Suspension of mobile cleaning robot

Abstract

A mobile cleaning robot may move in an environment, the mobile cleaning robot may include a body and a drive arm movable relative to the body between an extended position and a retracted position. The robot may include a drive wheel connected to and movable with the drive arm. The drive wheels are operable to move the mobile cleaning robot. The robot may include a first link connected to the main body and to the drive arm. The robot may include a second link connected to the main body and to the drive arm to define, with the first link, the main body, and the drive arm, a center of rotation about which the drive arm and the drive wheel rotate between an extended position and a retracted position.

Description

[0001] Priority application

[0002] This application is a continuation-to-priority to U.S. Patent Application Serial No. 18 / 369,665, filed on September 18, 2023, the contents of which are incorporated herein by reference in their entirety. Background Technology

[0003] Mobile robots include mobile cleaning robots that can perform cleaning tasks in environments such as homes. These robots can navigate and avoid obstacles on floor surfaces while vacuuming the surface and manipulating rotating components carried by the robot to pick up debris. As the robot moves across the floor surface, it can rotate the rotating components, which engage and guide debris toward a vacuum airflow generated by the robot. Thus, the rotating components and the vacuum airflow can work together to allow the robot to pick up debris. Summary of the Invention

[0004] Mobile cleaning robots can autonomously navigate their environment to perform cleaning operations, typically traversing and navigating around obstacles. Mobile cleaning robots include suspension systems to provide sufficient underwheel pressure to overcome obstacles and provide effective cleaning on various surfaces. Because the shape and size of obstacles can vary, and because the type of flooring can also vary, the underwheel pressure required during the robot's operation can also vary. Many robots include a front-pivoting suspension system, which can effectively transmit downforce; however, the transmitted downforce can differ at different heights of the drive wheels relative to the body, and the downforce can vary between forward and backward movement.

[0005] This disclosure describes apparatus and methods that can help solve the problem, for example by including a suspension system comprising a link that provides a virtual center of rotation of the wheel assembly at a point near (or below) the bottom of the drive wheel throughout the entire range of travel of the drive wheel relative to the robot body, thereby allowing the transmitted downforce to remain relatively constant throughout the range of travel and between the robot’s forward and backward movements, which helps to increase the traction of the drive wheel and reduce drag on the moving cleaning robot.

[0006] For example, a mobile cleaning robot can move in an environment. The mobile cleaning robot may include a body and a drive arm that can move relative to the body between an extended position and a retracted position. The robot may include drive wheels connected to and movable with the drive arm. The drive wheels are operable to move the mobile cleaning robot. The robot may include a first link connected to the body and to the drive arm. The robot may include a second link connected to the body and to the drive arm to define a center of rotation together with the first link, the body, and the drive arm, about which the drive arm and drive wheels rotate between the extended and retracted positions. Attached Figure Description

[0007] In accompanying drawings that are not necessarily drawn to scale, the same numbers may describe similar components in different views. The same numbers with different letter suffixes may represent different instances of similar components. The accompanying drawings generally illustrate, by way of example and not limitation, the various embodiments discussed in this document.

[0008] Figure 1 A floor plan of a mobile cleaning robot in the environment is shown.

[0009] Figure 2A An isometric view of the mobile cleaning robot in its first state is shown.

[0010] Figure 2B An isometric view of the mobile cleaning robot in its second state is shown.

[0011] Figure 2C An isometric view of the mobile cleaning robot in its third state is shown.

[0012] Figure 2D A bottom view of the mobile cleaning robot in its third state is shown.

[0013] Figure 2E A top isometric view of the mobile cleaning robot in its third state is shown.

[0014] Figure 2F A side sectional view of the mobile cleaning robot in its first state is shown.

[0015] Figure 2G A diagram illustrating the communication network in which the mobile cleaning robot operates and an example of data transmission within the network is shown.

[0016] Figure 3A A schematic diagram of a portion of a mobile cleaning robot is shown.

[0017] Figure 3B A schematic diagram of a portion of a mobile cleaning robot is shown.

[0018] Figure 4 A cross-sectional view of a portion of the mobile cleaning robot is shown.

[0019] Figure 5A An isometric view of a portion of a mobile cleaning robot in its first state is shown.

[0020] Figure 5B An isometric view of a portion of the mobile cleaning robot in its second state is shown.

[0021] Figure 6A A side view of a portion of the mobile cleaning robot in its first state is shown.

[0022] Figure 6B A side view of a portion of the mobile cleaning robot in its second state is shown.

[0023] Figure 6C A side view of a portion of the mobile cleaning robot in its third state is shown.

[0024] Figure 7 A cross-sectional view of a portion of the mobile cleaning robot is shown.

[0025] Figure 8 A top view of a portion of the mobile cleaning robot is shown.

[0026] Figure 9A A side view of a portion of the mobile cleaning robot in its first state is shown.

[0027] Figure 9B A side view of a portion of the mobile cleaning robot in its second state is shown.

[0028] Figure 9C A side view of a portion of the mobile cleaning robot in its third state is shown. Detailed Implementation

[0029] Robot Operation Summary

[0030] Figure 1 A floor plan of a mobile cleaning robot 100 in an environment 40 according to at least one example of this disclosure is shown. Environment 40 may be a dwelling, such as a home or apartment, and may include rooms 42a-42e. Obstacles such as a bed 44, a table 46, and an island 48 may be located in room 42 of the environment. Each of rooms 42a-42e may have floor surfaces 50a-50e respectively. Some rooms, such as room 42d, may include carpets, such as carpet 52. Floor surfaces 50 may be one or more types, such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high) pile carpet, stone, etc.

[0031] The mobile cleaning robot 100 can be operated, for example, by a user 60, to autonomously clean environment 40 room by room. In some examples, the robot 100 can clean the floor surface 50a of a room (e.g., room 42a) before moving to the next room (e.g., room 42d) to clean the surfaces of room 42d. Different rooms can have different types of floor surfaces. For example, room 42e (which may be a kitchen) may have a hard floor surface, such as wood or tile, and room 42a (which may be a bedroom) may have a carpet surface, such as a medium-pile rug. Other rooms, such as room 42d (which may be a dining room), may include multiple surfaces, with carpet 52 located within room 42d.

[0032] During cleaning or movement operations, robot 100 can use data collected from various sensors (such as optical sensors) and calculations (such as odometry and obstacle detection) to develop a map of environment 40. Once the map is created, user 60 can define rooms or areas (such as room 42) within the map. The map can be presented to user 60 on a user interface such as a mobile device, where user 60 can, for example, provide guidance or change cleaning preferences.

[0033] Furthermore, during operation, robot 100 can detect the surface types within each room 42, which can be stored in robot 100 or another device. Robot 100 can update the map (or related data) to include, for example, the surface types of the floor surfaces 50a-50e of the individual rooms 42 of environment 40. In some examples, the map can be updated to display, for example, different surface types within each room 42.

