Mobile cleaning robot

Abstract

A mobile cleaning robot can include a body, a drive system, a mop pad assembly, and a fluid dispensing system. The drive system can be connected to the body and operable to move the mobile cleaning robot about a floor surface of an environment. The mop pad assembly can be connected to the body and can be configured to hold a mop pad engageable with the floor surface. The fluid dispensing system can be coupled to the body and can include a plurality of outlets and a plurality of pumps separate from one another. The plurality of outlets can each be configured to provide fluid to the mop pad or the floor surface. The plurality of pumps can each be operable to independently deliver fluid to the plurality of outlets, respectively.

Description

[0001] Priority Statement

[0002] Pursuant to Section 119(e) of Title 35 of the United States Patent and Trademark Office, this patent application claims priority to U.S. Patent Application Serial No. 63 / 663,171, "Water Dispensing Mechanism for Cleaning Robots," filed June 23, 2024, by Timothy Ohm, which is incorporated herein by reference in its entirety. Technical Field

[0003] This application relates to the field of robotics, and more particularly to a mobile cleaning robot. Background Technology

[0004] Autonomous mobile robots include autonomous mobile cleaning robots, which can autonomously perform cleaning tasks within environments such as the home. Many types of cleaning robots are autonomous to some extent and in different ways. Some robots can perform vacuuming operations, and some can perform mopping operations. Other robots may include components or systems for performing both vacuuming and mopping operations. Utility Model Content

[0005] Some autonomous cleaning robots may include both a vacuum system and a mopping system, allowing the robot to perform both mopping and vacuuming operations (such as simultaneously or alternately), often referred to as a 2-in-1 robot. However, during mopping operations, fluid distribution can be difficult to predict or otherwise control with a single pump, especially at relatively low flow rates. When a single pump distributes fluid to more than one port, the fluid naturally flows along the path of least resistance, making fluid distribution difficult to control. This disclosure helps address these problems by including a 2-in-1 robot that incorporates a fluid distribution system comprising multiple pumps configured to distribute fluid across a floor surface or mopping mat, thereby helping to improve fluid distribution across the floor surface or mopping mat.

[0006] Other types of robots consist only of pumps made with expensive, precision components, such as sapphire inserts or finely calibrated nozzles, in an attempt to maintain a consistent flow rate. However, these components are not only costly but also prone to clogging over time by debris or hard water deposits, leading to uneven water distribution and reduced cleaning effectiveness. This disclosure helps address these problems by including separate pump modules and valves that can eliminate or otherwise reduce the need for precision nozzles by controlling the flow rate of the pump stage. Each pump can deliver low flow rates of fluid regardless of upstream or downstream conditions. Each valve can at least partially contain particles trapped in their respective sealing surfaces and functions even in the presence of debris.

[0007] Other types of robots only include larger pumps, or pumps that need to be pre-primed (e.g., filled with water) before operation. However, if the pump is not pre-primed, it may have reduced efficiency or otherwise fail to pump completely. This disclosure helps solve these problems by including pump modules that can pump even if air remains in the pump. Each pump module can pump both gas (e.g., air) and liquid (e.g., water), so that the pump does not need to be pre-primed with water before operation.

[0008] Other types of robots separate the pump from the fluid reservoir, which can create leak points at their connection and potentially complicate maintenance or cleaning. This disclosure addresses this problem by providing a device that integrates all water-contacting components, including the pump, into a removable, washable tank for the end user. Sensitive electronic components remain securely within the robot body. When the end user attaches the tank to the robot, the pump can be mechanically coupled to a controller in the robot body, which isolates the sensitive electronic components from the fluid reservoir, allowing the reservoir to be at least partially filled or cleaned, or the pump to be cleaned without damaging the electronic components.

[0009] For example, a mobile cleaning robot may include a body, a drive system, a mopping mat assembly, and a fluid distribution system. The drive system may be connected to the body and operable to move the mobile cleaning robot around the floor surface of the environment. The mopping mat assembly may be connected to the body and may be configured to hold a mopping mat that engages with the floor surface. The fluid distribution system may be coupled to the body and may include multiple outlets and pumps. The multiple outlets may be separate from each other and may each be configured to provide fluid to the mopping mat or the floor surface. The multiple pumps may each be operable to independently deliver fluid to the multiple outlets.

[0010] The foregoing discussion is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive interpretation of the invention. The following description is included to provide further information regarding this patent application. Attached Figure Description

[0011] In accompanying drawings that are not necessarily drawn to scale, the same numbers may describe similar parts in different views. Similar numbers with different letter suffixes may represent different instances of similar parts. The accompanying drawings generally illustrate the various embodiments discussed in this document by way of example rather than limitation.

[0012] Figure 1 A floor plan of a mobile cleaning robot in the environment is shown.

[0013] Figure 2A An isometric view of the mobile cleaning robot in its first state is shown.

[0014] Figure 2B An isometric view of the mobile cleaning robot in its second state is shown.

[0015] Figure 2C An isometric view of the mobile cleaning robot in its third state is shown.

[0016] Figure 2D A bottom view of the mobile cleaning robot in its third state is shown.

[0017] Figure 2E A top isometric view of the mobile cleaning robot in its third state is shown.

[0018] Figure 2F A side sectional view of the mobile cleaning robot in its first state is shown.

[0019] Figure 3 A diagram illustrating the communication network in which the mobile cleaning robot operates and an example of data transmission within the network is shown.

[0020] Figure 4 A bottom view of the mobile cleaning robot is shown.

[0021] Figure 5 A top view of the mobile cleaning robot is shown.

[0022] Figure 6 An isometric view of a portion of the mobile cleaning robot is shown.

[0023] Figure 7 A portion of the mobile cleaning robot was shown passing by. Figure 6 The cross-sectional isometric view of indicator 7-7.

[0024] Figure 8 A portion of the mobile cleaning robot was shown passing by. Figure 6 The front view of the cross section of indicator 8-8.

[0025] Figure 9 A portion of the mobile cleaning robot was shown passing by. Figure 6 The front sectional view of indicator 8-8.

[0026] Figure 10 A block diagram is shown illustrating an example of a machine on which one or more embodiments can be implemented. Detailed Implementation

[0027] Robot Overview

[0028] Figure 1A 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 residence, such as a home or apartment, and may include rooms 42a-42e. Obstacles such as a bed 44, a table 46, and an isolator 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 small rugs, such as rug 52. Floor surfaces 50 may be one or more types, such as hardwood, ceramic, low-pile rug, medium-pile rug, long (or high) pile rug, stone, etc.

[0029] 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 could be a kitchen) could have a hard floor surface, such as wood or tile, and room 42a (which could be a bedroom) could have a carpet surface, such as a medium-pile carpet. Other rooms, such as room 42d (which could be a dining room), could include multiple surfaces, with carpet 52 located within room 42d.

[0030] 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, guide or change cleaning preferences.

[0031] 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 associated data) to include or take into account the surface types of the floor surfaces 50A-50E of each corresponding room 42 in environment 40. In some examples, the map can be updated to show, for example, the different surface types within each room 42.

[0032] In some examples, user 60 can define a behavior control zone 54. During autonomous operation, robot 100 can initiate an action 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.

[0033] Robot components

[0034] 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. Figures 2A to 2C The front and rear of the orientation indicator are also shown. Let's discuss them together below. Figures 2A to 2C .

[0035] 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 arm 106) and a mat assembly 108. The robot 100 may also include a buffer 109 and other features such as extractors (including rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., motors, gear trains, 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.

[0036] Figure 2A , Figure 2B and Figure 2C This illustrates how the robot 100 can be operated to move the pad assembly 108 from its storage location ( Figure 2A Move to the transition or partial unfolding position ( Figure 2B Move to the mopping or unfolding position ( Figure 2C ).exist Figure 2A In its storage location, robot 100 can perform only vacuuming operations. Figure 2C When deployed, robot 100 can perform vacuuming or mopping operations. Figure 2D and 2E Additional components of Robot 100 were discussed.

[0037] Figure 2D A bottom view of the mobile cleaning robot 100 is shown, and Figure 2EA top isometric view of robot 100 is shown. Let's discuss this further. Figure 2D and Figure 2E . Figure 2D and Figure 2E Robot 100 can be with Figures 2A to 2C Consistent; Figures 2D to 2E Additional details of robot 100 are shown. For example, Figures 2D to 2E The robot 100 is shown to include a body 102, a buffer 109, an extractor 113 (including cleaning rollers 114a and 114b), actuators 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.

[0038] The cleaning robot 100 can be an autonomous cleaning robot that can autonomously traverse the floor surface 50a. Figure 1 ( ), while simultaneously extracting debris from different parts of the floor surface 50a. For example Figure 2D As shown, robot 100 may include a body 102 movable on floor surface 50a. 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, a housing covering the internal components of the cleaning robot 100, a chassis fitted with drive wheels 118a and 118b (of the extractor 113) and cleaning rollers 114a and 114b, and a buffer 109 connected to the housing. Casters 120 can support the front of body 102 above floor surface 50a, and drive wheels 118a and 118b can support the middle and rear of body 102 above floor surface 50a (and can also support most of the weight of robot 100).

