be provided to enable a user to control the robotic cleaner 100. For example, the user interface 150 may include one or more buttons corresponding to one or more features of the robotic cleaner 100. Liquid ingress protection may be provided at the user interface 150 to prevent or otherwise mitigate the effects of accidental liquid spillage onto the housing 102 of the robotic cleaner 100.

[0060] The robotic cleaner 100 includes an agitator 105 (e.g., a main brush roller). The agitator 105 is configured to rotate, thereby pushing debris toward a suction conduit 155. The agitator 105 rotates about an axis of rotation that extends substantially parallel to the surface to be cleaned (e.g., within 1°, 2°, 3°, 4°, or 5° of the surface to be cleaned). In other words, the agitator 105 can be generally described as being configured to rotate about a substantially horizontal axis.

[0061] Agitator 105 is at least partially disposed within suction conduit 155. Agitator 105 may be coupled to motor 151, such as an AC or DC motor. Motor 151 is configured to apply rotation to agitator 105 by means of, for example, one or more drive belts, one or more gears, and / or any other drive mechanism. The robotic cleaner may also include one or more rotating side brushes coupled to the motor to push debris toward agitator 105 (not shown). In an alternative embodiment, the robotic cleaner may also include one or more air jet assemblies configured to push debris toward agitator 105.

[0062] The agitator 105 may have bristles, fabric, or other cleaning elements, or any combination thereof, surrounding the exterior of the agitator 105. The agitator 105 may include bristle strips, for example, combined with rubber or elastomeric material strips. The agitator 105 may also be removable, making cleaning of the agitator 105 easier and allowing the user to change the size of the agitator 105, change the type of bristles on the agitator 105, and / or completely remove the agitator 105 depending on the target application. The robotic cleaner 100 may further include bristle strips (not shown) on the underside of the housing 102 and along a portion of the suction conduit 155. The bristles included in the bristle strip are long enough to at least partially contact the surface to be cleaned. The bristle strip may also be angled, for example, toward the suction conduit 155.

[0063] The robotic cleaner 100 also includes several different types of sensors. For example, the robotic cleaner 100 may include one or more front obstacle sensors 108. The one or more front obstacle sensors 108 may be integrated with and / or separated from the shock absorber 103. For example, the one or more front obstacle sensors 108 may be configured to cooperate with the shock absorber 103 such that signals emitted from the one or more front obstacle sensors 108 can pass through at least a portion of the shock absorber 103. The one or more front obstacle sensors 108 may include one or more of infrared sensors, ultrasonic sensors, time-of-flight sensors, cameras (e.g., stereo or monocular cameras), and / or any other sensors.

[0064] As another example, one or more ground type detection sensors 148, 188 (e.g., acoustic or ultrasonic sensors) can be used to detect the mass of the ground surface traversed by the robotic cleaner 100 and / or changes in the mass of the ground surface traversed by the robotic cleaner 100. The one or more ground type detection sensors 148, 188 can be any suitable sensor that can detect physical conditions or phenomena and provide corresponding data to a controller configured to control the behavior of the robotic cleaner 100, such as movement behavior (e.g., avoiding carpeted surfaces during wet cleaning), cleaning behavior (e.g., suction power, agitator speed, or side brush speed), detachment behavior, and / or any other behavior. In some cases, the algorithm for controlling the behavior of the robotic cleaner 100 is selected based on the determination of the surface type by the ground type detection sensors 148, 188. In other embodiments, the algorithm for controlling the behavior of the robotic cleaner 100 is selected based on the identification of changes in the surface type by the ground type detection sensors 148, 188.

[0065] In one embodiment, the acoustic sensor 148 allows determination of a floor type, such as carpet, hardwood, and / or tile, based on the reflective conditions of the ground. The acoustic sensor 148 can be configured to identify changes between a first floor type and a second floor type during operation of the robotic cleaner 100. Noise from the surrounding area can be detected using the acoustic sensor 148 as the robotic cleaner 100 traverses a target surface. The volume and / or quality of the noise can vary based on the quality of the floor surface, allowing the acoustic sensor 148 to determine the floor type, such as carpet, hardwood, and / or tile, based on the reflective conditions of the ground or the transition from a first type to a second type of floor covering. In some embodiments, noise generated by the robotic cleaner during movement is used by the acoustic sensor 148 to determine the floor type. This noise can be caused by the movement of multiple rollers 130 above the surface or by the operation of the suction motor 142. The acoustic sensor 148 can be placed in a recessed chamber within the robotic cleaner chassis 102. In some embodiments, the recessed chamber can be cylindrical, making it easier to identify the location of the ambient noise source detected by the acoustic sensor 148.

[0066] Another embodiment includes a method for detecting a floor surface using an ultrasonic sensor 188. This floor sensor 188 includes an ultrasonic sensor that transmits ultrasonic signals toward the floor surface and receives ultrasonic signals reflected from the floor surface. The sensor 188 allows determination of the floor type, such as carpet, hardwood, and / or tile, based on the floor's reflection conditions. The ultrasonic sensor 188 can be configured to identify changes between a first floor type and a second floor type during operation of the robotic cleaner 100.