[0034] In some examples, user 60 can define a behavior control zone 54. During autonomous operation, robot 100 can initiate actions in response to being in or near behavior control zone 54. For example, user 60 can define a dirt-prone area of ​​environment 40 as behavior control zone 54. In response, robot 100 can initiate a focused cleaning action, whereby robot 100 performs focused cleaning of a portion of floor surface 50d within behavior control zone 54.

[0035] Robot Example

[0036] Figure 2A An isometric view of a mobile cleaning robot 100 is shown, with the pad assembly in its storage location. Figure 2B An isometric view of a mobile cleaning robot 100 is shown, with the pad assembly in an extended position. Figure 2C An isometric view of a mobile cleaning robot 100 is shown, with the mat assembly in the mopping position. Figure 2A-2C The front and rear of the orientation indicator are also shown. Let's discuss them together below. Figure 2A-2C .

[0037] The mobile cleaning robot 100 may include a main body 102 and a mopping system 104. The mopping system 104 may include arms 106a and 106b (collectively referred to as arms 106) and a mat assembly 108. The robot 100 may also include a buffer 109 and other features such as an extractor (including rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., a motor, gear train, and wheels), casters, and sensors, as discussed in further detail below. The distal portion of arm 106 may be connected to the mat assembly 108, and the proximal portions of arms 106a and 106b may be connected to an internal drive system to drive arm 106 to move mat assembly 108.

[0038] Figure 2A-2C This demonstrates how to operate the robot 100 to move the pad assembly 108 from... Figure 2A The storage location in the middle is moved to Figure 2B The transition or partial expansion position in the middle, to Figure 2C The location for mopping or unfolding. Figure 2A In the storage location, robot 100 can only perform vacuum cleaning operations. Figure 2C In its unfolded position, robot 100 can perform vacuuming or mopping operations. Figure 2D-2E Additional components of Robot 100 were discussed.

[0039] Robot components

[0040] Figure 2D A bottom view of the mobile cleaning robot 100 is shown. Figure 2E A top isometric view of robot 100 is shown. Let's discuss this further. Figure 2D and 2E . Figure 2D and 2E Robot 100 can be with Figure 2A-2C Consistent; Figure 2D-2E Additional details of robot 100 are shown. For example, Figure 2D-2E The robot 100 is shown to include a body 102, a buffer 109, an extractor 113 (including rollers 114a and 114b), motors 116a and 116b, drive wheels 118a and 118b, casters 120, a side brush assembly 122, a vacuum assembly 124, a memory 126, and sensors 128. The mopping system 104 may also include a tank 132 and a pump 134.

[0041] The cleaning robot 100 can be an autonomous cleaning robot that can autonomously traverse (…). Figure 1 (of) the floor surface 50, while simultaneously extracting debris from different parts of the floor surface 50. For example Figure 2DAs shown, robot 100 may include a body 102 movable on floor surface 50. Body 102 may include multiple connection structures to which movable or fixed components of the cleaning robot 100 are mounted. The connection structures may include, for example, an outer housing for covering internal components of the cleaning robot 100, a chassis fitted with drive wheels 118a and 118b and cleaning rollers 114a and 114b (of cleaning assembly 113), and a buffer 109 connected to the outer housing. Casters 120 support the front of body 102 above floor surface 50, and drive wheels 118a and 118b support the middle and rear of body 102 above floor surface 50 (and also support most of the weight of robot 100).

[0042] like Figure 2D As shown, the body 102 may include a front portion, which may have a substantially semi-circular shape and be connected to the buffer 109. The body 102 may also include a rear portion having a substantially semi-circular shape. In other examples, the body 102 may have other shapes, such as a square front portion or a straight front portion. The robot 100 may also include a drive system including actuators (e.g., motors) 116a and 116b. Actuators 116a and 116b may be connected to the body 102 and may be operatively connected to drive wheels 118a and 118b, which may be rotatably mounted to the body 102. When driven, actuators 116a and 116b may rotate drive wheels 118a and 118b to enable the robot 100 to move autonomously on the floor surface 50.

[0043] The vacuum assembly 124 may be located at least partially within the body 102 of the robot 100, for example, in the rear of the body 102, and in other examples, the vacuum assembly 124 may be located in other locations. The vacuum assembly 124 may include a motor to drive an impeller to generate an airflow when rotated. When rotated, the airflow from the vacuum assembly 124 and the cleaning roller 114 may cooperate to draw debris into the robot 100.

[0044] Cleaning box 130 (e.g.) Figure 2FThe vacuum assembly 124 (shown) can be installed in the body 102 and can contain debris ingested by the robot 100. A filter in the body 102 can separate debris from the airflow before it enters the vacuum assembly 124 and exits from the body 102. In this respect, debris can be captured in the cleaning tank 130 and the filter before the airflow exits from the body 102. In some examples, the vacuum assembly 124 and the extractor 113 may optionally be included or may be of different types. Optionally, the vacuum assembly 124 can operate during a mopping operation, such as a mopping operation including the mopping system 104. That is, the robot 100 can perform vacuuming and mopping tasks or operations simultaneously.

[0045] Cleaning rollers 114a and 114b are operably connected to actuator 115, such as a motor, via a gearbox. The cleaning head 113 and cleaning rollers 114a and 114b can be located in front of the cleaning chamber 130. Cleaning roller 114 can be mounted or connected to the underside of the body 102 such that when the underside of the body 102 faces the floor surface 50, cleaning rollers 114a and 114b can engage debris on the floor surface 50 during cleaning operations.

[0046] Controller 111 may be at least partially located within housing 102 and may be a programmable controller, such as a single-board or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), etc. In other examples, controller 111 may be any computing device, such as a handheld computer, like a smartphone, tablet, laptop, desktop computer, or any other computing device that includes a processor, memory, and communication capabilities. Memory 126 may be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random access memory (RAM), disk storage media, optical storage media, flash memory devices, and other storage devices and media. Memory 126 may be located within housing 102, may be connected to controller 111, and may be accessed by controller 111.

[0047] The controller 111 is operable to operate actuators 116a and 116b to autonomously navigate the robot 100 around the floor surface 50 during cleaning operations. Actuators 116a and 116b are operable to drive the robot 100 in a forward drive direction, in a backward drive direction, and to turn the robot 100. The controller 111 is operable to operate the vacuum assembly 124 to generate an airflow that flows through an air gap near the cleaning roller 114, through the body 102, and out of the body 102.

[0048] Robot 100 may include a sensor system comprising one or more sensors. The sensor system, as described herein, may generate one or more signals indicating the current position of robot 100, and may generate signals indicating the position of robot 100 as robot 100 travels along floor surface 50. Sensor 128 ( Figure 2A (As shown) can be positioned along the bottom portion of housing 102. Each sensor 128 can be an optical sensor, which can be configured to detect the presence or absence of an object (e.g., floor surface 50) below the optical sensor. Sensors 128 (optionally cliff sensors) can be connected to controller 111 and can be used by controller 111 to navigate robot 100 within environment 40. In some examples, cliff sensors can be used to detect floor surface type, which controller 111 can use to selectively operate mopping system 104.