[0039] like Figure 2D As shown, the body 102 may include a front portion, which may have a substantially semi-circular shape and may 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 operably 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, enabling the robot 100 to move autonomously on the floor surface 50a.

[0040] The vacuum assembly 124 may be located at least partially within the body 102 of the robot 100, for example, at 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. The airflow from the vacuum assembly 124 and the rotating cleaning roller 114 may cooperate to draw debris into the robot 100.

[0041] Cleaning box 130 (e.g.) Figure 2F The 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 trapped in both the cleaning tank 130 and the filter before the airflow exits the body 102. In some examples, the vacuum assembly 124 and the extractor 113 may optionally be included, or the vacuum assembly 124 and the extractor 113 may be of different types. Optionally, the vacuum assembly 124 can operate during mopping operations, such as those including a mopping system 104. That is, the robot 100 can perform vacuuming and mopping tasks or operations simultaneously.

[0042] Cleaning rollers 114a and 114b are operably connected to actuator 115, such as a motor, via a gearbox. Extractor 113 and cleaning rollers 114a and 114b may be located in front of cleaning chamber 130. Cleaning roller 114 may be mounted or connected to the underside of body 102 such that when the underside of body 102 faces floor surface 50a, cleaning rollers 114a and 114b can engage debris on floor surface 50a during cleaning operations.

[0043] Controller 111 may be at least partially located within body 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 body 102, may be connected to controller 111, and may be accessed by controller 111.

[0044] The controller 111 can operate actuators 116a and 116b to autonomously navigate the robot 100 around the floor surface 50a during cleaning operations. Actuators 116a and 116b are operable to drive the robot 100 in a forward drive direction, in a rearward drive direction, and to rotate the robot 100. The controller 111 can 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.

[0045] Robot 100 may include a sensor system comprising one or more sensors. As described herein, the sensor system 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 50a. Sensor 128 ( Figure 2A The robot 100 (as shown in the diagram) can be positioned along the bottom portion of the body 102. Each of the sensors 128 can be an optical sensor, which can be configured to detect the presence or absence of an object (such as floor surface 50a) below the optical sensor. The sensors 128 (optionally cliff sensors) can be connected to and used by the controller 111 to navigate the robot 100 within environment 40. In some examples, the cliff sensor can be used to detect the type of floor surface that the controller 111 can use to selectively operate the mopping system 104. In some examples, the robot 100 may include one or more ultrasonic sensors, and the controller 111 can use signals from those sensors to detect the type of floor surface, such as hardwood, carpet, etc.

[0046] The cleaning pad assembly 108 may be a cleaning pad attached to the bottom of the body 102 (or attached to a movement mechanism configured to move assembly 108 between a storage location and a cleaning location), such as 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 mat 142. The 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 mat 142 during mopping operations. For example, fluid may be delivered to the mopping mat 142 via one or more dispensers 117. The dispensers 117 may be valves, openings, etc., and may be configured to deliver fluid directly to the floor surface 50a of the environment 40 or the mat 142. In some examples, the mat 142 may be a drying mat, such as for dusting or drying debris removal. Mat 142 can also be any cloth, fabric, etc., configured for cleaning (wet or dry) floor surfaces.

[0047] like Figure 2FAs 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 rotating cleaning roller 114 may cooperate to draw debris 75 into a 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 extractor 113.

[0048] Suction conduit 136 can be connected to suction unit 113 or cleaning assembly, and can be connected to cleaning tank 130. Cleaning tank 130 can be mounted in body 102 and can contain debris 75 ingested by robot 100. Filter 145 can be located in body 102, which can help 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 both 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 can be operable to remove debris 75 from cleaning tank 130, for example, via docking station or evacuation station.

[0049] Cleaning rollers 114a and 114b can be operatively connected to one or more actuators 115, such as motors. The extractor 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 extractor 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 50a, cleaning rollers 114a and 114b engage debris 75 on the floor surface 50a during cleaning operations.

[0050] Robot operation

[0051] 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 50a. Robot 100 can be propelled in a forward or backward driving direction. Robot 100 can also be propelled to turn in place or turn while moving in either the forward or backward driving direction. Furthermore, controller 111 can operate actuator 115 to rotate cleaning rollers 114a and 114b, operate side brush assembly 122, and operate the motor of vacuum assembly 124 to generate airflow. Controller 111 can execute software stored in memory 126 to cause robot 100 to perform various navigation and cleaning actions by operating the various motors of robot 100.

[0052] Various sensors of 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 drops 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.

[0053] 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, and people within the environment 40 of robot 100. The proximity sensor can transmit the signal to controller 111, allowing controller 111 to redirect 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 the signal to controller 111, allowing controller 111 to redirect robot 100 based on the signal from collision sensor 139.

[0054] Robot 100 may optionally include one or more dirt sensors 144 connected to body 102 and communicating with controller 111. The dust sensors 144 may be microphones, piezoelectric sensors, optical sensors, etc., located in or near the flow path of debris, such as near the opening of cleaning roller 114 or in one or more channels within body 102. This allows the dust sensors 144 to detect at any time during a cleaning task how much dust has been ingested 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 have collected more dirt.

[0055] Image capture device 140 can be configured to generate signals based on images of the robot 100's environment 40 as the robot 100 moves around the floor surface 50a. Image capture device 140 can transmit 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.

[0056] In some examples, the obstacle following sensor can detect detectable objects, including obstacles 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 an object adjacent to the side surface. One or more obstacle following sensors may also function as obstacle detection sensors, similar to the proximity sensors described herein.

[0057] 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 traveled by the robot 100. In some embodiments, the sensor may include an optical sensor facing downwards toward the floor surface. The optical sensor may be positioned to guide light toward the floor surface 50a through the bottom surface of the robot 100. The optical sensor 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 50a.

[0058] 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.

[0059] Sensor data can also be used by controller 111 for Simultaneous Localization and Mapping (SLAM) techniques, where controller 111 extracts features of the environment represented by the sensor data and constructs a map of the floor surface 50a of the environment. Sensor data collected by image capture device 140 can be used for techniques such as vision-based SLAM (VSLAM), where controller 111 extracts visual features corresponding to objects in environment 40 and uses these visual features to construct a map. When controller 111 guides robot 100 around floor surface 50a during a task, controller 111 can use SLAM techniques to determine the position of robot 100 within the map by detecting features represented in the collected sensor data and comparing those features with previously stored features. The map formed from 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.

[0060] 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 usable and updatable map for robot 100's controller 111 to navigate robot 100 around floor surface 50a from one task to another.

[0061] Persistent data, including persistent mapping, can help enable robot 100 to effectively clean floor surface 50a. For example, the map can enable controller 111 to guide robot 100 toward 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.

[0062] The controller 111 can also send commands to the motor (inside the body 102) to drive the arm 106 so that the pad assembly 108 is in the storage position. Figure 2A and Figure 2D (as shown) and unfolded position ( Figure 2C and Figure 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 can be used to mop the floor surface of any room in environment 40.

[0063] 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 50a 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 50a of the environment 40.

[0064] Network Example

[0065] Figure 3 This diagram illustrates a communication network 300 that enables networking between a 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 300, 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 300 can employ various types and combinations of wireless networks (e.g., Bluetooth-based, radio frequency, optical, etc.) and network architectures (e.g., Wi-Fi or mesh networks).

[0066] In some examples, mobile device 304 may be a remote device that can be linked to cloud computing system 306 and enable 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 that respond to user input. 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.

[0067] The user can provide input corresponding to commands for the mobile robot 100. In such a case, the mobile device 304 can transmit signals to the cloud computing system 306 so that the cloud computing system 306 can transmit 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.

[0068] In some examples, the communication network 300 may include additional nodes. For example, a node in the communication network 300 may include an additional robot. Furthermore, a node in the communication network 300 may include a network-connected device capable of generating information about the environment 40. Such a network-connected device may include one or more sensors, such as acoustic sensors, image capture systems, or other sensors that generate signals to detect characteristics of the environment 40 from which features can be extracted. Network-connected devices may also include home cameras, smart sensors, and the like.

[0069] In the communication network 300, the wireless link 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, the wireless link 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 utilized) are eligible as, for example, first-generation or multi-generation mobile telecommunications standards by satisfying one or more specifications, such as those maintained by the International Telecommunication Union. For example, the 4G standard may correspond to the International Mobile Telecommunications Advanced (IMT-Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standards can use various channel access methods, such as FDMA, TDMA, CDMA, or SDMA.

[0070] Robotic pumping example

[0071] Figure 4 A bottom view of a mobile cleaning robot 400 is shown. Figure 5 A top view of a mobile cleaning robot 400 is shown. Let's discuss it together. Figure 4 and Figure 5 Additional details of the mobile cleaning robot 400 are shown.

[0072] Figure 4 The orientation indications before and after are also shown. The mobile cleaning robot 400 may be similar to the robot 100 discussed above; the mobile cleaning robot 400 may include a mopping or fluid dispensing system. Any mobile cleaning robot discussed above or below may include features of the mobile cleaning robot 400.