[0067] An example embodiment of the robotic cleaner 100 includes at least one ultrasonic sensor 188 and at least one acoustic sensor 148. The at least one ultrasonic sensor 188 and the at least one acoustic sensor 148 can operate together to determine the ground surface and / or changes in the ground surface. That is, the at least one ultrasonic sensor 188 can transmit ultrasonic signals to the ground surface. Both the at least one ultrasonic sensor 188 and the at least one acoustic sensor 148 can receive reflected signals and use said signals to determine the ground type and / or changes in the ground type. In some embodiments, the at least one ultrasonic sensor 188 can be configured to operate based on signals received by the at least one acoustic sensor 148. That is, when the at least one acoustic sensor 148 determines a change in the ground surface, the at least one ultrasonic sensor 188 can be configured to emit ultrasonic signals based on said determination.

[0068] The robotic cleaner 100 may include a wet cleaning module 149 removably attached to a robotic cleaner chassis 102. The wet cleaning module 149 includes a cleaning fluid reservoir 145 and a plug for a cleaning fluid reservoir 146. The cleaning fluid reservoir 146 further includes a reservoir base 120 connected to a wet cleaning module motor 147. A wet cleaning pad 121 is operatively connected to the reservoir base 120 via a wet pad plate (not shown). As the robotic cleaner moves across the ground, a suction conduit 155 fluidly connected to a suction motor 142 collects dry debris from the ground, while the wet cleaning module 149 applies cleaning fluid to the cleaning pad 121 at one or more pump outlet locations 189 (dashed lines) and scrubs the ground with the cleaning pad 121. The wet cleaning module motor 147 powers one or more pumps configured to apply cleaning fluid to and agitate the cleaning pad 121 during cleaning.

[0069] Non-drive rear casters 187 support the wet cleaning module 149. Rear casters 187 control the engagement of the cleaning pad 121 with the target surface. Rear casters 187 can be offset along the vertical axis, allowing the cleaning pad 121 carried by the robotic cleaner 100 to be positioned closer to or further away from the surface it travels on. When the rear casters 187 rotate at a higher axis relative to the bottom of the robotic cleaner 100, the cleaning pad 121 has greater engagement with the ground. This can increase cleaning effectiveness. However, increased mechanical engagement with the ground can also generate increased friction as the cleaning pad 121 moves above the cleaning surface. Increased friction can reduce the speed of the robotic cleaner 100. Therefore, the rear casters 187 can be adjusted so that the pressure generated by the weight of the robotic cleaner 100 is balanced between cleaning effectiveness and maneuverability. The pressure applied to the cleaning pad 121 can be distributed over the surface area of ​​the cleaning pad 121 that engages with the surface being cleaned, or, in an alternative embodiment, the pressure applied to the cleaning pad 121 can be concentrated along the front edge of the cleaning pad 121. This concentration of pressure along the front edge of the cleaning pad 121 can be configured to provide improved cleaning due to increased mechanical engagement with the surface being cleaned, while limiting the amount of drag caused by the engagement of the cleaning pad 121 with the surface.

[0070] Figure 4 and 5A robotic cleaner 2600 is shown. As shown, the robotic cleaner 2600 includes a chassis 2602, an agitator assembly 2659 disposed within the chassis 2602, and a lifting mechanism 2652 coupled to the agitator assembly 2659. The agitator assembly 2659 may include a housing 2654, a motor 2651, one or more agitators (e.g., one or more brush rollers), and a bellows 2655. The lifting mechanism 2652 is configured to allow the agitator assembly 2659 to move relative to the chassis 2602. The lifting mechanism 2652 may include a plurality of cleaner attachment points 2653 configured to connect the lifting mechanism 2652 to the chassis 2602. Thus, the agitator assembly 2659 can be generally described as being configured to float. In some cases, the agitator assembly 2659 may serve as a floating base plate. See also... Figures 6 to 8 They showed Figure 4 and 5 An enlarged view of the lifting mechanism 2652 shown.

[0071] The agitator assembly 2659 is fluidly connected to the dust collection cup 2644 and the suction duct (or air inlet) of the suction motor. The suction motor causes air to flow along an airflow path through the suction duct into the dust collection cup 2644 and through the suction motor. Debris may be entrained in the airflow along the airflow path. At least a portion of the entrained debris may be deposited in the dust collection cup 2644 for later disposal.

[0072] A bellows 2655 is fluidly connected to an agitator assembly 2659 (e.g., a suction conduit) and a dust cup 2644. Thus, the bellows 2655 is positioned between the agitator assembly 2659 and the dust cup 2644, such that air flowing along the airflow path passes through the agitator assembly 2659 and the bellows 2655 before passing through the dust cup 2644. The bellows 2655 may be constructed of a flexible material, allowing the agitator assembly 2659 to move relative to the chassis 2602 of the robotic cleaner 2600 while maintaining fluid connection to the dust cup 2644. For example, the bellows 2655 may comprise rubber (e.g., natural or synthetic rubber). In some cases, a first end of the bellows 2655 is connected to the agitator assembly 2659, and a second end of the bellows 2655 is connected to the chassis 2602, such that the bellows 2655 is fluidly connected to the dust cup 2644. The first end of the bellows 2655 is opposite to the second end of the bellows 2655.