[0049] The cleaning pad assembly 108 may be a cleaning pad attached to the bottom of the body 102 (or attached to an actuator 110, which may be configured to move the assembly 108 between a storage position and a cleaning position), for example, attached to a cleaning tank 130 located at the rear of the extractor 113. The tank 132 may be a water tank configured to store water or fluid, such as cleaning fluid, for delivery to the mopping pad 142. A pump 134 may be attached to a controller 111 and may be in fluid communication with the tank 132. The controller 111 may be configured to operate the pump 134 to deliver fluid to the mopping pad 142 during mopping operations. For example, fluid may be delivered to the mopping pad 142 via one or more dispensers 117. The dispenser 117 may be a valve, an opening, etc., and may be configured to deliver fluid to the floor surface 50 of the environment 40 or directly to the pad 142. In some examples, the pad 142 may be a drying pad, such as for dusting or drying debris removal. The mat 142 can be supported by a mat tray 143 attached to the arm 106. The mopping mat 142 can also be any cloth, fabric, etc., configured for cleaning (wet or dry) floor surfaces.

[0050] like Figure 2F As shown, the vacuum assembly 124 may be at least partially located within the body 102 of the robot 100, for example, in the rear portion of the body 102. The controller 111 may operate the vacuum assembly 124 to generate an airflow that flows through an air gap near the cleaning roller 114, through the body 102, and out of the body 102. The airflow and the cleaning roller 114 may cooperate during rotation to draw debris 75 into the suction conduit 136 of the robot 100. The suction conduit 136 may extend downwards to or near the bottom portion of the body 102 and may be at least partially defined by the cleaning assembly 113.

[0051] Suction pipe 136 can be connected to cleaning head 113 or cleaning assembly, and can be connected to cleaning tank 130. Cleaning tank 130 can be installed in body 102 and can contain debris 75 ingested by robot 100. Filter 145 can be located in body 102, which helps separate debris 75 from the airflow 138 before it enters vacuum assembly 124 and exits from body 102. In this respect, debris 75 can be trapped in cleaning tank 130 and filter before airflow 138 exits from body 102. Robot 100 may also include debris port 135, which can extend at least partially through body 102 or cleaning tank 130, and is operable to remove debris 75 from cleaning tank 130, for example, via docking station or evacuation station.

[0052] Cleaning rollers 114a and 114b can be operatively connected to one or more actuators 115, such as motors. The cleaning head 113 and cleaning rollers 114a and 114b can be positioned in front of the cleaning chamber 130. Cleaning rollers 114a and 114b can be mounted to the housing of the cleaning head 113 and, for example, indirectly or directly, to the body 102 of the robot 100. Specifically, cleaning rollers 114a and 114b can be mounted to the underside of the body 102 such that when the underside faces the floor surface 50, cleaning rollers 114a and 114b engage debris 75 on the floor surface 50 during cleaning operations.

[0053] Robot operation

[0054] In some example operations, controller 111 can be used to instruct robot 100 to perform tasks. In this case, controller 111 can operate motor 116 to drive drive wheels 118 and propel robot 100 along floor surface 50. Robot 100 can be propelled in a forward or backward driving direction. Robot 100 can also be propelled such that it turns in place or turns while moving in either the forward or backward driving direction. Furthermore, controller 111 can operate motor 115 to rotate rollers 114a and 114b, operate side brush assembly 122, and operate motors in vacuum system 124 to generate airflow. Controller 111 can execute software stored in memory 126 to enable robot 100 to perform various navigation and cleaning actions by operating the various motors of robot 100.

[0055] Various sensors on robot 100 can be used to help the robot navigate and clean within environment 40. For example, a cliff sensor can detect obstacles, such as steep slopes and cliffs below the section of robot 100 where the cliff sensor is located. The cliff sensor can transmit signals to controller 111, allowing controller 111 to redirect robot 100 based on the signals from the sensor.

[0056] A proximity sensor can generate a signal based on the presence or absence of an object in front of the optical sensor. Detectable objects include obstacles such as furniture, walls, people, and other objects in the environment 40 of robot 100. The proximity sensor can send a signal to controller 111, allowing controller 111 to reorient robot 100 based on the signal from the proximity sensor. In some examples, a collision sensor can be used to detect movement of buffer 109 along the front-rear axis of robot 100. Collision sensor 139 can also be used to detect movement of buffer 109 along one or more sides of robot 100, and can optionally detect vertical buffer movement. Collision sensor 139 can transmit a signal to controller 111, allowing controller 111 to reorient robot 100 based on the signal from collision sensor 139.

[0057] Robot 100 may also optionally include one or more dirt sensors 144 connected to body 102 and communicating with controller 111. Dirt sensors 144 may be microphones, piezoelectric sensors, optical sensors, etc., located in or near the flow path of debris (e.g., near the opening of cleaning roller 114 or in one or more channels within body 102). This allows dirt sensors 144 to detect at any time during a cleaning task how much dirt has been sucked up by vacuum assembly 124 (e.g., via extractor 113). Because robot 100 can know its location, it can maintain a log or record of which areas or rooms are dirtier or where more dirt has been collected.

[0058] Image capture device 140 can be configured to generate signals based on images of the environment 40 of robot 100 as robot 100 moves around floor surface 50. Image capture device 140 can send such signals to controller 111. Controller 111 can use one or more signals from image capture device 140 for various tasks, algorithms, etc., as discussed in further detail below.

[0059] In some examples, the obstacle following sensor can detect obstacles, including detectable objects such as furniture, walls, people, and other objects in the environment of robot 100. In some implementations, the sensor system may include an obstacle following sensor along a side surface, and the obstacle following sensor can detect the presence or absence of objects adjacent to the side surface. One or more obstacle following sensors may also be used as obstacle detection sensors, similar to the proximity sensors described herein.

[0060] The robot 100 may also include sensors for tracking the distance traveled by the robot 100. For example, the sensor system may include an encoder associated with a motor 116 for driving the wheels 118, and the encoder may track the distance the robot 100 has traveled. In some embodiments, the sensors may include optical sensors facing downwards toward the floor surface. The optical sensors may be positioned to direct light through the bottom surface of the robot 100 toward the floor surface 50. The optical sensors may detect reflections of light and may detect the distance traveled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.

[0061] The controller 111 can use data collected by the sensors of the sensor system to control the navigation behavior of the robot 100 during the task. For example, the controller 111 can use sensor data collected by the obstacle detection sensors (cliff sensors, proximity sensors, and collision sensors) of the robot 100 to enable the robot 100 to avoid obstacles in the robot 100's environment during the task.