[0073] Mobile cleaning robot 400 may include a main body 402, a mopping mat assembly 408, an extractor 413, dispensers 417a-417n (collectively referred to as dispensers 417), drive wheels 418a and 418b (collectively referred to as drive wheels 418), casters 420, a cleaning tank 430, a fluid reservoir 432, a fluid distribution system 434, and an actuator 443 (e.g., ...). Figure 5 (As shown). The main body 402, mopping mat assembly 408, extractor 413, dispenser 417, drive wheel 418, caster 420, cleaning tank 430, and fluid reservoir 432 may be similar to the main body 102, mopping mat assembly 108, extractor 113, dispenser 117, drive wheel 118, caster 120, cleaning tank 130, and reservoir 132 discussed above, respectively. The main body 402 may include a first side 403 and a second side 405.

[0074] The cleaning tank 430 may be removably coupled to the body 402. The cleaning tank 430 may be removable from the body 402 by the end user (or user), allowing the end user to selectively engage and disengage the cleaning tank 430 from the body 402. The cleaning tank 430 may include at least a portion of the fluid reservoir 432, the fluid distribution system 434, or a combination thereof. For example, the cleaning tank 430 may include the pumps of the fluid reservoir 432 and the fluid distribution system 434, such that the fluid reservoir 432 and the pumps of the fluid distribution system 434 can be removed by the end user along with the cleaning tank 430. The cleaning tank 430 may include a portion of the fluid distribution system 434, which may include mechanical components. The end user may rinse, wash, or otherwise expose the cleaning tank 430 to a liquid (e.g., water) without damaging the fluid distribution system 434 or the electrical components of the mobile cleaning robot 400.

[0075] Fluid distribution system 434 can be connected to body 402. When connected to body 402, fluid distribution system 434 can be proximate to actuator 443. Fluid distribution system 434 can be fluidly connected to fluid reservoir 432, allowing fluid to flow from fluid reservoir 432 through fluid distribution system 434. Fluid distribution system 434 can be operable to provide or deliver fluid (e.g., water, detergent, etc.) from fluid reservoir 432 to floor surface (e.g., floor surface). Figure 1 Floor surface 50a), part of the mopping system (e.g., Figure 2A The floor mopping system 104 includes a mopping mat 142, and is part of a scrubbing system. The fluid distribution system 434 can supply fluid to the floor surface or the mopping system via a dispenser 417. The fluid distribution system 434 can be connected to or coupled to a controller (e.g., Figure 2D The controller 111), actuator (e.g., actuator 443), etc., or communicate with it, to operate the fluid distribution system 434, such as performing fluid distribution operations.

[0076] Actuator 443 ( Figure 5 Actuator 443 can be connected to body 402. Actuator 443 may include a servo motor, stepper motor, linear motor, etc. Actuator 443 can be connected to a controller (e.g., Figure 2D The controller 111), is connected to the controller (e.g., Figure 2D The actuator 443 can be connected to the controller 111 or otherwise communicate with the controller, enabling the controller to operate the actuator 443. The actuator 443 can be connected to the fluid distribution system 434 (e.g., Figure 7 The controller has a drive interface 460, and can operate the fluid distribution system 434 via actuator 443. Actuator 443 can be configured to operate various components of the mobile cleaning robot 400 according to the operating direction of actuator 443. For example, actuator 443 can rotate or translate in a first direction to operate fluid distribution system 434, and actuator 443 can rotate or translate in a second direction to operate mopping system (e.g., mopping system 104), drive system, etc.

[0077] The mobile cleaning robot 400 may include one or more dispensers 417. Dispensers 417 may be fluidly connected to a fluid distribution system 434, allowing fluid to flow through the fluid distribution system 434 and to the dispensers 417. Dispensers 417 may be located throughout the body 402 (e.g., between a first side 403 and a second side 405). For example, dispenser 417n may be located near the first side 403, and dispenser 417a may be located near the second side 405. Dispensers 417 may be directed towards a mopping mat (e.g., Figure 2D Mopping mat 142) or floor surface (e.g., Figure 1 The distributor 417 can dispense fluid toward the mop mat or floor surface (50a). The distributor 417 can be arranged such that at least two spray nozzles of the distributor 417 can deliver fluid to the mop mat or floor surface at different locations on the mop mat or floor surface, respectively. The distributor 417 can also be configured to direct fluid to a rotating pad or wet roller.

[0078] In some example operations, the end user can remove the cleaning tank 430 from the mobile cleaning robot 400 to at least partially clean (e.g., empty, rinse, wash, etc.) the cleaning tank 430. Before reconnecting the cleaning tank 430 to the mobile cleaning robot 400, the end user can at least partially fill the fluid reservoir 432 with fluid. Once connected, the controller can operate the actuator 443 to operate the fluid distribution system 434 to provide fluid from the fluid reservoir 432 to the mopping mat or floor surface. In this way, the cleaning tank 430 can be cleaned effectively without the risk of damaging electronic components (e.g., actuator 443). Because the fluid distribution system 434 can provide fluid to any of the dispensers 417, it can wet the mopping mat or floor surface, allowing the mopping system to remove dirt or debris from the floor surface.

[0079] Figure 6 An isometric view of a portion of a mobile cleaning robot 400 is shown. Figure 7 An isometric cross-sectional view of a portion of a mobile cleaning robot 400 is shown, passing through Figure 6 Indicator 7-7. Let's discuss it together. Figure 6 and Figure 7 Additional details of the fluid distribution system 434 are shown.

[0080] The fluid distribution system 434 may include a power transmission assembly 446, a housing 452, a first gasket 453, a fastener 454, pump modules 455a to 455n (collectively referred to as pump modules 455), inlets 456a to 456e (collectively referred to as inlets 456), and outlets 457a to 457e (collectively referred to as outlets 457). The power transmission assembly may include a drive interface 460 and a drive shaft 462.

[0081] like Figure 7 As shown, the drive shaft 462 may include a shaft portion 463 and blade portions 465a-465n (collectively referred to as blade portions 465). The housing 452 may include a head frame 447, a support frame 448, a pump layer 449, a valve frame 450, and a base 451. Also as... Figure 7 As shown, housing 452 may further include chambers 459a-459n (collectively referred to as chamber 459) and a second gasket 458. Head frame 447 may include head protrusion 461. Support frame 448 may include support protrusion 467. Pump modules 455A-455N may each include pumps 464A-464E (collectively referred to as pump 464).

[0082] The power transmission assembly 446 can be connected to the fluid distribution system 434 to connect the power transmission assembly 446 to an actuator (e.g., Figure 5The actuator 443), for example, is a controller that allows the cleaning robot 400 to move (e.g., Figure 2D The controller 111) can operate the fluid distribution system 434.

[0083] The drive interface 460 of the power transmission assembly 446 can be positioned at a first end of the drive shaft 462 to connect the drive interface 460 to an actuator. The drive shaft 462 can be at least partially located within the housing 452. The drive shaft 462 can extend longitudinally through the housing 452, such that the drive shaft 462 can be connected to the pump module 455 to operate the pump module 455, as per [reference to...]. Figure 8 The drive shaft 462 may be a camshaft that converts the rotational motion of the drive interface 460 into linear motion to operate the pump module 455. The power transmission assembly may include other drive mechanisms such as a crankshaft, a swashplate, a scotch-yoke mechanism, etc.

[0084] Drive shaft 462 can be directly connected to actuator 443 or intermediate components, such as drive interface 460. Drive shaft 462 may include shaft portion 463 and blade portion 465. Shaft portion 463 may be substantially straight along longitudinal axis A of drive shaft 462. Shaft portion 463 may be mounted along housing 452 to support member to support drive shaft 462. Blade portion 465 may be offset from longitudinal axis A. Blade portion 465 may be at least partially located within each of pump modules 455. Blade portion 465 may be configured to rotate about longitudinal axis A to drive corresponding pump module of pump module 455. For example, blade portions 465a and 465b may drive pump modules 455a and 455b such that pump modules 455a and 455b may reciprocate within chambers 459a and 459b, respectively.

[0085] The blade portions 465 can each be offset from the longitudinal axis A at different angles (e.g., clock-controlled), such that the drive shaft 462 can stagger the activation of the pump module 455 throughout the entire rotation cycle of the drive shaft 462. The blade portions 465 can be offset at substantially equal intervals, such that the drive shaft 462 can operate the pump module 455 in a substantially uniform distribution, or at least two of the blade portions 465 can be offset at different intervals, such that the drive shaft 462 can operate the pump module 455 in a non-uniform distribution. This can make the torque demand of the pump module 455 uniform, and therefore the torque demand on the actuator uniform. For example, for equal intervals and five pump modules 455 (e.g., ... Figure 6 and Figure 7As shown), leaf portion 465a can be positioned at approximately 0 degrees around the longitudinal axis A, leaf portion 465b can be positioned at approximately 72 degrees, leaf portion 465c can be positioned at approximately 144 degrees, leaf portion 465d can be positioned at approximately 216 degrees, and leaf portion 465n can be positioned at approximately 288 degrees.