[0073] The agitator assembly 2659 is configured to move between an extended position and a retracted position. When the agitator assembly 2659 is in the extended position, the lifting mechanism 2652 is fully extended (e.g., the lifting mechanism 2652 may be fully extended in response to the robotic cleaner 2600 being lifted from the surface to be cleaned), thereby preventing further movement of the agitator assembly 2659 in a direction away from the chassis 2602. When the agitator assembly 2659 is in the retracted position, the lifting mechanism 2652 cannot retract further, thereby preventing further movement of the agitator assembly 2659 in a direction toward the chassis 2602. During operation, the agitator assembly 2659 moves between at least two intermediate positions, which are between the extended and retracted positions.

[0074] The maximum extension and retraction of the lifting mechanism 2652 may be limited by one or more stops (e.g., defined or connected to the chassis 2602). These stops may be configured to engage the agitator assembly 2659, thereby preventing further extension or retraction of the lifting mechanism 2652. The position of the lifting mechanism 2652 when the agitator assembly 2659 engages a corresponding stop can be generally described as the position where the lifting mechanism 2652 is fully extended or fully retracted. The one or more stops may be further configured to reduce any noise generated by the engagement of the agitator assembly 2659 with the one or more stops (e.g., the stops may comprise rubber or compressible foam).

[0075] The surface traversed by the robotic cleaner 2600 allows the agitator assembly 2659 to be displaced from its extended position, moving towards a retracted position and at least partially into the chassis 2602 of the robotic cleaner 2600. For example, as the robotic cleaner 2600 traverses the surface to be cleaned, the agitator assembly 2659 can move along the assembly axis 2790 (e.g., a vertical axis). Carpets, hardwoods, tiles, rugs, and other flooring types may have different characteristics that affect the amount of displacement of the agitator assembly 2659. The displacement of the agitator assembly 2659 along the assembly axis 2790 can, for example, range from 7 mm to 11 mm. As another example, the displacement of the agitator assembly 2659 along the assembly axis 2790 can range from 4 mm to 10 mm. As yet another example, the displacement of the agitator assembly 2659 along the assembly axis 2790 can be 7 mm. The overall displacement of the agitator assembly 2659 allows the robotic cleaner 2600 to operate effectively on a variety of surface types.

[0076] During operation, the lower planar surface of the agitator assembly 2659 extends substantially parallel to the surface to be cleaned (e.g., within 1°, 2°, 3°, 4°, or 5° of the surface). The distance between the agitator assembly 2659 and the surface to be cleaned can affect the suction force generated at the suction conduit of the agitator assembly 2659. The distance between the agitator assembly 2659 and the surface to be cleaned can further affect the amount of engagement between the agitator of the agitator assembly and the surface to be cleaned. For example, when transitioning from a plush carpet to a hardwood floor, the agitator assembly can move toward the hardwood floor, thereby promoting consistent engagement between the agitator and the surface to be cleaned. Compared to a stationary agitator assembly, the movement of the agitator assembly 2659 toward the hardwood floor increases surface agitation, helping to draw additional dry debris into the dust collection cup 2644.

[0077] The lifting mechanism 2652 is configured to allow the agitator assembly 2659 to move along the assembly axis 2790 in response to changes in the surface to be cleaned (e.g., a change between floor types). In other words, the lifting mechanism 2652 can be described as being configured to allow the agitator assembly 2659 to move relative to the chassis 2602 of the robotic cleaner 2600 (e.g., toward or away from the upper portion of the chassis 2602) in response to changes in the surface to be cleaned.

[0078] The weight of the agitator assembly 2659 can interfere with its movement in response to changes in the surface to be cleaned. Therefore, in some cases, the lifting mechanism 2652 may be configured to counteract at least a portion of the weight of the agitator assembly 2659. For example, the lifting mechanism 2652 may include a biasing mechanism (e.g., a spring) configured to push the lifting mechanism 2652 toward a retracted position, wherein the force applied by the biasing mechanism is insufficient to move the agitator assembly 2659 toward the chassis 2602. Using the lifting mechanism 2652 to counteract at least a portion of the weight of the agitator assembly 2659 facilitates better engagement between the agitator assembly 2659 and the surface to be cleaned. If the agitator assembly 2659 is not sufficiently displaced, power consumption may increase when the robotic cleaner 2600 moves on some surfaces. Additional power consumption on surfaces such as carpets can hinder the robotic cleaner 2600 from performing its task effectively. For example, a distance of approximately 1 mm can be extended between the agitator assembly 2659 (e.g., the bottommost portion of the agitator assembly 2659) and the surface to be cleaned. This configuration generates sufficient suction to remove debris from the surface while minimizing power consumption.

[0079] like Figures 6 to 8As shown, the lifting mechanism 2652 includes the plurality of cleaner attachment points 2653, a top plate 2704, a bottom plate 2705, a plurality of assembly attachment points 2701, a lower pivot pin 2703, an upper pivot pin 2706, a biasing mechanism (e.g., a spring) 2702, and a plurality of links 2707. The plurality of cleaner attachment points 2653 are configured to connect the lifting mechanism 2652 to the chassis 2602 of the robotic cleaner 2600. Thus, the top surface of the top plate 2704 of the lifting mechanism 2652 faces the top surface of the robotic cleaner 2600. For example, the top plate 2704 may be substantially parallel to the top surface of the robotic cleaner 2600 (e.g., the top surface of the chassis 2602 of the robotic cleaner 2600).