[0062] The controller 111 can also use sensor data for simultaneous localization and mapping (SLAM) techniques, whereby the controller 111 extracts environmental features represented by the sensor data and constructs a map of the floor surface 50 of the environment. Sensor data collected by the image capture device 140 can be used for techniques such as vision-based SLAM (VSLAM), where the controller 111 extracts visual features corresponding to objects in the environment 40 and uses these visual features to construct a map. When the controller 111 guides the robot 100 on the floor surface 50 during a task, the controller 111 can use SLAM techniques to determine the robot 100's position within the map by detecting features represented in the collected sensor data and comparing these features with previously stored features. The map formed from the sensor data can indicate the location of traversable and non-traversable spaces within the environment. For example, the location of obstacles can be indicated on the map as non-traversable space, and the location of open floor space can be indicated on the map as traversable space.

[0063] Sensor data collected by any sensor can be stored in memory 126. Additionally, other data generated for SLAM technology (including map-building data that forms a map) can be stored in memory 126. This data generated during a task can include persistent data generated during the task and available during further tasks. Besides storing software used to enable robot 100 to perform its actions, memory 126 can also store data generated from the processing of sensor data for access by controller 111. For example, the map could be a map that can be used and updated by robot 100's controller 111 from one task to another to navigate robot 100 on floor surface 50.

[0064] Persistent data, including persistent mapping, helps enable robot 100 to effectively clean floor surface 50. For example, the map allows controller 111 to guide robot 100 to open floor spaces and avoid inaccessible areas. Furthermore, for subsequent tasks, controller 111 can use the map to optimize the path taken during the task to help plan robot 100's navigation through environment 40.

[0065] The controller 111 can also send signals to the motor or actuator 110 ( Figure 2A (As shown) sends a command, wherein the motor or actuator 110 may be connected to the arm 106 and may be at least partially located within the body 102, wherein the command may drive the arm 106 to cause the pad assembly 108 to be in a storage position (as shown). Figure 2A and 2D (as shown) and unfolded position ( Figure 2C and 2E The pad assembly 108 (mopping pad 142) can be moved between the two positions shown in the diagram. In the unfolded position, the pad assembly 108 (mopping pad 142) can be used to mop the floor surface of any room in the environment 40.

[0066] The mopping mat 142 can be a dry mat or a wet mat. Optionally, when the mopping mat 142 is a wet mat, the pump 134 can be operated by the controller 111 to spray or drip fluid (e.g., water or cleaning solution) onto the floor surface 50 or the mopping mat 142. The wet mopping mat 142 can then be used by the robot 100 to perform a wet mopping operation on the floor surface 50 of the environment 40.

[0067] Network Example

[0068] Figure 2G This diagram illustrates a communication network 202 that enables networking between the mobile robot 100 and one or more other devices, docking station 200 (or any docking station discussed herein), mobile device 304 (including a controller), cloud computing system 306 (including a controller), or another autonomous robot detached from the mobile robot 100. Using the communication network 202, the robot 100, mobile device 304, docking station 200, and cloud computing system 306 can communicate with each other to send and receive data. In some examples, the robot 100, docking station 200, or both the robot 100 and docking station 200 can communicate with the mobile device 304 via the cloud computing system 306. Alternatively or additionally, the robot 100, docking station 200, or both the robot 100 and docking station 200 can communicate directly with the mobile device 304. The communication network 202 can employ various types and combinations of wireless networks (e.g., Bluetooth, RF, optical, etc.) and network architectures (e.g., Wi-Fi or mesh networks).

[0069] In some examples, mobile device 304 may be a remote device that can be linked to cloud computing system 306 and allows a user to provide input. Mobile device 304 may include user input elements, such as one or more of a touchscreen display, buttons, microphone, mouse, keyboard, or other devices responsive to input provided by the user. Mobile device 304 may also include immersive media (e.g., virtual reality or augmented reality) that a user can interact with to provide input. In these examples, mobile device 304 may be a virtual reality headset or head-mounted display.

[0070] The user can provide input corresponding to commands for the mobile robot 100. In this case, the mobile device 304 can send signals to the cloud computing system 306, causing the cloud computing system 306 to send command signals to the mobile robot 100. In some embodiments, the mobile device 304 can display augmented reality images. In some embodiments, the mobile device 304 can be a smartphone, laptop computer, tablet computer, or other mobile device.

[0071] In some examples, communication network 202 may include additional nodes. For example, nodes in communication network 202 may include additional robots. Furthermore, nodes in communication network 202 may include network-connected devices capable of generating information about environment 40. Such network-connected devices may include one or more sensors, such as acoustic sensors, image capture systems, or other sensors that generate signals to detect characteristics of environment 40 from which features can be extracted. Network-connected devices may also include home cameras, smart sensors, etc.

[0072] In communication network 202, wireless links can utilize various communication schemes and protocols, such as Bluetooth, Wi-Fi, Bluetooth Low Energy (also known as BLE), 802.15.4, Global Microwave Access Interoperability (WiMAX), infrared channels, satellite bands, etc. In some examples, wireless links may include any cellular network standard used for communication between mobile devices, including but not limited to standards eligible for 1G, 2G, 3G, 4G, 5G, etc. Network standards (if used) are eligible as, for example, first-generation or multi-generation mobile telecommunications standards by conforming to specifications or standards such as those maintained by the International Telecommunication Union. For example, the 4G standard may correspond to the International Mobile Telecommunications Advanced (Advanced IMT) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, Advanced LTE, Mobile WiMAX, and Advanced WiMAX. Cellular network standards can use various channel access methods, such as FDMA, TDMA, CDMA, or SDMA.

[0073] Standard suspension implementation

[0074] Figure 3A A schematic diagram of a portion of a mobile cleaning robot 300 is shown. Figure 3B A schematic diagram of a portion of a mobile cleaning robot 300 is shown. Figure 3A and 3B An example of a mobile cleaning robot is shown, which includes drive wheels 318 connected to the body of the mobile cleaning robot 300 via a front pivot drive arm 350. Figure 3A and Figure 3B The floor surface is shown, along with the forces Fy in the vertical direction and Fx in the horizontal direction. Figure 3A and Figure 3B The direction of motion and the reaction force N perpendicular to the wheel are also shown.

[0075] In the operation of the mobile cleaning robot 300, dimension a can be a torque arm that applies a traction force uN (or thrust) to the drive wheel 318, which can generate a torque that can increase or decrease the spring torque Ms. In such a design, dimension a is typically much greater than zero to allow the arm 352 and its pivot to remain attached to the robot's body. Furthermore, dimension a can increase as the drive wheel 318 unfolds or extends, thereby increasing the magnitude of the torque Ms, which can increase or decrease the thrust uN depending on the robot's orientation. For example, as... Figure 3A As shown, when robot 300 moves in the reverse direction, the traction force uN can generate a torque around the arm (distance) a, thus forming a counterclockwise torque around the pivot, which is opposite to the spring torque MS, effectively reducing the total downforce. Conversely, when robot 300 moves forward, the traction force uN can generate a torque around the arm (distance) a, thus forming a clockwise torque around the pivot, which is in the same direction as the spring torque MS, effectively increasing the downforce during forward movement. This difference can cause traction problems, especially when the drive wheel 318 extends from the body and when the mobile cleaning robot 300 moves in the reverse direction. The following example can help address these issues.