[0086] The blade portion 465 can be positioned around the longitudinal axis at substantially similar angles and combinations of different angles. For example, at least two of the blade portions 465 can be positioned around the longitudinal axis A at substantially similar angles, while the other blade portions 465 can be arranged around the longitudinal axis A at different angles, which can be used to adjust the torque distribution of the pump module.

[0087] Drive shaft 462 can be configured for bidirectional function, such that actuator 443 or drive interface 460 can rotate or otherwise drive drive shaft 462 in multiple directions. Actuator 443 can operate drive shaft 462 and another system of the mobile cleaning robot 400 depending on the direction of rotation of actuator 443. For example, actuator 443 can rotate in a first direction to operate drive shaft 462, or actuator 443 can rotate in a second direction to operate both drive shaft 462 and mopping system (e.g., mopping system 104), drive system, etc.

[0088] During operation of some examples, the actuator (e.g., Figure 5 The actuator 443 can output a mechanical input to drive the drive interface 460, which can rotate, oscillate, or otherwise drive the drive shaft 462. When the drive shaft 462 rotates, each of the blade portions 465a-465n can operate pumps 464a-464e respectively. When the drive shaft 462 rotates, the blade portions 465 can operate pumps 464 in sequence depending on the rotational position of the drive shaft 462.

[0089] Drive shaft 462 can drive multiple pump modules 455 from a single actuator, helping to reduce complexity and cost compared to separate drive mechanisms. Because fluid distribution system 434 is bidirectional, it can operate both with and separately from the different systems of the mobile cleaning robot 400. This bidirectional capability increases the versatility of fluid distribution system 434 without the need for additional actuators. Because power transmission assembly 446 can operate separately from any electrical components within fluid distribution system 434, it can be housed in a removable, washable enclosure. Electronic components can remain within the robot body, simplifying maintenance and reducing electrical component exposure to fluids. Including all water systems within a removable enclosure also helps reduce the need to transfer water to the robot, thus reducing associated complexity and potential leakage points.

[0090] Housing 452 and its components may include any combination of suitable materials compatible with fluid delivery and housing the pumping system, such as plastics, metals, composites, etc. The components of housing 452 may be joined by any combination of fasteners (e.g., fastener 454), adhesives, snap-fit, ultrasonic welding, etc. Connections between components of housing 452 may include features that help reduce, limit, or suppress fluid leakage, such as gaskets, mechanical seals, etc. At least a portion of pump 464 may be correspondingly located within chamber 459. Chambers 459 may each comprise substantially similar volumes, or at least two of chambers 459 may comprise different volumes to accommodate pumps of various sizes configured for different fluid flow rates. Chambers 459 may be formed between adjacent components or portions of housing 452, such as between pump layer 449 and valve frame 450.

[0091] When connected, housing 452 may include a first dimension, a second dimension, and a third dimension. The first dimension may be between 20-200, 30-150, 40-100, 50-75, or approximately 60 mm. The second dimension may be between 5-100, 10-50, 20-40, or approximately 30 mm. The third dimension may be between 5-30, 10-20, or approximately 20 mm. The first, second, and third dimensions may represent height, length, and width in any order. When connected, housing 452 may include a total volume between 5-200, 10-150, 15-100, 20-75, 25-40, or approximately 30 cubic centimeters. For example, for a total volume of 12.5 milliliters (mL) (or cu-cm3), a pump module may be measured as approximately 1 cm × 2.5 cm × 5 cm.

[0092] The head frame 447 may form an end portion of the housing 452 and may at least partially define a chamber 459. The drive shaft 462 may be located at least partially within the chamber 459. The support frame 448 may provide structural support for components of the housing 452 or the fluid distribution system 434, such as the drive shaft 462.

[0093] The head frame 447 and support frame 448 may each include one or more of a head protrusion 461 or a support protrusion 467. The head protrusion 461 and support protrusion 467 may be configured to provide structural support for components of the housing 452 or fluid distribution system 434 (e.g., drive shaft 462). For example, the head protrusion 461 and support protrusion 467 may together support the drive shaft 462 at a shaft portion 463, and the shaft portion 463 may support the drive shaft 462. Because the drive shaft may be supported at the shaft portion 463, the blade portion 465 can rotate freely. The head protrusion 461 and support protrusion 467 may together radially constrain the crankshaft. The drive shaft 462 may include a step adjacent to the drive interface 460 in the drive shaft 462, which axially constrains the crankshaft. The crankshaft is able to rotate freely. The drive shaft 462 and shaft portion 463 may be concentric with the main axis of rotation, and the blade portion 465 may be eccentric.

[0094] The head protrusion 461 and the support protrusion 467 can be positioned substantially close to each other in order to provide opposing support surfaces.

[0095] Pump layer 449 may define or otherwise include at least a portion of each pump 464 (e.g., Figure 7 The diaphragm 472. The pump layer 449 may include an elastic material (e.g., rubber, silicone, etc.). The pump layer 449 may be configured to form a fluid-impermeable seal with other components of the housing 452 (e.g., valve frame 450 and base 451) to limit, suppress, reduce or prevent fluid leakage between pump modules 455 or within the housing 452.

[0096] Valve frame 450 fluidly connects pump 464 to base 451. Valve frame 450 may include passages configured to house valves, as per [reference to...]. Figure 8 As discussed, valve frame 450 may include passages for each pump module 455. For example, valve frame 450 may include passages for outlet valves, passages for inlet valves, or combinations thereof, for each pump module 455.

[0097] The base 451 may include an inlet 456 and an outlet 457. The base may be connected to a valve frame 450 to fluidly connect the inlet 456 and outlet 457 to the valve frame 450. A second gasket 458 may be generally located between a portion of the base 451 and a portion of the valve frame 450 and may be configured to limit, suppress, reduce, or prevent fluid leakage between the base 451 and the valve frame 450. The base 451 may provide an interface surface that may receive or otherwise connect a fluid reservoir, such that the inlet 456 may be fluidly connected to the fluid reservoir. The base 451 may include ports that may fluidly connect the inlet 456 to the fluid reservoir and the outlet 457 to a fluid delivery pipe or channel leading to a mop or floor surface. The base 451 may include sealing features (e.g., a first gasket 453, an O-ring, etc.) around each port to suppress, reduce, or prevent fluid leakage when the housing 452 is connected to the fluid reservoir.

[0098] Furthermore, including separate or independent pumping channels (e.g., inlet 456 and outlet 457) can allow different fluids to be distributed via the same pump. For example, fluid distribution system 434 may include some channels configured to pump water, and fluid distribution system 434 may include other channels configured to pump detergent, all of which operate at controlled flow rates.

[0099] Some types of pumping systems with a single pump can consume space in an attempt to balance the flow to various nozzles. In some cases, this may require a system that includes hoses of comparable length for each nozzle, thus consuming even more space. The compact form factor of the fluid distribution system 434 allows it to be fitted into confined or otherwise limited spaces, which can increase the space available for other components of the mobile cleaning robot 400. The arrangement of the pump module 455 can be space-efficient, accommodating multiple independent channels simultaneously. The compact design of the fluid distribution system 434 enables the integration of multi-channel fluid distribution capabilities without significantly increasing the overall size of the mobile cleaning robot 400.

[0100] Pump module 455 can be used as a fluid pumping unit of fluid distribution system 434. Each of pump modules 455 can be connected to a corresponding inlet and outlet in inlet 456 and outlet 457, respectively, which can form an independent fluid path through fluid distribution system 434. Pump module 455 can each include pump 464 to actuate fluid through the independent fluid path. For example, pump module 455a can actuate fluid through fluid reservoir 432, inlet 456a, chamber 459a (e.g., chamber 482 of pump 464a, such as...). Figure 8 As mentioned above), outlet 457a and nozzle (e.g., Figure 4 Independent fluid paths exist between the distributors 417 and 455. Each pump module 455 can deliver fluid from the fluid reservoir to a corresponding outlet of outlet 457, for example, through a corresponding inlet of inlet 456. At least a portion of the pump module 455 may be located at least partially within the housing 452. For example, pump 464 may be located within each chamber 459.

[0101] Pump modules 455 can be arranged within housing 452 such that each pump module 455 can be positioned to interact with a corresponding blade portion 465 of drive shaft 462. When pump 464 is operated by drive shaft 462 (e.g., by the corresponding blade portion 465), pump 464 can actuate fluid through an independent fluid path. As drive shaft 462 rotates, each blade portion 465 can actuate fluid towards a corresponding follower (e.g., ...) during at least a portion of the rotation cycle of drive shaft 462. Figure 8 The follower 466 applies force. In some examples, the pump module 455 may be arranged along a single axis (e.g., longitudinal axis A). In other examples, the pump module 455 may be arranged in alternative configurations, such as a circular pattern, a staggered arrangement, or multiple rows.