[0080] The plurality of assembly attachment points 2701 are configured to connect the lifting mechanism 2652 to the agitator assembly 2659 (e.g., the housing 2654 of the agitator assembly 2659). Thus, in response to changes in the surface to be cleaned encountered by the agitator assembly 2659, the base plate 2705 of the lifting mechanism 2652 moves along the assembly axis 2790. For example, the base plate 2705 may be configured to move in a direction relative to (or away from) the top plate 2704.

[0081] The base plate 2705 is movably connected to the top plate 2704. As shown, the base plate 2705 can be connected to the top plate 2704 using a connecting rod 2707. The connecting rod 2707 is pivotally connected to the top plate 2704 and slidably connected to the base plate 2705. As shown, the connecting rod 2707 includes an upper pin 2706 and a lower pin 2703. The upper pin 2706 is pivotally connected to the top plate 2704, and the lower pin 2703 is slidably connected to the base plate 2705. In other words, a first end of the connecting rod 2707 is pivotally connected to the top plate 2704, and a second end of the connecting rod 2707 is slidably connected to the base plate 2705. When the connecting rod 2707 pivots, the lower pin 2703 slides within a track 2715 defined in the base plate 2705.

[0082] When the base plate 2705 moves toward the top plate 2704, the connecting rods 2707 pivot toward each other. When the base plate 2705 moves away from the top plate 2704, the connecting rods 2707 pivot away from each other. A biasing mechanism 2702 may be configured to push the connecting rods 2707 toward each other. As shown, the biasing mechanism 2702 may extend between the plurality of connecting rods 2707. For example, the biasing mechanism 2702 may be a tension spring extending between opposing connecting rods 2707, such that the tension spring pushes the connecting rods 2707 to pivot toward each other. In some cases, the biasing mechanism 2702 may extend substantially parallel to the top plate 2704 and / or the base plate 2705.

[0083] The biasing mechanism 2702 can be configured such that the force applied by the biasing mechanism 2702 to the connecting rod 2707 is insufficient to lift the agitator assembly 2659 from the surface to be cleaned. This configuration reduces the amount of force required to move the agitator assembly 2659 toward the chassis 2602. This configuration also promotes consistent engagement of the agitator assembly 2659 with the surface to be cleaned, while making the agitator assembly 2659 more easily adaptable to surface variations.

[0084] As shown, each of the plurality of links 2707 may define a recess 2791 configured to receive at least a portion of the biasing mechanism 2702. For example, each link 2707 may have a U-shape, wherein the recess 2791 is defined between opposite sides of the U-shaped link 2707. Each side of the U-shaped link 2707 may include a corresponding upper pin 2706 and a lower pin 2703. The upper pin 2706 and the lower pin 2703 may be coupled to or formed by the link 2707 (e.g., using an adhesive, a press fit, a threaded connection, and / or any other form of connection). In some cases, the recess 2791 may include a connecting feature 2727 (e.g., see...). Figure 8A It shows an example of link 2707, in which Figure 8A Link 2707 is configured to form a press fit with upper pin 2706 and lower pin 2703. Connection feature 2727 may be configured to connect biasing mechanism 2702 to link 2707. In some cases, the central longitudinal axis of biasing mechanism 2702 may intersect with connection feature 2727. Recess 2791 may be configured such that biasing mechanism 2702 does not engage (e.g., contact) with one or more surfaces of recess 2791. In some cases, recess 2791 may be configured such that biasing mechanism 2702 extends substantially parallel to top plate 2704 and / or bottom plate 2705.

[0085] In some cases, link 2707 may have a non-linear shape. For example, refer to Figure 8A Link 2707 may include a first linear region 2750 and a second linear region 2751, wherein the first linear region 2750 extends transversely to the second linear region 2751 by a link angle θ. The link angle θ may be measured, for example, in the range of 100° and 150°. As another example, the link angle θ may be measured as 135°.

[0086] In some cases, a single motor 2651 is used to drive one or more agitators of the agitator assembly 2659. The weight of the motor 2651 can cause the agitator assembly 2659 to become unbalanced. Therefore, the biasing mechanism 2702 can be configured such that it counteracts the uneven distribution of weight in the agitator assembly 2659 caused by the positioning of the motor 2651.

[0087] The biasing mechanism 2702 can be any type of biasing mechanism. For example, the biasing mechanism 2702 can be a leaf spring, a torsion spring, an elastic material, and / or any other biasing mechanism.

[0088] Although the base plate 2705 is shown as separate from the housing 2654 of the agitator assembly 2659, the base plate 2705 can be integrally formed with the housing 2654. In this case, the connecting rod 2707 can be directly connected to the housing 2654.

[0089] Figure 9A and 9B An example of a lifting mechanism 3652 is shown, which has a leaf spring 3702 configured to push the agitator assembly 3659 in a direction away from the chassis 3701 of the robotic cleaner. This configuration can counteract at least a portion of the downward force generated by the weight of the agitator assembly 3659.

[0090] As shown in the figure, leaf spring 3702 is connected to spring mounting point 3703 of agitator assembly 3659. Leaf spring 3702 may have an arcuate shape, wherein the concave surface of leaf spring 3702 faces agitator assembly 3659. Figure 9B As shown, the leaf spring 3702 may have a non-linear shape. For example, the leaf spring 3702 may define a stepped region 3704 to accommodate a motor 3651 of an agitator assembly 3659, the motor 3651 being configured to drive at least one agitator 3705 of the agitator assembly 3659.