[0076] Suspension example

[0077] Figure 4 A cross-sectional view of a portion of a mobile cleaning robot 400 is shown. The mobile cleaning robot 400 may be similar to the robot 100 discussed above, such that the same parts may have the same reference numerals. For example, the mobile cleaning robot 400 may include a body 402, a cleaning pad assembly 408, drive wheels 418, side brushes 422, etc. Figure 4 The mobile cleaning robot 400 shown may include a wheel module 446, which includes drive wheels 418, mounting brackets 448, a motor 450 (which may be similar to motor 116) and a drive arm 452.

[0078] Wheel module 446 can be connected to body 402 via mounting member 448, which can be a component of body 402, a component of wheel module 446, or integrated into wheel module 446 or body 402. Optionally, mounting member 448 can be omitted, and wheel module 446 can be directly connected to body 402. Drive arm 452 may include one or more gears (e.g., a transmission) that engage with the drive shaft of the motor and drive wheel 418 to convert rotation of motor 450 into rotation of drive wheel. Transmission may optionally be enclosed by housing. Optionally, drive arm may not include gears, such that drive wheel 418 is directly driven by motor 450.

[0079] In operation, wheel module 446 can be configured to rotate drive wheel 418 relative to body 402 to allow drive wheel 418 (or another drive wheel 418) to move body 402 around floor surface 50 and environment 40. Wheel module 446 may also include linkage assembly 453, which allows drive wheel 418 to move relative to body 402, for example, in extended and retracted positions. Figure 4 The movement between (as shown in the diagram) is discussed in further detail below.

[0080] Figure 5A An isometric view of the wheel module 446 of a mobile cleaning robot 400 in its retracted position is shown. Figure 5B An isometric view of the wheel module 446 of a mobile cleaning robot 400 in an extended position is shown. Figure 5A and 5B The drive axis D is also shown. Let's discuss it together below. Figure 5A and 5B . Figure 5A and 5B The wheel module 446 can be used with Figure 4 Consistent. Figure 5A and 5B Additional details of wheel module 446 are shown.

[0081] For example, Figure 5A and 5BThe wheel module 446 is shown to include a linkage assembly 453, which includes a first link 454 and a second link 456. The first link 454 is pivotally connected to the mount 448 via a pivot 458 and is also pivotally connected to the drive arm 452 via a pivot 460. The second link 456 is pivotally connected to the mount 448 via a pivot 462 and is also pivotally connected to the drive arm 452 via a pivot 464. The links and pivots together allow the drive arm 452 to be pivotally connected to the body 402. When the drive wheel is in the retracted position, the pivotal connection of the first link 454 and the second link 456 can be located below the motor 450 or below the drive wheel axis D of the drive wheel 418. The pivot may include bearings, bushings, etc., configured to allow relative rotation of the links and the drive arm 452.

[0082] The first link 454 may have a first width W1, and the second link 456 may have a second width W2 smaller than the first width. This allows the first link 454 to handle both axial and lateral loads (or moments), while the second link 456 can primarily handle axial loads (e.g., dual-force members) while also helping to guide the rotation of the drive arm 452. Because the second link 456 does not resist lateral loads as much as the first link 454, it can allow for some lateral movement, thus helping to avoid over-constraining the link assembly 453.

[0083] Figure 5A and Figure 5B The drive arm 452 is also shown to include a housing 466, which can be connected to the first link 454 and the second link 456, such as via pins, fasteners, etc. (e.g., via pivots 460 and 464). The housing 466 can also support the motor 450 such that the motor 450 is at least partially located within the housing 466. The housing 466 can also at least partially surround a drivetrain 468 configured to transmit rotation from the drive shaft of the motor 450 to the drive shaft 470 of the drive wheel 418.

[0084] Motor 450 can be oriented such that drive shaft 451 of motor 450 can rotate about drive shaft axis M, wherein drive shaft axis M is perpendicular (or nearly perpendicular (e.g., within 5 degrees, 10 degrees, 15 degrees, etc.) to drive wheel axis D of drive wheel 418. This configuration allows motor 450 to be packaged together with drive arm 452 in a relatively small package, helping to save space within the body 402 of mobile cleaning robot 400.

[0085] Figure 5A and 5BThe wheel module 446 is also shown to include a switch 472 (e.g., a limit switch) connected to the second link 456. The switch 472 may communicate with a controller (e.g., controller 111). The drive arm 452 may also include a protrusion 474 that extends at least partially from the housing 466 and can engage with the switch 472 when the drive wheel 418 reaches the extended position.

[0086] In operation, motor 450 can rotate its drive shaft 451 to operate transmission 468, thereby causing drive wheel 418 to rotate about drive shaft 470, enabling mobile cleaning robot 400 to move around in the environment. When mobile cleaning robot 400 navigates over obstacles or different floor surfaces, linkage assembly 453 allows drive wheel 418 to be in a retracted position (e.g., Figure 5A (as shown) and extension position (as shown) Figure 5B The robot moves between the carpet and the carpet. For example, when the mobile cleaning robot 400 (e.g., body 402) engages the carpet, the drive wheel 418 may move out of the retracted position, causing the body 402 to be lifted (which may cause the drive wheel 418 to move downward or extend relative to the body 402).

[0087] Linkage assemblies 453 (e.g., first link 454 and second link 456) can be connected to the body 402 (e.g., via pivots 458 and 462), and can be connected to the drive arm 452 (e.g., via pivots 460 and 464) to allow the center of rotation (discussed in further detail below) to be located in front of the drive wheel 418 in each position between the retracted and extended positions, and to be located below the drive shaft 470 (or at or near the bottom of the drive wheel 418 or the floor surface 50) in each position between the retracted and extended positions. By positioning the center of rotation of the link assembly 453 (and the drive arm 452 and drive wheel 418) in a relatively low position, the drive wheel 418 can apply relatively consistent downforce to the floor surface 50, which helps improve traction and navigation of the mobile cleaning robot 400 when moving through environments with different obstacles and surfaces. By using a four-bar system in the linkage assembly 453, the center C can be close to the bottom of the drive wheel, which maintains dimension a (e.g., Figure 3A The thrust of any wheel is close to zero. This means that regardless of the direction of drive, the thrust of any wheel will not affect the downforce of the wheel (and thus the traction).

[0088] In the same way that linkage assembly 453 can balance forward and reverse traction forces (e.g., by decoupling wheel thrust from underwheel pressure), the mobile cleaning robot 400 is less susceptible to ride-on problems (where the robot 400 climbs obstacles in an undesirable manner or way). Because the underwheel pressure is relatively constant, wheel 418 cannot exert an upward force on the robot (a force that could lead to ride-on).

[0089] The linkage assembly 453 can also be designed to assist in navigating thresholds and obstacles. When the drive wheel 418 engages an object or threshold, it is desirable to maximize downforce. To help increase downforce when engaging a threshold or object, an offset of the rotation center can be selected (e.g., Figure 3A and 3B The size b) causes the downforce to be amplified or increased to about 100% of the weight of the mobile cleaning robot 400 at the moment the drive wheel 418 contacts the threshold (which is the most critical point to pass through).