[0102] Multiple pump modules 455 can be connected to each other in a modular manner. Pump modules 455 can share a common housing (e.g., housing 452) and a common drive shaft (e.g., drive shaft 462). The connection arrangement can allow a single actuator to drive each of the pump modules 455 while maintaining an independent (e.g., separate) fluid path from inlet 456 to outlet 457.

[0103] The fluid distribution system 434 may include a plurality of inlet valves, each associated with a plurality of pumps 464 and at least partially located within a plurality of inlets 456. Similarly, the fluid distribution system 434 may include a plurality of outlet valves, each associated with a plurality of pumps 464 and at least partially located within a plurality of outlets 457. The plurality of inlet valves and the plurality of outlet valves may be configured to open and close during operation of the respective pumps in the pumps 464 to actuate fluid flow from the plurality of inlets 456 to the plurality of outlets 457. About Figure 8 The inlet and outlet valves will be discussed in detail.

[0104] Although this application discusses five pump modules, the mobile cleaning robot 400 (or any other mobile cleaning robot discussed herein) may include 1, 2, 3, 4, 6, 7, 8, 9, 10, 11, or 12 pump modules, etc. The fluid distribution system 434 may include a similar number of inlets 456, outlets 457, and pump modules 455, such that the ratio of inlets 456 to outlets 457 to pump modules 455 can be 1:1:1. Alternatively, the fluid distribution system 434 may include different numbers of inlets 456, outlets 457, and pump modules 455, such that the ratio of inlets 456 to outlets 457 to pump modules 455 can be 2:1:1, 1:2:1, 1:1:2, 1:2:2, 2:2:1, 1:3:2, 3:1:2, etc.

[0105] The fluid distribution system 434 may also include pumps 464 with different pumping capacity variables (e.g., size, material, volume, etc.) to provide different flow rates at different outlets. The number of pump modules and the pumping capacity variables of the pump modules can be selected based on factors such as the desired distribution pattern, the size and shape of the mop mat, or a specific cleaning application. Regardless of the number of modules, the operating principle of the fluid distribution system can remain fundamentally similar, wherein each pump module in pump module 455 can independently control the fluid flow to outlet 457.

[0106] The fluid distribution system 434 can operate as part of the mobile cleaning robot 400 during mopping operations. The fluid distribution system 434 can receive mechanical or electrical input from an actuator connected to a drive interface 460, which can be controlled by a controller of the mobile cleaning robot 400. The controller can adjust the operating parameters of the fluid distribution system 434 (e.g., the rotational speed of the drive shaft 462, the rotational direction of the drive shaft 462, etc.) to modify the fluid delivery rate, such as based on cleaning parameters, floor surface type, detected dirt level, etc. In some examples, the fluid distribution system 434 can operate continuously during mopping operations. In other examples, the fluid distribution system 434 can operate intermittently to provide fluid.

[0107] The modular design of the fluid distribution system 434 allows for scalability, with additional pump modules that can be added or removed for different applications. Furthermore, the modular design of the fluid distribution system 434 also facilitates the maintenance or replacement of individual modules or components.

[0108] The fluid distribution system 434 allows for controlled fluid distribution without the need for expensive precision nozzles. Because the fluid distribution system 434 includes individual pumps, each of the pump modules 455 can operate independently to deliver fluid at low flow rates to different areas of the mop mat or floor surface. Independent fluid paths also maintain specific flow rates regardless of conditions in other fluid paths, such as blockages at one of the outlets 457. Because the pump 464 can pump fluid in independent paths, it overcomes the natural tendency of fluid to follow the path of least resistance. The modular design of the fluid distribution system 434 allows for the customization of individual pump modules to deliver different flow rates to different areas of the mop mat or floor surface.

[0109] Figure 8 The mobile cleaning robot 400 is shown along its edge. Figure 6 The indicator 8-8 is a partial cross-sectional front view, or more specifically, the pump module 455a of the fluid distribution system 434. Although pump module 455a is discussed below, pump module 455a may correspond to any of the pump modules 455. For example, each of pump modules 455b, 455c, 455d, and 455n may include components similar to those of pump module 455a.

[0110] Pump module 455a may include pump 464a, inlet valve 474, and outlet valve 475. Pump 464a may include a follower 466 and a diaphragm 472. Follower 466 may include a shaft interface portion 468 and a drive portion 470. Diaphragm may include a receiving portion 473 and a cavity portion 481. Cavity portion may include cavity 482. Inlet valve 474 and outlet valve 475 may each include a first head 476 and a second head 477. Inlet valve 474 and outlet valve 475 may each include a valve body 478, a valve joint 479, and a valve tail portion 480. Housing 452 may include a main channel 469, a secondary channel 471, and a head channel 484.

[0111] The follower 466 can be connected to the diaphragm 472 and can engage with the drive shaft 462 to connect the pump 464a to the drive shaft 462. The shaft interface portion 468 may include a hole 469b configured to receive the drive shaft 462 at least partially therein or through it. The shaft interface portion 468 may, for example, at least partially surround the drive shaft 462 at the blade portion 465a. The drive portion 470 can extend from the shaft interface portion 468 toward the diaphragm 472 in a first direction. The first direction may be substantially perpendicular to the longitudinal axis A of the drive shaft 462. The drive portion 470 can couple the follower 466 to the diaphragm 472.

[0112] Diaphragm 472 may be configured to receive drive portion 470, for example at receiving portion 473 (e.g., orifice, cavity, recess, etc.). Receiving portion 473 may at least partially surround drive portion 470 such that receiving portion 473 may at least partially move with drive portion 470. Diaphragm 472 may include flange 473, which may be connected to cavity portion 481 and may be at least partially secured between components of housing 452, such as between support frame 448 and valve frame 450.

[0113] Cavity portion 481 may be at least partially deformable. Cavity portion 481 may include cavity 482, which may be fluidly connected to inlet 456a and outlet 457a. When cavity portion 481 is in a substantially non-deformable state, the pressure in cavity 482 may be substantially similar to the pressure of the environment (e.g., one or more of the pressures from inlet 456a, outlet 457a, fluid reservoir 432, etc.).

[0114] The receiving portion 473 can be coupled to at least a portion of the cavity portion 481, such that the cavity portion 481 can deform as the receiving portion 473 moves together with the driving portion 470. When the drive shaft 462 rotates, the blade portion 465a can rotate about the longitudinal axis A. When the blade portion 465a rotates, it can apply a force to the shaft interface portion 468 to cycle the follower 466 between a raised position and a lowered position. In the raised position, the follower 466 is at or near the position furthest from the base 451 during rotation. In the lowered position, the follower 466 is at or near the position closest to the base 451 during rotation.

[0115] In some examples of operation, as the receiving portion 473 moves together with the driving portion 470, the cavity portion 481 can deform, thereby changing the volume and pressure of the cavity 482. For example, when the receiving portion 473 moves toward a raised position, the follower 466 can pull the diaphragm 472 (e.g., via the driving portion 470), thereby increasing the volume of the cavity 482 and decreasing the pressure in the cavity 482. Because the pressure in the cavity 482 can be reduced compared to the fluid pressure in the fluid reservoir 432, the pressure difference between the cavity 482 and the environment can arouse fluid to flow from the environment into the cavity 482. When the receiving portion 473 moves toward a lowered position, the follower 466 can push the diaphragm 472 (e.g., via the driving portion 470) to reduce the volume of the cavity 482 and increase the pressure in the cavity 482, thereby arousing fluid to flow from the cavity 482 into the environment. When the diaphragm 472 deforms, its natural elasticity allows it to return to a substantially undeformed state, and the drive shaft 462 can drive the diaphragm 472 back to its undeformed state. Therefore, when the diaphragm 472 is deformed, the torque applied to the drive shaft 462 by the diaphragm 472 can be higher, and when the diaphragm 472 springs back, the torque can be lower.

[0116] The dimensions and shape of cavity 482 can be designed such that pump 464a can provide fluid flow rates of 0.5-10 mL / min, 0.8-7 mL / min, 1-5 mL / min, or approximately 2 mL / min (mL / m) or 1.9 mL / m. The volume of cavity 482 can be designed such that displacement from diaphragm 472 can create a pressure differential to actuate inlet valve 474 and outlet valve 475. During operation, diaphragm 472 can deform to change the volume of cavity 482, where the volume change can represent a considerable percentage of the total cavity volume (e.g., 5% to 75%, 10% to 60%, or 25% to 50%). Because the volume change can be a considerable percentage of the total cavity volume, pump 464a can self-prime if fluid distribution system 434 initially contains air instead of fluid.

[0117] Because the diaphragm can deform to significantly change the volume of cavity 482, the fluid distribution system 434 can be self-priming and operate with both air and water, allowing it to function without pre-filling pump 464a. The diaphragm design also provides volume control within a compact space, allowing the fluid distribution system 434 to maintain a small footprint. Because pump module 455a can achieve a low flow rate of approximately 1-5 ml per minute per channel, the fluid distribution system 434 can deliver fluid to specific areas of the cleaning pad or floor surface without flooding it. This design can have a lower production cost than expensive precision nozzles and can utilize cheaper materials and designs.