[0091] Figures 10 to 16 An example of an agitator assembly 4659 coupled to a lifting mechanism 4652 is shown. The agitator assembly 4659 is configured to be carried by a robotic cleaner (not shown). For example, the agitator assembly 4659 may be configured to be coupled to the chassis of the robotic cleaner. As shown, the agitator assembly 4659 includes a housing 4654, a motor 2651, a first agitator 4655, and a second agitator 4665. The lifting mechanism 4652 is configured to be coupled to the agitator assembly 4659 using a plurality of attachment points and is additionally coupled to the chassis of the robotic cleaner. The lifting mechanism 4652 is further configured such that the agitator assembly 4659 can move between an extended position and a retracted position in response to changes in the surface to be cleaned. In other words, the lifting mechanism 4652 is configured such that the agitator assembly 4659 moves relative to the chassis of the robotic cleaner (e.g., toward or away from the top portion of the chassis) (e.g., vertically). Thus, the agitator assembly 4659 can serve as a floating base. In some cases, the lifting mechanism 4652 may include a first biasing mechanism 4702 and a second biasing mechanism 4712 configured to push the agitator assembly 4659 toward a retracted position, wherein the force applied by the biasing mechanisms 4702, 4712 is insufficient to lift the agitator assembly 4659 from the surface to be cleaned.

[0092] The agitator assembly 4659 forms a suction duct (or air inlet) fluidly connected to the dust collection cup and the suction motor. The suction motor causes air to flow along an airflow path through the suction duct, into the dust collection cup, and through the suction motor. Debris may be entrained in the airflow path. At least a portion of the entrained debris may be deposited in the dust collection cup for later disposal.

[0093] The agitator assembly 4659 is configured to move between an extended position and a retracted position. When the agitator assembly 4659 is in the extended position, the lifting mechanism 4652 is fully extended (e.g., the lifting mechanism 4652 may be fully extended in response to the robotic cleaner being lifted from the surface to be cleaned), thereby preventing further movement of the agitator assembly 4659 in a direction away from the chassis of the robotic cleaner. When the agitator assembly 4659 is in the retracted position, the lifting mechanism 4652 cannot retract further, thereby preventing further movement of the agitator assembly 4659 in a direction toward the chassis of the robotic cleaner. During operation, the agitator assembly 4659 moves between at least two intermediate positions, which are between the extended and retracted positions.

[0094] The maximum extension and retraction of the lifting mechanism 4652 may be limited by one or more stops (e.g., defined or attached to the chassis of the robotic cleaner). The one or more stops may be configured to engage the agitator assembly 4659, thereby preventing further extension or retraction of the lifting mechanism 4652. The position of the lifting mechanism 4652 when the agitator assembly 4659 engages a corresponding stop can be generally described as the position where the lifting mechanism 4652 is fully extended or fully retracted. The one or more stops may be further configured to reduce any noise generated by the engagement of the agitator assembly 4659 with the one or more stops (e.g., the stops may comprise rubber or compressible foam).

[0095] The surface traversed by the robotic cleaner allows the agitator assembly 4659 to displace from its extended position, moving towards a retracted position and at least partially into the robotic cleaner chassis. For example, as the robotic cleaner traverses the surface to be cleaned, the agitator assembly 4659 may move along the assembly axis 4790 (e.g., a vertical axis). Carpets, hardwoods, tiles, rugs, and other flooring types may have different characteristics affecting the amount of displacement of the agitator assembly 4659. The displacement of the agitator assembly 4659 along the assembly axis 4790 may, for example, range from 7 mm to 11 mm. As another example, the displacement of the agitator assembly 4659 along the assembly axis 4790 may range from 4 mm to 10 mm. As yet another example, the displacement of the agitator assembly 4659 along the assembly axis 4790 may be 7 mm. The overall displacement of the agitator assembly 4659 allows the robotic cleaner to operate effectively on a variety of surface types.

[0096] During operation, the lower planar surface of the agitator assembly 4659 extends substantially parallel to the surface to be cleaned (e.g., within 1°, 2°, 3°, 4°, or 5° of the surface). The distance between the agitator assembly 4659 and the surface to be cleaned can affect the suction force generated at the suction conduit of the agitator assembly 4659. The distance between the agitator assembly 4659 and the surface to be cleaned can further affect the amount of engagement between the agitator of the agitator assembly and the surface to be cleaned. For example, when transitioning from a plush carpet to a hardwood floor, the agitator assembly can move toward the hardwood floor, thereby promoting consistent engagement between the agitator and the surface to be cleaned. Compared to a stationary agitator assembly, the movement of the agitator assembly 4659 toward the hardwood floor increases surface agitation, helping to draw additional dry debris into the dust cup.

[0097] The weight of the agitator assembly 4659 can interfere with its movement in response to changes in the surface to be cleaned. Therefore, in some cases, the lifting mechanism 4652 may be configured to counteract at least a portion of the weight of the agitator assembly 4659. For example, the lifting mechanism 4652 may include a biasing mechanism (e.g., a spring) configured to push the lifting mechanism 4652 toward a retracted position, wherein the force applied by the biasing mechanism is insufficient to move the agitator assembly 4659 toward the chassis of the robotic cleaner. Using the lifting mechanism 4652 to counteract at least a portion of the weight of the agitator assembly 4659 facilitates better engagement between the agitator assembly 4659 and the surface to be cleaned. If the agitator assembly 4659 is not sufficiently displaced, power consumption may increase when the robotic cleaner moves on some surfaces. Additional power consumption on surfaces such as carpets can hinder the robotic cleaner from performing its task effectively. For example, a distance of approximately 1 mm can be extended between the agitator assembly 4659 (e.g., the bottommost portion of the agitator assembly 4659) and the surface to be cleaned. This configuration generates sufficient suction to remove debris from the surface while minimizing power consumption.

