Freestanding Vacuum Mopping System

Abstract

The autonomous vacuum cleaner includes a mopping function and a sweeping function. In the mopping state, a magnetic locking system secures the autonomous vacuum cleaner's cleaning head in the mopping position, allowing the vacuum cleaner to move the mopping roller back and forth to scrub stubborn dirt from the floor surface without the cleaning head moving to another sweeping position. The autonomous vacuum cleaner also includes a snorkel duct that directs liquid waste and water from the mopping roller into a waste bag without mixing the dry waste and liquid waste collected by the sweeping system. The snorkel duct is configured to flex and close when the cleaning head is in the sweeping state to avoid unnecessary suction from the snorkel system. Furthermore, the mopping system includes a cleaning logic routine that can sense and control the saturated and dry states of the mopping roller to perform automatic mopping cleaning.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 396,887, filed August 10, 2022, which application is incorporated by reference in its entirety.

[0002] Technical Field This disclosure relates to autonomous cleaning systems. More specifically, this disclosure describes the architecture and logic of a mopping system for an autonomous vacuum cleaner. [Background technology]

[0003] background Cleaning robots may perform simple environmental operations, performing actions such as sweeping, mopping, and dusting in a variety of settings. However, due to the varying demands of different cleaning tasks, cleaning robots tend to be specifically designed to perform only one cleaning task. As a result, users need multiple different, dedicated cleaning robots to thoroughly clean their spaces. Having separate cleaning robots for sweeping and mopping requires extra power and extra space in users' home or office areas. Summary of the Invention [Problem to be solved by the invention]

[0004] Integrating various cleaning functions into one system introduces complex system interactions and challenges, such as height inconsistencies between different cleaning modes, the need to secure the system in place, additional potential for component loss or component blockage, and solutions for removing both wet and dry debris from the floor without system failure. [Means for solving the problem]

[0005] summary The autonomous vacuum cleaner includes a drive system having a motor and a drive assembly. The drive system includes a body enclosure having a first side opposite a second side, a front opposite a rear, and a top opposite a bottom substantially parallel to a floor. There is a base plate attached to the bottom of the body enclosure, and one or more base plate magnets are securely attached to the base plate and exposed at the front of the body enclosure.

[0006] The autonomous vacuum cleaner also includes a cleaning head structured to engage and clean a floor surface. The cleaning head includes an enclosure having a first side opposite a second side, a front opposite a rear, and a top opposite the floor surface. In some exemplary embodiments, a "cleaning surface" may be defined as a real or virtual surface on the cleaning head that contacts a floor during a cleaning operation. As shown in FIG. 4 , a first cleaning surface of the cleaning head enclosure is connected to the front of the cleaning head enclosure and extends obliquely backward and downward from the front of the cleaning head enclosure. A second cleaning surface of the cleaning head enclosure is connected to the rear of the cleaning head enclosure and extends obliquely forward and downward from the rear of the cleaning head enclosure, intersecting the first cleaning surface of the cleaning head enclosure at an obtuse angle. Thus, in one exemplary embodiment, the first and second cleaning surfaces intersect at an obtuse angle at the bottom of the cleaning head enclosure. An opening exists within each cleaning surface. The first opening in the first cleaning surface extends from a first side of the cleaning head enclosure to a second side of the cleaning head enclosure. The second opening in the second cleaning surface extends from the first side of the cleaning head enclosure to a second side of the cleaning head enclosure. The sweeping roller is rotatably mounted in the first opening, and the mopping roller is rotatably mounted in the second opening. The cleaning head also includes a back tube having an outer surface surrounding a hollow core, a first end, and a second end, the first end of the back tube being mounted to the rear of the cleaning head enclosure, the length of the hollow core being curved upward, and the second end of the back tube being directed upward and away from the floor. The back tube magnet is mounted to the outer surface of the back tube facing the rear of the cleaning head and is exposed in alignment with the exposed magnetic pole of the corresponding base plate magnet.

[0007] The autonomous vacuum cleaner also includes a connection system that attaches a back tube of the cleaning head to a front of the drive system, the connection system including a four-bar linkage that secures a rear of the cleaning head enclosure to a front of a body enclosure of the drive system, and an actuator that drives movement of one or more of the four-bar linkages.