[0118] The main channel 469 and the secondary channel 471 fluidly connect the cavity 482 to the inlet 456a and the outlet 457a. The main channel 469 and the secondary channel 471 each lead to the head channel 484. The main channel 469 can be positioned within the housing 452 such that one of the main channels 469 is generally located between the inlet 456a and the cavity 482, while the other of the main channels 469 is generally located between the outlet 457a and the cavity 482. The main channel 469 can be configured to receive the inlet valve 474 and the outlet valve 475, respectively, such that the inlet valve 474 and the outlet valve 475 can each at least partially block the head channel 484.

[0119] Secondary channel 471 may be located near primary channel 469. Secondary channel 471 may provide a passage (e.g., path, tube, tunnel, etc.) for fluid to bypass primary channel 469 and flow to head channel 484.

[0120] The inlet valve 474 and the outlet valve 475 may each be located at least partially within the housing 452 (e.g., valve frame 45) such that the inlet valve 474 and the outlet valve 475 are in fluid communication with the inlet 456a and the outlet 457a, respectively.

[0121] Inlet valve 474 and outlet valve 475 may be substantially similar in construction. For example, inlet valve 474 and outlet valve 475 may include a valve body 478, a valve joint 479, a valve tail 480, and a valve head. The first head 476 and the second head 477 may each comprise soft rubber or other elastic material. The soft rubber allows the first head 476 and the second head 477 to deform slightly around small debris particles that may enter the fluid distribution system 434, while the valves still maintain a fluid seal to suppress, reduce, or prevent fluid leakage.

[0122] Inlet valve 474 and outlet valve 475 may each be at least partially installed in their respective main channels of main channel 469. For example, inlet valve 474 may be at least partially installed in main channel 469 between inlet 456a and cavity 482, and outlet valve 475 may be at least partially installed in main channel 469 between outlet 457a and cavity 482.

[0123] To install inlet valve 474 and outlet valve 475, valve tail 480 can be manipulated (e.g., pulled, pushed, etc.) through main channel 469 until valve joint 479 is located at the end of the corresponding main channel of main channel 469 opposite to the corresponding valve head. The valve heads can be located on one side of the main channel near head channel 484. Valve joint 479 may include an uncompressed diameter that is slightly larger than the main channel 469.

[0124] Valve joint 479 may be resilient, allowing it to be temporarily compressed to fit through main channel 469 before returning to its uncompressed diameter. This allows inlet valve 474 and outlet valve 475 to be at least partially secured in their respective positions within main channel 469. Valve tail 480 may be removable, allowing it to be removed or disconnected after installation.

[0125] The inlet valve 474 and the outlet valve 475 can each be installed in opposite orientations. For example, a first head 476 can be located approximately between the valve joint 479 of the inlet valve 474 and a first end of the housing 452, and a second head 477 can be located approximately between the valve joint 479 and a second end of the housing 452. The second end of the housing 452 can be opposite to the first end of the housing 452.

[0126] Inlet valve 474 allows fluid to flow from inlet 456a into chamber 482 while at least partially blocking fluid from flowing from chamber 482 back to inlet 456a. Outlet valve 475 allows fluid to flow from chamber 482 to outlet 457a while at least partially blocking fluid from flowing from outlet 457a back to chamber 482. For example, when the pressure in chamber 482 drops below a lower threshold (e.g., the pressure in fluid reservoir 432), inlet valve 474 allows fluid to flow from fluid reservoir 432 into chamber 482. When the pressure in chamber 482 exceeds an upper threshold (e.g., the pressure at outlet 457a), outlet valve 475 allows fluid to flow from chamber 482 to outlet 457a.

[0127] In some examples of operation, cavity 482 can expand as follower 466 pulls diaphragm 472, creating a negative pressure within cavity 482. This negative pressure causes inlet valve 474 to open at least partially. First head 476 can be partially lifted from a corresponding head passage 484, allowing fluid to flow from fluid reservoir 432 into cavity 482 through inlet 456a. Because outlet valve 475 can be oriented in the opposite direction to inlet valve 474, outlet valve 475 can remain closed during fluid intake. When follower 466 pushes diaphragm 472, cavity 482 can contract, creating a positive pressure within cavity 482. This positive pressure closes inlet valve 474 and opens outlet valve 475. Second head 477 can be lifted from a corresponding head passage 484, allowing fluid to flow from cavity 482 through outlet 457a. Because inlet valve 474 can be oriented in the opposite direction to outlet valve 475, inlet valve 474 can remain closed during fluid discharge.

[0128] In some examples, inlet valve 474 and outlet valve 475 may include different configurations. For example, inlet valve 474 and outlet valve 475 may each include a blocking member and a biasing member (e.g., blocking member 990 and biasing member 992, respectively, as per [reference to...]). Figure 9 (As discussed). Inlet valve 474 and outlet valve 475 may include other configurations, such as umbrella valves, reed valves, or other valve types. In some examples, the two valves may use the same design.

[0129] At least two pump modules in pump module 455 can be configured to deliver fluid from fluid reservoir 432 to corresponding outlets in outlet 457 at different fluid flow rates. For example, while pump module 455 may include similar components, the individual pump modules of pump module 455 (e.g., pump module 455a, pump module 455b, etc.) may include different pump characteristics, such as the dimensions of cavity 482 (e.g., maximum volume, minimum volume, non-deformable volume, etc.), the design of inlet valve 474 or outlet valve 475 (e.g., material, size, etc.), outlet diameter, inlet diameter, etc., to achieve different fluid flow characteristics (e.g., fluid flow rate, fluid velocity, fluid flow pressure, etc.). For example, a first pump module of pump module 455 may be positioned to deliver fluid to the center portion of the mop mat. Compared to a second pump module of pump module 455, the first pump module may include a larger cavity to provide increased fluid flow, while the second pump module may be configured to deliver fluid to a peripheral area. Pump module 455 can be individually tuned to provide a target flow rate. Pump module 455 can be configured to deliver fluid based on cleaning parameters for different areas of the floor surface or mop mat.

[0130] The inlet valve 474 and outlet valve 475 can be designed to have heads (e.g., 476 and 477) that conform to their passages (e.g., 484) to allow the valves to remain sealed regardless of small debris particles. If debris becomes trapped between the valve head and housing 452, the soft, resilient material allows the valve to conform around the particles without creating a leakage path. This debris tolerance improves reliability in conditions with hard water deposits and contaminants. Furthermore, the relatively simple design of the inlet valve 474 and outlet valve 475 provides an inexpensive and effective alternative to expensive sapphire inserts. Valve joint 479 and valve tail 480 can abut against housing 452 to preload the respective valve head, which can establish sealing pressure without complex manufacturing. Valve joint 479 can maintain pressure on the respective valve head to aid sealing throughout the operation of the fluid distribution system 434. In some examples, the fluid distribution system 434 may include a screen or other filter at the inlet to limit the maximum particle size to below the size that the valve can accommodate.

[0131] The pump module 455 of the fluid distribution system 434 provides a compact and efficient solution for controlling fluid flow in a cleaning robot. The design of the pump module 455 reduces the need for expensive precision components such as sapphire inserts or calibration nozzles by controlling the flow rate at least partially at the pump level rather than at the outlet. Soft valve materials and a simple construction help maintain pumping performance, even in the presence of debris or hard water deposits in the system. Because the fluid distribution system 434 can control multiple independent fluid channels within a small shape factor, it can deliver the appropriate amount of fluid to specific areas of the cleaning surface, improving cleaning effectiveness while conserving fluid. The fluid distribution system 434 can operate from initial startup without priming, as it can pump both air and fluid.

[0132] Figure 9 The mobile cleaning robot 400 is shown along its edge. Figure 6 The image shows a partial front sectional view of the identifier 8-8. The mobile cleaning robot 400 may include a fluid distribution system 934. The fluid distribution system 934 may be similar to the fluid distribution system 434 discussed above; the fluid distribution system 934 may include a pump module. Any fluid distribution system discussed above may include the features of the fluid distribution system 934.

[0133] The fluid distribution system 934 may include a valve frame 950, a pump module 955a, an outlet 957a, an inlet 956a, an inlet valve 974, an outlet valve 975, a blocking member 990, and a biasing member 992. The valve frame 950 may include a valve seat 994.

[0134] Pump module 955a, inlet 956a, outlet 957a, and inlet valve 974 may be similar to pump module 455a, inlet 456a, outlet 457a, and inlet valve 474, respectively. Pump module 955a may include valve frame 950 and outlet valve 975, which may utilize blocking member 990 and biasing member 992 to at least partially control fluid flow.

[0135] The blocking member 990 may be a ball, disc, or other suitable sealing element configured to block fluid flow when at least partially located within the valve seat 994. The biasing member 992 may be a spring or other elastic member configured to bias the blocking member 990 against the valve seat 994 using a biasing force. The blocking member 990 may be coupled to the biasing member 992. The blocking member 990 and the biasing member 992 may translate together about the valve frame 950.