[0090] Although the center of rotation of the link assembly 453 is positioned to provide relatively consistent downforce, the link assembly 453 can be designed to provide any downforce distribution.

[0091] When the drive wheel 418 reaches the extended position, the protrusion 474 of the drive arm 452 can engage the switch 472, activate the switch 472, and allow the switch 472 to generate (or produce) a signal and send the signal to the controller (e.g., controller 111), for example, to allow the controller to determine that the drive wheel 418 is fully extended, which may indicate that the mobile cleaning robot 400 is stranded or has reached a cliff.

[0092] Figure 5A and 5B It is also shown that the linkage assembly 453 may include a stop 476, which can extend from the second link 456 and engage with the first link 454 to limit the rotation of the drive wheel 418 and the drive arm 452 beyond the retracted position, such as Figure 5A As shown. The contact between the stop 476 and the second link 456 can also limit the rotation of the drive wheel 418 and the drive arm 452 beyond the extended position, as shown. Figure 5B As shown. The stop 476 may be configured (e.g., sized and shaped) to have an inclined surface to engage the first link 454 in both the fully extended and fully retracted positions, such that the stop 476 restricts the travel of the drive wheel 418 relative to the body 402 in both directions. Figure 5A and 5BThe mobile cleaning robot 400 is also shown to include a bias connector 478, which can be connected to a biasing element or component connected to the body 402 to bias the drive arm 452 toward an extended position. The biasing element may be a tension spring, a compression spring, etc.

[0093] Figure 6A A side view of a portion of the mobile cleaning robot 400 in its first state is shown. Figure 6B A side view of a portion of the mobile cleaning robot 400 in its second state is shown. Figure 6C A side view of a portion of the mobile cleaning robot 400 in its third state is shown. Let's discuss this further below. Figures 6A-6C . Figures 6A-6C The mobile cleaning robot 400 can be the same as the mobile cleaning robot 400 discussed above. Figures 6A-6B This illustrates how the linkage assembly 453 allows the virtual rotation center C (or virtual pivot or instantaneous rotation center) to move as the drive wheel 418 moves between the retracted and extended positions.

[0094] like Figure 6A As shown, when the drive wheel 418 is in the retracted or near-retracted position, the positions of the first link 454 and the second link 456 (represented by lines passing through their pivots 458, 460, 462, and 464) define the rotation center C1 at the intersection of the lines passing through the first link 454 and the second link 456. Figure 6A As shown, the center of rotation C1 can be located at or near the bottom of the drive wheel 418, and the bottom of the drive wheel 418 can be located at or near the floor surface 50. In this extended (or retracted) position of the drive wheel 418, the center of rotation C1 can also be below the drive axis D of the drive wheel 418, below the connecting rods 454 and 456, or below their pivots 458, 460, 462, and 464.

[0095] When the drive wheel 418 extends from the body 402, as Figure 6B As shown, the rotation center C2 can move downwards, such that it remains at or near the bottom of the drive wheel 418, which may be located at or near the floor surface 50. In this extended position of the drive wheel 418, the rotation center C2 may also be below the drive axis D of the drive wheel 418, below connecting rods 454 and 456, or below their pivots 458, 460, 462, and 464. Furthermore, when the drive wheel 418 extends further from the body 402 to the fully extended position (or near the fully extended position), causing the body 402 to be lifted off the floor surface 50, as... Figure 6CAs shown, the rotation center C3 can be moved further downwards, such that the rotation center C3 is held at or near the bottom of the drive wheel 418, which may be located at or near the floor surface 50. In this extended position of the drive wheel 418, the rotation center C3 may also be below the drive axis D of the drive wheel 418, below the connecting rods 454 and 456, or below their pivots 458, 460, 462, and 464.

[0096] By keeping the center of rotation C at or near the bottom of the drive wheel 418, which may be at or near the floor surface 50 (and below most or all of the components of the mobile cleaning robot 400), the torque exerted due to traction can be minimized, and a high (or relatively constant or desired) downforce can be maintained throughout the entire range of travel of the drive wheel 418, which helps to maintain consistent traction of the drive wheel 418 between forward and reverse directions.

[0097] Figure 7 A cross-sectional view of a portion of a mobile cleaning robot 700 is shown. Figure 8 A top view of a portion of the mobile cleaning robot 700 is shown. Let's discuss it together below. Figure 7 and Figure 8 The mobile cleaning robot 700 can be similar to the robots discussed above.

[0098] The mobile cleaning robot 700 may include a body 702 (e.g., similar to body 102) configured to support one or more components of the mobile cleaning robot 700. The mobile cleaning robot 700 may also include a wheel module 746, which includes drive wheels 718 (which may be similar to drive wheels 118 or 418) such that the drive wheels 718 are movable between an extended position and a retracted position and can rotate about a drive shaft D to move the mobile cleaning robot 700 in the environment.

[0099] The mobile cleaning robot 700 may also include a mounting member 748, which may be connected to or may be part of the body 702. A linkage assembly 753 may be connected to the mounting member 748 to pivotally connect a drive wheel 718 to the body 702. The wheel module 746 may also include a drive arm 752 that connects the mounting member 748 to the drive wheel 718 and connects a motor 750 to the drive wheel 718 (e.g., via a gear train). The drive arm 752 may be connected to the mounting member 748 and may include a first link 754 and a second link 756. The first link 754 may be pivotally coupled to the mounting member 748 via a pivot 758, and the first link 754 may be pivotally coupled to the drive arm 752 via a pivot 760. The second link 756 can be pivotally connected to the mounting 748 via pivot 762, and the second link 756 can be pivotally connected to the drive arm 752 via pivot 764. The pivot may include bearings, bushings, etc., and is configured to allow relative rotation of the link and the drive arm 752.

[0100] Figure 7 and Figure 8 The wheel module 746 is also shown to include a mudguard 780, which may at least partially surround the drive wheel 718 and may be configured to protect the drive wheel 718 and optionally engage the body 702 to limit movement of the drive wheel 718 between an extended position and a retracted position. The mobile cleaning robot 700 may also include a biasing element 782 connected to a biasing connector 778, which may be connected to a drive arm 752. Optionally, the biasing element 782, which may be a spring-piston assembly, may also be pivotally connected to the body 702 via a biasing pivot 784.

[0101] like Figure 7 As shown, the mobile cleaning robot 700 may include a stop 776, which is connectable to the first link 754 and engages with the body 702 to restrict movement of the drive wheel 718 past its retracted position. The stop 776 may also restrict movement of the drive wheel 718 past its extended position. Figure 8 As shown, the bias element 782 can be laterally aligned with the drive arm 752 (or substantially laterally aligned, for example, offset by 1, 2, 3, 4, 5 mm, etc.), which can help reduce the torque exerted by the bias element 782 on the drive arm 752 when the bias element 782 applies downward pressure to the drive arm 752.