[0008] The connection system connects the cleaning head to the drive system in two possible states: In a first sweeping state, the cleaning head enclosure is positioned above the floor by the actuator, the cleaning head enclosure is held so that the first cleaning surface is approximately parallel to the floor, the first roller is exposed to the floor, and the poles of the cleaning head magnets are spaced apart from the poles of the base plate magnets so that they are not significantly attracted to each other.

[0009] In the second mopping state, the cleaning head enclosure is lowered by the actuator toward the floor surface, the cleaning head enclosure is tilted backward so that the second cleaning surface is approximately parallel to the floor surface, the second roller is exposed to the floor surface, and the poles of the cleaning head magnets are tightly attracted to each other to secure the cleaning head in the second position.

[0010] The features and advantages described herein are not all-inclusive, and many additional features and advantages will become apparent to those skilled in the art upon consideration of the drawings, specification, and claims. Furthermore, it should be noted that the language used herein has been chosen primarily for purposes of readability and explanation, and not to delineate or limit the subject matter of the invention. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram of an autonomous vacuum cleaner, according to an example embodiment. [Figure 2] FIG. 2 illustrates the spatial arrangement of components of an autonomous vacuum cleaner, according to an exemplary embodiment. [Figure 3] FIG. 1 is a block diagram of a sensor system for an autonomous vacuum cleaner, according to an example embodiment. [Figure 4] FIG. 2 is a side view of a cleaning head and its attachment to a chassis of an autonomous vacuum cleaner according to an exemplary embodiment; [Figure 5] 1 is a perspective view of the top and rear of a cleaning head according to an example embodiment. FIG. [Figure 6] 1 is an illustration showing components of an autonomous vacuum cleaner in a first sweeping state according to an example embodiment. [Figure 7] 10 is an illustration showing components of an autonomous vacuum cleaner in a second mopping state according to an example embodiment. [Figure 8] FIG. 10 is a side view of a cleaning head showing the placement of magnets when the cleaning head is in a sweeping state, according to an example embodiment. [Figure 9] FIG. 10 is a side view of the cleaning head showing the magnet arrangement when the cleaning head is in a mopping position according to an exemplary embodiment. [Figure 10] 1 is a perspective top view of the cleaning head of an autonomous vacuum cleaner 100 showing the snorkel duct, according to an exemplary embodiment. FIG. [Figure 11] FIG. 2 is a rear view of a cleaning head according to an example embodiment. [Figure 12] FIG. 10 is a side view of the cleaning head showing the snorkel duct during a mopping operation according to an exemplary embodiment. [Figure 13] FIG. 1 is a side view of the cleaning head 140 showing the snorkel duct during a sweeping or patrol operation, according to an exemplary embodiment. [Figure 14] 10 is a flowchart illustrating a process for detecting the presence of a rotating component in accordance with an illustrative embodiment; [Figure 15] 10 is a flowchart illustrating a process for detecting a jam in a rotating component in accordance with an example embodiment. [Figure 16]10 is a flowchart illustrating a process for controlling saturation of a mopping roller 145 according to an example embodiment. [Figure 17] 10 is a flowchart illustrating a self-drying process for a mopping roller according to an example embodiment. [Figure 18] 10 is a flowchart illustrating a self-cleaning process for a mopping roller according to an example embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] The figures depict various embodiments of the present invention for purposes of example only. Those skilled in the art will readily appreciate from the following description that alternative embodiments of the structures and methods described herein may be employed without departing from the inventive principles described herein.

[0013] Detailed Description The figures and the following description relate to preferred embodiments, by way of example only. It should be noted from the following description that alternative embodiments of the structures and methods disclosed herein will be readily recognized as viable alternatives that may be employed without departing from the principles claimed.

[0014] Reference will now be made in detail to several embodiments, examples of which are illustrated in the accompanying figures. It should be noted that, wherever possible, like or similar reference numerals may be used in the figures and may indicate like or similar functionality. The figures depict embodiments of the disclosed system (or method) for illustrative purposes only. Those skilled in the art will readily appreciate from the following description that alternative embodiments of the structures and methods described herein may be employed without departing from the principles described herein.