[0136] The biasing member 992 can provide an opening pressure threshold to determine when the valve opens. When the pump in the pump module 955a provides pressure exceeding the opening pressure threshold, the pressure can apply a force to the blocking member 990, which can apply a force to the biasing member 992, such that the biasing member 992 can move the blocking member 990 from the valve seat 994 (e.g., by retracting the biasing member 992).

[0137] In some example operations, if pump module 955a generates negative pressure in chamber 482 during fluid intake, the pressure differential at outlet valve 975 can facilitate or otherwise assist the force applied by biasing member 992. For example, the pressure differential can cause blocking member 990 to move in a direction similar to that of biasing member 992. Blocking member 990 may be located in valve seat 994 and can inhibit, reduce, prevent, or otherwise block fluid flow from chamber through outlet 957a.

[0138] Pump module 955a can generate positive pressure during fluid discharge, allowing the pressure differential at outlet valve 975 to overcome the force of biasing member 992. This pressure differential can move blocking member 990 away from valve seat 994, allowing fluid to flow out through outlet 957a. Pump module 955a can also generate equalizing or negative pressure during fluid intake, allowing blocking member 990 to return to the valve seat, which can close outlet valve 975.

[0139] The ball-spring mechanism allows for selective control of the opening and closing pressure thresholds by choosing different spring constants in the bias member 992. The design can be tailored for specific flow rates by adjusting the tension of the bias member 992 while maintaining a low flow rate.

[0140] Figure 10A block diagram of an example machine 1000 is shown, on which any one or more techniques (e.g., methods) discussed herein can be performed. As described herein, the example may include, or be operable by, logic or components or mechanisms in the machine 1000. A circuit (e.g., a processing circuit) is a collection of circuits implemented in the tangible entity of the machine 1000, which includes hardware (e.g., simple circuits, gates, logic, etc.). Circuit members can be flexible over time. A circuit includes members that can perform a specified operation individually or in combination during operation. In the example, the hardware of the circuit may be immutably designed to perform a specific operation (e.g., hardwired). In the example, the hardware of the circuit may include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.) including machine-readable media that are physically modified (e.g., magnetically, electrically, movable placement of invariant aggregated particles, etc.) to encode instructions for a specific operation. When connecting physical components, the underlying electrical characteristics of the hardware configuration change, for example, from an insulator to a conductor and vice versa. Instructions enable embedded hardware (e.g., an execution unit or loading mechanism) to create members of a circuit within the hardware via variable connections, portions of which perform specific operations during operation. Thus, in the example, a machine-readable medium element is either part of the circuit or another component communicatively coupled to the circuit during device operation. In the example, any physical component can be used in more than one member of more than one circuit. For example, during operation, an execution unit may be used at one point in time in a first circuit of a first circuit system and reused by a second circuit in the first circuit system, or reused at a different time by a third circuit in the second circuit system. The following are additional examples of these components for machine 1000.

[0141] In alternative embodiments, machine 1000 may operate as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, machine 1000 may operate as a server machine, a client machine, or both in a server-client network environment. In the example, machine 1000 may be used as a peer-to-peer (P2P) (or other distributed) network environment. Machine 1000 may be a personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, web device, network router, switch, or bridge, or any machine capable of executing instructions (sequentially or otherwise) specifying the actions to be taken by the machine. Furthermore, although only a single machine is shown, the term "machine" should also be considered to include any collection of machines that individually or jointly execute a set (or more) of instructions to perform any one or more methods discussed herein, such as cloud computing, Software as a Service (SaaS), and other computer cluster configurations.

[0142] Machine (e.g., computer system) 1000 may include hardware processor 1002 (e.g., central processing unit (CPU), graphics processing unit (GPU), hardware processor core, or any combination thereof), main memory 1004, static memory (e.g., memory or storage device for firmware, microcode, basic input / output (BIOS), unified extensible firmware interface (UEFI), etc.) 1006, and mass storage device 1008 (e.g., hard disk drive, tape drive, flash memory device, or other block device), some or all of which may communicate with each other via interconnect link (e.g., bus) 1030. Machine 1000 may also include display unit 1010, alphanumeric input device 1012 (e.g., keyboard), and user interface (UI) navigation device 1014 (e.g., mouse). In this example, display unit 1010, input device 1012, and UI navigation device 1014 may be a touchscreen display. Machine 1000 may further include a storage device (e.g., a drive unit) 1008, a signal generation device 1018 (e.g., a speaker), a network interface device 1020, and one or more sensors 1016, such as a Global Positioning System (GPS) sensor, a compass, an accelerometer, or other sensors. Machine 1000 may include an output controller 1030, connected, for example, serially (e.g., Universal Serial Bus (USB)), in parallel, or other wired or wireless (e.g., infrared (IR), near field communication (NFC), etc.) connections, to communicate with or control one or more peripheral devices (e.g., a printer, a card reader, etc.).

[0143] The registers of processor 1002, main memory 1004, static memory 1006, or mass storage 1008 may be or include machine-readable medium 1022 on which one or more sets of data structures or instructions 1024 (e.g., software) embody or be utilized by any one or more of the technologies or functions described herein. During execution of instructions 1024 by machine 1000, instructions 1024 may also reside wholly or at least partially within any register of processor 1002, main memory 1004, static memory 1006, or mass storage device 1008. In the example, one or any combination of hardware processor 1002, main memory 1004, static memory 1006, or mass storage 1008 may constitute machine-readable medium 1022. Although machine-readable medium 1022 is shown as a single medium, the term "machine-readable medium" may include a single medium or multiple media (e.g., a centralized or distributed database, and / or associated caches and servers) configured to store one or more instructions 1024.

[0144] The term "machine-readable medium" can include any medium capable of storing, encoding, or carrying instructions executable by machine 1000 and causing machine 1000 to perform any one or more of the technologies disclosed herein, or any medium capable of storing, encoding, or carrying data structures used by or associated with those instructions. Examples of non-limiting machine-readable media can include solid-state memory, optical media, magnetic media, and signals (e.g., radio frequency signals, other photon-based signals, sound signals, etc.). In examples, non-transitory machine-readable media includes machine-readable media having a plurality of particles having invariant (e.g., rest) mass and thus being composed of matter. Therefore, a non-transitory machine-readable medium is a machine-readable medium that does not include transiently propagating signals. Specific examples of non-transitory machine-readable media can include: non-volatile memory, such as semiconductor memory devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM)) and flash memory devices; disks, such as internal hard disks and removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

[0145] Commands 1024 can be further sent or received on communication network 1026 using a transmission medium via network interface device 1020, utilizing any of a variety of transport protocols (e.g., Frame Relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Example communication networks may include local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), conventional telephone (POTS) networks, and wireless data networks (e.g., the IEEE 802.11 family of standards® known as Wi-Fi, the IEEE 802.16 family of standards® known as WiMax), the IEEE 802.15.4 family of standards, peer-to-peer (P2P) networks, etc. In this example, network interface device 1020 may include one or more physical jacks (e.g., Ethernet, coaxial, or telephone jacks) or one or more antennas for connection to communication network 1026. In the example, network interface device 1020 may include multiple antennas to perform wireless communication using at least one of single-input multiple-output (SIMO), multiple-input multiple-output (MIMO), or multiple-input single-output (MISO) technologies. The term "transmission medium" should be considered to include any intangible medium capable of storing, encoding, or carrying instructions executable by machine 1000, and includes digital or analog communication signals or other intangible media to facilitate communication of such software. The transmission medium is a machine-readable medium.

[0146] Notes and Examples

[0147] The following non-limiting examples detail certain aspects of this topic to address challenges and provide benefits discussed herein.

[0148] Example 1 is a mobile cleaning robot comprising: a main body; a drive system connected to the main body and operable to move the mobile cleaning robot around a floor surface of an environment; a mopping mat assembly connected to the main body and configured to hold a mopping mat that engages with the floor surface; and a fluid distribution system connectable to the main body, the fluid distribution system comprising: a plurality of outlets, the plurality of outlets being separate from each other and each configured to provide fluid to the mopping mat or the floor surface; and a plurality of pumps, each pump operable to independently deliver fluid to the plurality of outlets.

[0149] In Example 2, the subject of Example 1 optionally includes a box that can be attached to the body and is removable by the end user, the box including a fluid reservoir, and a fluid distribution system configured to supply fluid from the fluid reservoir to the mop mat or floor surface.

[0150] In Example 3, the subject of Example 2 may optionally include: wherein multiple pumps are located in a tank such that the multiple pumps are removable by the end user along with the tank.

[0151] In Example 4, the subject of any one or more of Examples 1-3 may optionally include a pump housing connected to the body, the pump housing defining a plurality of chambers, a plurality of pumps being located in the plurality of chambers, and the plurality of chambers being connected to a plurality of outlets.

[0152] In Example 5, the subject matter of Example 4 may optionally include: a plurality of inlets, each connected to a fluid reservoir and to a plurality of chambers; and a plurality of diaphragms, each at least partially located within the plurality of chambers, each of the plurality of diaphragms including a cavity, each of the plurality of diaphragms being operable to independently actuate the fluid to the plurality of outlets.