[0098] As shown in the figure, the lifting mechanism 4652 includes the plurality of cleaner attachment points, a top plate 4704, a bottom plate 4705, a plurality of assembly attachment points 4701, a lower pivot pin 4703, an upper pivot pin 4706, a first biasing mechanism 4702 and a second biasing mechanism 4712 (e.g., a spring), and a plurality of links 4707. The plurality of cleaner attachment points are configured to connect the lifting mechanism 4652 to the chassis of the robotic cleaner. Thus, the top surface of the top plate 4704 of the lifting mechanism 4652 faces the top surface of the robotic cleaner. For example, the top plate 4704 may be substantially parallel to the top surface of the robotic cleaner (e.g., the top surface of the chassis of the robotic cleaner).

[0099] The plurality of assembly attachment points 4701 are configured to connect the lifting mechanism 4652 to the agitator assembly 4659 (e.g., the housing 4654 of the agitator assembly 4659). Thus, in response to changes in the surface to be cleaned encountered by the agitator assembly 4659, the base plate 4705 of the lifting mechanism 4652 moves along the assembly axis 4790. For example, the base plate 4705 may be configured to move in a direction relative to (or away from) the top plate 4704.

[0100] The base plate 4705 is movably connected to the top plate 4704. As shown, the base plate 4705 can be connected to the top plate 4704 using a connecting rod 4707. The connecting rod 4707 is pivotally connected to the top plate 4704 and slidably connected to the base plate 4705. As shown, the connecting rod 4707 includes an upper pin 4706 and a lower pin 4703. The upper pin 4706 is pivotally connected to the top plate 4704, and the lower pin 4703 is slidably connected to the base plate 4705. In other words, a first end of the connecting rod 4707 is pivotally connected to the top plate 4704, and a second end of the connecting rod 4707 is slidably connected to the base plate 4705. When the connecting rod 4707 pivots, the lower pin 4703 slides within a track 4715 defined in the base plate 4705. The upper pin 4706 and the lower pin 4703 may be coupled to or formed from the link 4707 (e.g., using an adhesive, a press fit, a threaded connection, and / or any other form of connection).

[0101] When the base plate 4705 moves toward the top plate 4704, the connecting rods 4707 pivot toward each other. When the base plate 4705 moves away from the top plate 4704, the connecting rods 4707 pivot away from each other. Biasing mechanisms 4702 and 4712 may be configured to push the connecting rods 4707 toward each other. As shown, biasing mechanisms 4702 and 4712 may extend between the plurality of connecting rods 4707. For example, biasing mechanisms 4702 and 4712 may be tension springs extending between opposing connecting rods 4707, such that the tension springs push opposing connecting rods 4707 to pivot toward each other. In some cases, biasing mechanisms 4702 and 4712 may extend substantially parallel to the top plate 4704 and / or the base plate 4705.

[0102] The biasing mechanisms 4702 and 4712 can be configured such that the force applied by the biasing mechanisms 4702 and 4712 to the connecting rod 4707 is insufficient to lift the agitator assembly 4659 from the surface to be cleaned. This configuration reduces the amount of force required to move the agitator assembly 4659 toward the chassis of the robotic cleaner. This configuration also promotes consistent engagement of the agitator assembly 4659 with the surface to be cleaned, while making the agitator assembly 4659 more easily adaptable to surface variations.

[0103] In some cases, a single motor 4651 is used to drive one or more agitators in the agitator assembly 4659. The weight of the motor 4651 can cause the agitator assembly 4659 to become unbalanced. Therefore, biasing mechanisms 4702, 4712 can be configured such that they counteract the uneven weight distribution in the agitator assembly 4659 caused by the positioning of the motor 4651. For example, biasing mechanism 4712 near the motor 4651 can be configured to apply a larger biasing force than biasing mechanism 4702. This configuration allows biasing mechanism 4712 to at least partially counteract the weight of the motor 4651, thereby promoting balance in the agitator assembly 4659.

[0104] The biasing mechanisms 4702 and 4712 can be any type of biasing mechanism. For example, the biasing mechanisms 4702 and 4712 can be leaf springs, torsion springs, elastic materials and / or any other biasing mechanisms.

[0105] Although the base plate 4705 is shown as separate from the housing 4654 of the agitator assembly 4659, the base plate 4705 can be integrally formed with the housing 4654. In this case, the connecting rod 4707 can be directly connected to the housing 4654.

[0106] like Figure 17 and 18 As shown, the lifting mechanism 5652 may utilize a plurality of springs 5702, 5712 comprising one or more extension arms 5003. The plurality of springs 5702, 5712 may be attached to a plurality of links 5707 using one or more head pins 5706. The one or more extension arms 5003 allow the plurality of springs 5702, 5712 to be shaped (e.g., by including one or more transition zones 1703) to avoid other parts of the agitator assembly. Figure 17 As shown, the central longitudinal axis 1700 of springs 5702 and 5712 can extend through the two connecting ends 1701 of the extension arm 5003.