[0102] Furthermore, as discussed in further detail below, the first link 754 and the second link 756 can be configured to position the rotation center of the link assembly 753 and the wheel module 746, which is located in front of the drive wheel 718 and below or near the drive wheel 718 within the range of motion of the drive wheel 718 in the extended and retracted positions.

[0103] Figure 9A A side view of a portion of the mobile cleaning robot 700 in its first state is shown. Figure 9B A side view of a portion of the mobile cleaning robot 700 in its second state is shown. Figure 9C A side view of a portion of the mobile cleaning robot 700 in its third state is shown. Let's discuss this further below. Figures 9A-9C . Figures 9A-9C The mobile cleaning robot 700 can be the same as the mobile cleaning robot 700 discussed above. Figures 9A-9B This illustrates how the linkage assembly 753 allows the virtual rotation center R (or virtual pivot or instantaneous rotation center) to move as the drive wheel 718 moves between the retracted and extended positions.

[0104] like Figure 9A As shown, when the drive wheel 718 is in the retracted or near-retracted position, the positions of the linkage drive arm 752 and the first link 754 (represented by lines passing through their pivots 758, 760, 762, and 764) can define a virtual center R1, where the rotation center R1 can be located at or near the bottom of the drive wheel 718, which can be located at or near the floor surface 50. In this extended position of the drive wheel 718, the rotation center R1 can also be below the drive axis D of the drive wheel 718, below the links 754 and 756, or below their pivots 758, 760, 762, and 764.

[0105] When the drive wheel 718 extends from the main body 702, as Figure 9B As shown, the rotation center R2 can move downwards, such that it remains at or near the bottom of the drive wheel 718, which may be located at or near the floor surface 50. In this extended position of the drive wheel 718, the rotation center R2 can also be below the drive axis D of the drive wheel 718, below connecting rods 454 and 456, and below their pivots 758, 760, 762, and 764. Furthermore, when the drive wheel 718 extends further from the body 702 to the fully extended position (or near the fully extended position), causing the body 702 to be lifted off the floor surface 50, as... Figure 9CAs shown, the rotation center R3 can be moved further downwards, such that the rotation center R2 remains at or near the bottom of the drive wheel 718, which may be located at or near the floor surface 50. In this extended position of the drive wheel 718, the rotation center R3 may also be below the drive axis D of the drive wheel 718, below the connecting rods 754 and 756, or below their pivots 758, 760, 762, and 764.

[0106] By keeping the center of rotation C at or near the bottom of the drive wheel 718, which may be located at or near the floor surface 50 (and below most or all of the components of the mobile cleaning robot 700), higher (or desired) downforce can be maintained throughout the travel range of the drive wheel 718, which helps to increase the traction of the drive wheel 718 and reduce the drag on the mobile cleaning robot 700.

[0107] Notes and Examples

[0108] The following non-limiting embodiments detail certain aspects of the subject matter to address challenges and provide the benefits discussed herein.

[0109] Example 1 is a mobile cleaning robot that can move in an environment, the mobile cleaning robot comprising: a body; a drive arm capable of moving relative to the body between an extended position and a retracted position; a drive wheel connected to and movable with the drive arm, the drive wheel being operable to move the mobile cleaning robot; a first link connected to the body and connected to the drive arm; and a second link connected to the body and connected to the drive arm to define a center of rotation together with the first link, the body, and the drive arm, the drive arm and the drive wheel rotating about the center of rotation between the extended position and the retracted position.

[0110] In Example 2, the subject of Example 1 may optionally include a first link and a second link connected to the body and the drive arm to position the center of rotation in front of the drive wheel when the drive wheel is in an extended position and a retracted position.

[0111] In Example 3, the subject of any one or more of Examples 1-2 may optionally include a first link and a second link connected to the body and the drive arm to position the center of rotation at or below the drive shaft axis when the drive wheel is in an extended position and a retracted position.

[0112] In Example 4, the subject matter of any one or more of Examples 1-3 may optionally include a stop that is connected to a second link and can engage with a first link to limit rotation of the drive wheel and drive arm beyond the retracted position, and can also engage with the first link to limit rotation of the drive wheel and drive arm beyond the extended position.

[0113] In Example 5, any one or more of the subjects described in Examples 1 to 4 may optionally include a biasing member connected to the body and the drive arm to bias the drive arm toward the extended position.

[0114] In Example 6, the subject matter of Example 5 may optionally include, wherein the biasing member comprises a compression spring.

[0115] In Example 7, any one or more of the subjects described in Examples 5-6 may optionally include, wherein the drive arm is pivotally connected to the body, the first link is pivotally connected to the body and the drive arm, and the second link is pivotally connected to the body and the drive arm.

[0116] In Example 8, the subject of Example 7 may optionally include, wherein the biasing member is pivotally connected to the drive arm and the body.

[0117] In Example 9, the subject matter of any one or more of Examples 1-8 may optionally include a limit switch connected to a second link and engageable with a first link or drive arm, the limit switch being configured to generate a limit signal when the first link engages the limit switch and activates the limit switch.

[0118] In Example 10, the subject matter of Example 9 may optionally include, wherein the drive arm includes a protrusion configured to engage a limit switch.

[0119] In Example 11, the subject matter of any one or more of Examples 1-10 may optionally include a motor connected to and movable with the drive arm, the motor including a drive shaft rotatable about a drive shaft axis perpendicular to the drive wheel axis.

[0120] In Example 12, the subject of any one or more of Examples 1-11 may optionally include, wherein the first link has a first width and the second link has a second width less than the first width.

[0121] In Example 13, the subject of any one or more of Examples 1-12 may optionally include, wherein when the drive wheel is in the retracted position, at least one of the first link and the second link is connected to the body at a position below the drive wheel axis of the drive wheel.

[0122] Example 14 is a mobile cleaning robot capable of moving in an environment, the mobile cleaning robot comprising: a body; a drive arm rotatable relative to the body between an extended position and a retracted position; a drive wheel connected to and movable with the drive arm, the drive wheel being rotatable about a drive axis to move the mobile cleaning robot; a first link pivotally connected to the body and pivotally connected to the drive arm; and a second link pivotally connected to the body and pivotally connected to the drive arm to define a center of rotation together with the first link, the body, and the drive arm, the drive arm and the drive wheel rotating about the center of rotation between the extended and retracted positions, the center of rotation being located in front of the drive wheel in each position between the extended and retracted positions.

[0123] In Example 15, the subject of Example 14 may optionally include a first link and a second link connected to the body and the drive arm to position the center of rotation at or below the drive shaft axis when the drive wheel is in an extended position and a retracted position.

[0124] In Example 16, the subject of Example 15 may optionally include a first link and a second link connected to the body at a location below the drive shaft of the drive wheel when the drive wheel is in the retracted position.

[0125] In Example 17, the subject matter of any one or more of Examples 14-16 may optionally include a motor connected to and movable with the drive arm, the motor including a drive shaft rotatable about a drive shaft axis perpendicular to the drive wheel axis.