[0153] In Example 6, the subject matter of Example 5 may optionally include: a plurality of inlet valves, each associated with the plurality of pumps and each located at least partially within the plurality of inlets; and a plurality of outlet valves, each associated with the plurality of pumps and each located at least partially within the plurality of outlets, the plurality of inlet valves and the plurality of outlet valves being configured to open and close during respective diaphragm operation to actuate the fluid from the plurality of inlets to the plurality of outlets.

[0154] In Example 7, the subject matter of Example 6 may optionally include: wherein each of the plurality of diaphragms is configured to: increase the volume of the respective cavity to draw fluid from a fluid reservoir into the cavity through a respective inlet of the plurality of inlets; and decrease the volume of the respective cavity to discharge fluid from the cavity into the mop mat through a respective outlet of the plurality of outlets.

[0155] In Example 8, any one or more of the subjects described in Examples 5-7 may optionally include a power transmission assembly comprising: a drive shaft connected to a plurality of diaphragms, the drive shaft being operable to operate the plurality of diaphragms.

[0156] In Example 9, the subject matter of any one or more of Examples 1-8 optionally includes: wherein each of the plurality of outlets is configured to provide fluid to the mop pad or the floor surface at a different location.

[0157] In Example 10, the subject matter of any one or more of Examples 1-9 may optionally include: wherein at least two of the plurality of pumps are configured to supply fluid to at least two of the plurality of outlets at different fluid flow rates.

[0158] In Example 11, the subject matter of any one or more of Examples 1-10 may optionally include: wherein each of the plurality of pumps is configured to provide a fluid flow rate of 1 ml to 5 ml per minute.

[0159] Example 12 is a mobile cleaning robot comprising: a main body; a drive system connected to the main body and operable to move the mobile cleaning robot around a floor surface of an environment; a mopping mat assembly connected to the main body and configured to hold a mopping mat that can engage with the floor surface; and a fluid distribution system coaxial with the main body, the fluid distribution system comprising: a fluid reservoir; and a plurality of pump modules connected to each other, each of the plurality of pump modules comprising: an outlet configured to provide fluid to the mopping mat or the floor surface; and a pump operable to deliver fluid from the fluid reservoir to the outlet.

[0160] In Example 13, the subject of Example 12 optionally includes a box that can be attached to the body and is removable by the end user, with multiple pump modules located in the box such that the multiple pump modules are removable by the end user along with the box.

[0161] In Example 14, any one or more of the subjects in Examples 12-13 may optionally include a pump housing connected to the body, with multiple pump modules located at least partially within the pump housing.

[0162] In Example 15, the subject matter of Example 14 may optionally include: each of the plurality of pump modules includes: an inlet connected to the fluid reservoir; an inlet valve located at least partially within the inlet; and an outlet valve located at least partially within the outlet, the inlet valve and the outlet valve being configured to open and close during pump operation to actuate the fluid from the inlet to the outlet.

[0163] In Example 16, the subject of Example 15 may optionally include a power transmission assembly comprising: a drive shaft connected to each of a plurality of pump modules, the drive shaft being operable to operate each of the plurality of pump modules.

[0164] In Example 17, the subject described in Example 16 may optionally include a controller connected to the body, which is configured to operate a drive shaft.

[0165] In Example 18, the subject of any one or more of Examples 12-17 may optionally include: wherein a first pump module of the plurality of pump modules is connected to a first side of the body, and a second pump module of the plurality of pump modules is connected to a second side of the body.

[0166] In Example 19, the subject matter of any one or more of Examples 12-18 may optionally include: wherein at least two of the plurality of pump modules are configured to deliver fluid from the fluid reservoir to a corresponding outlet at different fluid flow rates.

[0167] In Example 20, the subject matter of any one or more of Examples 12-19 may optionally include: wherein the pump is configured to deliver fluid from the fluid reservoir to the outlet at a fluid flow rate of 1 ml to 5 ml per minute.

[0168] Example 21 is a system for implementing any one of Examples 1-29.

[0169] Example 22 is a method for implementing any one of Examples 1-20.

[0170] In Example 23, any one or any combination of the apparatus or methods in Examples 1-23 may optionally be configured such that all of the elements or options described are available or selectable.

[0171] In Example 24, the subject of Example 1 may optionally include: wherein a first outlet of a plurality of outlets is configured to provide fluid to a mopping mat or floor surface at a first external location of the body, and wherein a second outlet of a plurality of outlets is configured to provide fluid to a mopping mat or floor surface at a second external location of the body opposite to the first external location.

[0172] The above detailed description includes reference to the accompanying drawings, which form part of the detailed description. The drawings illustrate, by way of illustration, specific embodiments in which the present 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 also 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.

[0173] In the event of any inconsistency between the usage in this document and any other document incorporated by reference, the usage in this document shall prevail. In this document, the terms “comprising” and “wherein” are used as concise English equivalents of the corresponding terms “including” and “wherein”. Furthermore, in the following claims, the terms “comprising” and “including” are open-ended, meaning that a system, apparatus, article, composition, formulation, or process that includes elements other than those listed after such terms in the claims is still considered to fall within the scope of that claim.

[0174] In this document, as is common in patent documents, the terms “a” or “an” are used to include one or more, independent of any other instances or uses of “at least one” or “one or more.” In this document, the term “or” is used to refer to a non-exclusive “or,” such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise stated. In this document, the terms “comprising” and “wherein” are used as concise English equivalents to the corresponding terms “including” and “wherein.” Furthermore, in the following claims, the terms “comprising” and “including” are open-ended, meaning that a system, apparatus, article, composition, formulation, or process that includes elements other than those listed after such terms in the claims is still considered to fall within the scope of that claim. Additionally, in the appended claims, the terms “first,” “second,” and “third,” etc., are used merely as labels and are not intended to impose numerical requirements on their objects.

[0175] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used by those skilled in the art upon reading the above description. 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 that the abstract is not intended to interpret or limit the scope or meaning of the claims. Furthermore, in the above detailed description, various features may be grouped together to simplify the disclosure. This should not be construed as meaning that any unclaimed disclosed features are essential to any claim. Rather, the subject matter of the utility model may lie in all features of fewer than the particular disclosed embodiment. Therefore, the appended claims are thus incorporated into the detailed description as examples or embodiments, wherein each claim is an independent, separate embodiment, and such embodiments are contemplated to be combined with each other in various combinations or arrangements. The scope of the utility model should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A mobile cleaning robot, characterized in that, include: main body; A drive system connected to the main body and operable to move the mobile cleaning robot around the floor surface of the environment; A mopping mat assembly, which is connected to the body and configured to hold a mopping mat capable of engaging with the floor surface; and A fluid distribution system, connectable to the main body, comprising: Fluid storage tank; and A plurality of pump modules connected to each other, each of the plurality of pump modules comprising: An outlet, configured to provide fluid to the mop pad or the floor surface; and A pump, which is operable to deliver fluid from the fluid reservoir to the outlet.

2. The mobile cleaning robot according to claim 1, characterized in that, include: A housing that can be attached to the main body and is removable by the end user, wherein the plurality of pump modules are located in the housing such that the plurality of pump modules can be removed by the end user together with the housing.

3. The mobile cleaning robot according to claim 1, characterized in that, include: A pump housing connected to the main body, wherein the plurality of pump modules are at least partially located within the pump housing.

4. The mobile cleaning robot according to claim 2, characterized in that, Each of the plurality of pump modules includes: Inlet, which is connected to the fluid reservoir; An inlet valve, which is at least partially located within the inlet; and An outlet valve, at least partially located within the outlet, and the inlet valve and the outlet valve are configured to open and close during pump operation to actuate the fluid from the inlet to the outlet.

5. The mobile cleaning robot according to claim 4, characterized in that, include: Power transmission components, including: A drive shaft is connected to each of the plurality of pump modules and is operable to operate each of the plurality of pump modules.

6. The mobile cleaning robot according to claim 5, characterized in that, include: A controller connected to the main body, the controller being able to be coupled to the drive shaft to operate the drive shaft.

7. The mobile cleaning robot according to claim 1, characterized in that, The first pump module of the plurality of pump modules is connected to the first side of the main body, and the second pump module of the plurality of pump modules is connected to the second side of the main body.

8. The mobile cleaning robot according to claim 7, characterized in that, At least two of the plurality of pump modules are configured to deliver fluid from the fluid reservoir to a corresponding outlet at different fluid flow rates.

9. The mobile cleaning robot according to claim 1, characterized in that, The pump is configured to deliver fluid from the fluid reservoir to the outlet at a flow rate of 1 to 5 ml per minute.

10. The mobile cleaning robot according to claim 1, characterized in that, A first outlet of the plurality of outlets is configured to provide fluid to the mopping mat or the floor surface at a location on a first side exterior of the body, and a second outlet of the plurality of outlets is configured to provide fluid to the mopping mat or the floor surface at a location on a second side exterior of the body opposite to the first side exterior location.

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