[0107] like Figures 19 to 21B As shown, a counterweight 6001 may be attached to the agitator assembly 6659. As described herein, in some cases, a single motor 6651 is used to drive one or more agitators. The weight of the motor 6651 can cause the agitator assembly 6659 to become unbalanced. The counterweight 6001 may be configured such that it counteracts the uneven distribution of weight in the agitator assembly 6659. The lifting mechanism 6652 may use a plurality of springs 6702, 6712 comprising one or more extension arms 6003. The one or more extension arms 6003 allow the plurality of springs 6702, 6712 to be shaped to avoid the counterweight 6001 and the motor 6651.

[0108] Figure 22An example of an agitator assembly 2200 coupled to a lifting mechanism 2202 is shown. The lifting mechanism 2202 is configured to be coupled to a robotic cleaner (e.g., the chassis of a robotic cleaner), wherein the lifting mechanism 2202 is further configured to cause the agitator assembly 2200 to move relative to the chassis of the robotic cleaner in response to changes in the surface to be cleaned. For example, the lifting mechanism 2202 may be configured such that the agitator assembly 2200 can be in an extended position (e.g., Figure 23 (as shown in the image) and retraction position (as shown in the image) Figure 24 The lifting mechanism 2202, as shown, includes a plurality of links 2204 that collectively define one or more scissor mechanisms. A torsion bar may engage the scissor mechanisms at opposite ends of the agitator assembly 2200, wherein the torsion bar facilitates movement of both sides of the agitator assembly 2200 together. The lifting mechanism 2202 may further include a biasing mechanism 2206 (e.g., a spring) configured to push the agitator assembly 2200 toward a retracted position.

[0109] Figure 25 An exploded cross-sectional view of a robotic cleaner chassis 2500, an agitator assembly 2502, and a lifting mechanism 2504 is shown. As shown, the agitator assembly 2502 is configured to be movably received within a container 2506 of the robotic cleaner chassis 2500. The agitator assembly 2502 may include a housing 2507, one or more agitators 2508, a comb 2510 configured to engage at least one of the one or more agitators 2508, and at least one motor 2512 configured to drive at least one of the one or more agitators 2508. The engagement between the comb 2510 and the agitators may be configured to remove fibrous debris (e.g., hair) from the respective one or more agitators 2508.

[0110] The lifting mechanism 2504 includes a first set of links 2514, a second set of links 2516, and a plurality of biasing mechanisms 2518, wherein each biasing mechanism 2518 extends between a corresponding set of links 2514. The lifting mechanism 2504 is configured to be coupled to a housing 2507 such that the housing 2507 is movable within a container 2506. See also, for example... Figure 26 The first set of connecting rods 2514 and the second set of connecting rods 2516 are pivotally connected to the top plate 2520 of the lifting mechanism 2504 at corresponding tracks 2522 and slidably connected to the housing 2507 of the agitator assembly 2502. The top plate 2520 is configured to be connected to the robot cleaner chassis 2500.

[0111] Figure 27An enlarged view of a portion of the robotic cleaner chassis 2500 coupled to the lifting mechanism 2504 is shown. As shown, the housing 2507 of the agitator assembly 2502 includes a plurality of stops 2700 configured to move within corresponding slots 2755. When the stops 2700 reach the distal end of the corresponding slot 2755, the agitator assembly 2502 cannot move further (e.g., this defines the distal end of the corresponding slot 2755 due to contact with the robotic cleaner chassis 2500 and / or top plate 2520). Thus, the stops 2700 can be generally described as defining the maximum extended and retracted positions of the lifting mechanism 2504. In some cases, the stops 2700 may contain a sound-dampening material (e.g., rubber or compressible foam) configured to reduce the amount of noise generated when the stops 2700 engage the distal end of the slots 2755. Alternatively, the slot 2755 may contain sound-damping material (e.g., at one or more distal ends of the slot 2755).

[0112] Figure 28 An enlarged cross-sectional view of a portion of the robotic cleaner chassis 2500 is shown. As shown, one or more sidewalls 2800 defining the container 2506 may extend laterally (at a non-perpendicular angle) to the agitator assembly 2502. For example, and as shown, the spacing 2802 between the one or more sidewalls 2800 and the agitator assembly 2502 may increase with increasing distance from the lifting mechanism 2504.

[0113] Embodiments of the methods described herein can be implemented using a controller, processor, and / or other programmable devices. For this purpose, the methods described herein can be implemented on a tangible, non-transitory computer-readable medium on which instructions are stored, which, when executed by one or more processors, perform the methods. Thus, for example, a controller may include a storage medium to store instructions (e.g., in firmware or software) to perform the operations described herein. The storage medium may include any type of tangible medium, such as any type of disk including floppy disks, optical disks, optical disc read-only memory (CD-ROM), rewritable optical discs (CD-ROM), and magneto-optical disks, such as read-only memory (ROM), random access memory (RAM) (e.g., dynamic and static RAM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory), semiconductor devices, magnetic or optical cards, or any type of medium suitable for storing electronic instructions.

[0114] The functionality of the various elements shown in the diagram, including any functional blocks described as "controllers," can be provided using dedicated hardware and hardware capable of executing software associated with appropriate software. This functionality can be provided by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may be shared. Furthermore, the explicit use of the term "controller" should not be construed as exclusively referring to hardware capable of executing software, and may implicitly include (but is not limited to) digital signal processors (DSPs), hardware, network processors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile memory. Other conventional and / or custom hardware may also be included.