[0126] In Example 18, the subject of any one or more of Examples 14-17 may optionally include a first link having a first width and a second link having a second width less than the first width.

[0127] In Example 19, the subject matter of any one or more of Examples 14-18 may optionally include a limit switch connected to a second link and engageable with a first link or drive arm, the limit switch being configured to generate a limit signal when the first link engages the limit switch and activates the limit switch.

[0128] In Example 20, the subject matter described in Example 19 may optionally include, wherein the drive arm includes a protrusion configured to engage the limit switch.

[0129] In Example 21, any one or any combination of the apparatus or methods in Examples 1-20 may optionally be configured such that all the listed elements or options are available or selectable.

[0130] The above detailed description includes reference to the accompanying drawings, which form part of the detailed description. The drawings illustrate specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples may include elements other than those shown or described. However, the inventors also contemplate examples in which only those elements shown or described are provided. Furthermore, the inventors contemplate examples using any combination or arrangement of those elements (or one or more aspects thereof) shown or described with respect to a particular example (or one or more aspects thereof) or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0131] In the event of any inconsistency between the usage of this document and any other document incorporated by reference, the usage in this document shall prevail. In this document, the terms “including” and “in which” are used as concise English equivalents to the corresponding terms “comprising” and “wherein”. Furthermore, in the following claims, the terms “including” and “comprising” are open-ended, meaning that a system, apparatus, article, composition, formulation, or process that includes elements other than those listed following such terms in the claims is still considered to be within the scope of the claims.

[0132] The above description is intended to be illustrative and not restrictive. For example, the examples (or one or more aspects thereof) described above may be used in combination with each other. Other embodiments may be used by those skilled in the art after reading the above description, for example. An abstract is provided to conform to 37C.FR §1.72(b) to allow the reader to quickly determine the nature of the technical disclosure. It should be understood at the time of filing that it is not intended to interpret or limit the scope or meaning of the claims. Moreover, in the above detailed description, various features may be combined together to simplify this disclosure. This should not be construed as meaning that any unclaimed disclosed feature is essential to any claim. Rather, the subject matter of the invention may lie in all features of fewer than the particular disclosed embodiment. Therefore, the following claims are incorporated herein by way of example or embodiment, wherein each claim is an independent, separate embodiment, and these embodiments are contemplated to be combined with each other in various combinations or arrangements. The scope of the invention should be determined by reference to the appended claims and the full scope of the equivalents conferred by those claims.

Claims

1. A mobile cleaning robot capable of moving in an environment, the mobile cleaning robot comprising: main body; A drive arm that is movable relative to the body between an extended position and a retracted position; A drive wheel is connected to the drive arm and can move together with the drive arm; the drive wheel is operable to move the mobile cleaning robot. A first link, which is connected to the body and to the drive arm; and A second link, connected to the body and the drive arm, defines a center of rotation together with the first link, the body, and the drive arm, the drive arm and the drive wheel rotating about the center of rotation between the extended position and the retracted position.

2. The mobile cleaning robot according to claim 1, wherein, The first link and the second link are connected to the body and the drive arm to position the center of rotation in front of the drive wheel when the drive wheel is between the extended position and the retracted position.

3. The mobile cleaning robot according to any one of claims 1 to 2, wherein, The first link and the second link are connected to the body and the drive arm to position the center of rotation at or below the drive shaft axis when the drive wheel is in the extended position and the retracted position.

4. The mobile cleaning robot according to any one of claims 1-3, further comprising: A stop member is connected to the second link and is capable of engaging with the first link to limit the rotation of the drive wheel and the drive arm beyond the retracted position, and is also capable of engaging with the first link to limit the rotation of the drive wheel and the drive arm beyond the extended position.

5. The mobile cleaning robot according to any one of claims 1-4, further comprising: A biasing member, connected to the body and the drive arm, biases the drive arm toward the extended position.

6. The mobile cleaning robot according to claim 5, wherein, The biasing member includes a compression spring.

7. The mobile cleaning robot according to any one of claims 5 to 6, wherein, The drive arm is pivotally connected to the body, the first link is pivotally connected to the body and the drive arm, and the second link is pivotally connected to the body and the drive arm.

8. The mobile cleaning robot according to claim 7, wherein, The biasing member is pivotally connected to the drive arm and the body.

9. The mobile cleaning robot according to any one of claims 1-8, further comprising: A limit switch is connected to the second link and is capable of engaging with the first link or the drive arm. The limit switch is configured to generate a limit signal when the first link engages the limit switch and activates the limit switch.

10. The mobile cleaning robot according to claim 9, wherein, The drive arm includes a protrusion configured to engage the limit switch.

11. The mobile cleaning robot according to any one of claims 1-10, further comprising: A motor connected to and movable with the drive arm, the motor including a drive shaft rotatable about an axis perpendicular to the drive wheel axis.

12. The mobile cleaning robot according to any one of claims 1 to 11, wherein, The first link has a first width, and the second link has a second width that is smaller than the first width.

13. The mobile cleaning robot according to any one of claims 1 to 12, wherein, When the drive wheel is in the retracted position, at least one of the first link and the second link is connected to the body at a position below the drive wheel axis of the drive wheel.

14. A mobile cleaning robot capable of moving in an environment, the mobile cleaning robot comprising: main body; A drive arm that is rotatable relative to the body between an extended position and a retracted position; A drive wheel is connected to the drive arm and is capable of moving together with the drive arm. The drive wheel is capable of rotating about a drive axis to move the mobile cleaning robot. A first link, which is pivotally connected to the body and pivotally connected to the drive arm; and A second link, pivotally connected to the body and pivotally connected to the drive arm, defines a center of rotation together with the first link, the body, and the drive arm. The drive arm and the drive wheel rotate about the center of rotation between the extended and retracted positions. In each position between the extended and retracted positions, the center of rotation is located in front of the drive wheel.

15. The mobile cleaning robot according to claim 14, wherein, The first link and the second link are connected to the body and the drive arm to position the center of rotation at or below the drive shaft axis when the drive wheel is between the extended position and the retracted position.

16. The mobile cleaning robot according to claim 15, wherein, When the drive wheel is in the retracted position, at least one of the first link and the second link is connected to the body at a position below the drive axis of the drive wheel.

17. The mobile cleaning robot according to any one of claims 14-16, further comprising: A motor connected to and movable with the drive arm, the motor including a drive shaft rotatable about an axis perpendicular to the drive wheel axis.

18. The mobile cleaning robot according to any one of claims 14 to 17, wherein, The first link has a first width, and the second link has a second width that is smaller than the first width.

19. The mobile cleaning robot according to any one of claims 14-18, further comprising: A limit switch is connected to the second link and is capable of engaging with the first link or the drive arm. The limit switch is configured to generate a limit signal when the first link engages the limit switch and activates the limit switch.

20. The mobile cleaning robot according to claim 19, wherein, The drive arm includes a protrusion configured to engage the limit switch.

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