[0115] As used herein, the term "connection" refers to any link, coupling, connection, etc., that applies a signal carried by a system element to the "connected" element. Such "connected" devices or signals and apparatuses may be, but are not necessarily, directly connected to each other, and may be separated by intermediate components or devices that can manipulate or modify such signals. Similarly, the terms "connection" or "linkage" as used herein with respect to mechanical or physical connections or linkages are relative terms and may include, but do not require, a direct physical connection.

[0116] Unless otherwise specified herein, elements, parts, modules and / or portions thereof described and / or otherwise described in the accompanying drawings are to be understood to communicate, be associated with and / or be based on others in a direct and / or indirect manner.

[0117] Unless otherwise stated, the use of the terms "substantially" or "proximately" is to include precise relationships, conditions, arrangements, orientations, and / or other characteristics, as well as deviations thereof, as understood by one of ordinary skill in the art, to a degree that does not materially affect the disclosed methods and systems. Throughout this disclosure, unless specifically stated otherwise, the use of the words "a" and / or "described" to modify nouns is to be understood as convenience and to include one or more of the modified nouns. The terms "comprising," "including," and "having" are intended to be inclusive and mean that additional elements may be present in addition to the listed elements.

[0118] Although the principles of the invention have been described herein, those skilled in the art will understand that this description is by way of example only and is not intended to limit the scope of the invention. Other embodiments, in addition to the exemplary embodiments shown and described herein, are also covered within the scope of the invention. Those skilled in the art will understand that surface cleaning devices may embody any one or more features contained herein, and that these features may be used in any particular combination or sub-combination. Modifications and substitutions made by those skilled in the art are considered to be within the scope of the invention.

Claims

1. A robotic cleaner, comprising: Chassis; An agitator assembly configured to engage a surface to be cleaned, the agitator assembly comprising an agitator extending substantially parallel to the surface to be cleaned; as well as A lifting mechanism movably connects the agitator assembly to the chassis. The lifting mechanism includes a spring configured to generate a biasing force pushing the agitator assembly away from the surface to be cleaned, the biasing force being insufficient to lift the agitator assembly from the surface to be cleaned. The lifting mechanism also includes a plurality of links forming one or more scissor mechanisms. A torsion bar connects the scissor mechanisms at opposite ends of the agitator assembly, allowing the agitator assembly to move between an extended position and a retracted position.

2. The robotic cleaner according to claim 1, wherein the spring is a tension spring.

3. The robotic cleaner according to claim 1, wherein the spring is a leaf spring.

4. The robotic cleaner of claim 1, wherein the agitator assembly comprises at least one motor.

5. The robotic cleaner of claim 4, wherein the lifting mechanism comprises a plurality of springs configured to cooperate to promote a uniform weight distribution on the agitator assembly.

6. The robotic cleaner of claim 4, wherein the agitator is configured to rotate via the at least one motor.

7. The robotic cleaner of claim 4, wherein the agitator assembly includes at least one counterweight, the at least one counterweight and the at least one motor being positioned on opposite sides of the agitator assembly.

8. A robotic cleaner, comprising: Chassis; Suction motor; A dust collection cup, which is fluidly connected to the suction motor; An agitator assembly configured to engage a surface to be cleaned, the agitator assembly comprising: An agitator configured to rotate about an axis of rotation that extends substantially parallel to the surface to be cleaned; as well as A lifting mechanism movably connects the agitator assembly to the chassis. The lifting mechanism includes a spring configured to generate a biasing force pushing the agitator assembly away from the surface to be cleaned, the biasing force being insufficient to lift the agitator assembly from the surface to be cleaned. The lifting mechanism also includes a plurality of links forming one or more scissor mechanisms. A torsion bar connects the scissor mechanisms at opposite ends of the agitator assembly, allowing the agitator assembly to move between an extended position and a retracted position.

9. The robotic cleaner of claim 8, wherein the agitator assembly is fluidly coupled to the dust collection cup.

10. The robotic cleaner of claim 8, wherein the spring is a tension spring.

11. The robotic cleaner of claim 8, wherein the spring is a leaf spring.

12. The robotic cleaner of claim 8, wherein the agitator assembly comprises at least one motor.

13. The robotic cleaner of claim 12, wherein the lifting mechanism comprises a plurality of springs configured to cooperate to promote a uniform weight distribution on the agitator assembly.

14. The robotic cleaner of claim 12, wherein the agitator assembly includes at least one counterweight, the at least one counterweight and the at least one motor being positioned on opposite sides of the agitator assembly.

15. A robotic cleaner, comprising: Chassis; Agitator assembly configured to engage the surface to be cleaned; as well as A lifting mechanism, which movably connects the agitator assembly to the chassis, the lifting mechanism comprising one or more springs configured to: A biasing force is generated that pushes the agitator assembly in a direction away from the surface to be cleaned, the biasing force being insufficient to lift the agitator assembly from the surface to be cleaned; and Promotes uniform weight distribution on the agitator assembly. The lifting mechanism further includes multiple links that form one or more scissor mechanisms. A torsion bar connects the scissor mechanisms at opposite ends of the agitator assembly, allowing the agitator assembly to move between an extended position and a retracted position.

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