[0015] overview The autonomous vacuum cleaner includes mopping and sweeping functions. A magnetic locking system secures the autonomous vacuum cleaner's cleaning head in a mopping position when in the mopping state, allowing the vacuum cleaner to move the mopping roller back and forth to scrub, for example, stubborn dirt from a floor surface, without the cleaning head moving to another sweeping position. The autonomous vacuum cleaner also includes a snorkel duct for directing liquid waste and water from the mopping roller into a waste bag without mixing the dry waste and liquid waste collected by the sweeping system. Compared to typical dry and wet waste duct designs, this configuration reduces the problem of, for example, forming slurry-like masses (such as mud-like deposits) in the vacuum cleaner's duct, which makes cleaning and removal more difficult. The snorkel duct is also configured to flex and close when the cleaning head is in the sweeping state, avoiding unnecessary suction through the snorkel system. Additionally, the mopping system includes a cleaning logic routine that can sense and control the saturated and dry conditions of the mopping rollers, which can perform automatic mopping cleaning.

[0016] System Architecture 1 is a block diagram of an autonomous vacuum cleaner 100, according to one example embodiment. The autonomous vacuum cleaner 100 in this example may include a chassis 110, a connection assembly 130, and a cleaning head 140. The components of the autonomous vacuum cleaner 100 enable the autonomous vacuum cleaner 100 to clean intelligently as the autonomous vacuum cleaner 100 moves through areas in an environment.

[0017] In general terms, the chassis 110 is a rigid body that serves as the base frame of the autonomous vacuum cleaner. The chassis 110 may include two or more motorized wheels for propelling the autonomous vacuum cleaner 100. The chassis 110 houses a series of other components for operation of the autonomous vacuum cleaner 100, such as steering, communicating with external devices, and providing notifications. The connection assembly 130 serves as a connection point between the cleaning head 140 and the chassis 110. The connection assembly 130 may include two or more channels used to direct solvent, water, waste, or a combination thereof between the cleaning head 140 and the chassis 110. The connection assembly 130 may also include an actuator assembly 138 that controls the movement of the cleaning head 140. The cleaning head 140 may include one or more brush rollers used to perform cleaning operations. In some embodiments, the architecture of the autonomous vacuum cleaner 100 includes more components for autonomous cleaning purposes. Some examples include a mopping roller, a solvent spray system, a waste container, and multiple solvent containers for various types of cleaning solvents. The autonomous vacuum cleaner 100 may support a variety of cleaning functions, such as vacuuming, sweeping, dusting, mopping, and / or deep cleaning.

[0018] The chassis 110 is a rigid base frame for the autonomous vacuum cleaner 100. In one or more embodiments, the chassis 110 may include at least a waste bag 112, a solvent tank 114, a water tank 116, a sensor system 118, a vacuum pump 120, a display 122, a controller 124, and a battery 126. In other embodiments, the chassis 110 may include additional, fewer, or different components than those listed herein. For example, one embodiment of the chassis 110 omits the display 122. Another embodiment includes an additional output device, such as a speaker or other visual indicator (such as a status light). Yet another embodiment may combine the solvent tank 114 and the water tank 116 into a single tank. In some cases, the chassis 110 is considered to be part of a “drive system,” which includes a motor, drive assembly, and other components that enable the autonomous vacuum cleaner 100 to move and traverse within an environment.

[0019] The waste bag 112 collects waste accumulated by performing the cleaning routine. The waste bag 112 may be configured to collect solid waste and / or liquid waste. In one or more embodiments, there may be two separate waste bags 112, one for solid waste and one for liquid waste. The waste bag 112 may be removably secured within the chassis 110. When the waste bag 112 is full, the autonomous vacuum cleaner 100 may alert the user to empty and / or replace the waste bag 112. In other embodiments, the waste bag 112 may remain within the chassis 110 when emptied. In such embodiments, the chassis 110 may further include a drainage channel connected to the waste bag 112 for draining collected waste. The waste bag 112 may further include an absorbent material to absorb liquid, for example, to prevent liquid from splashing out of the bag during operation of the autonomous vacuum cleaner 100.

[0020] The solvent tank 114 contains a solvent used for cleaning. The solvent tank 114 includes at least one chamber and one or more valves for dispensing the solvent from the chamber. The solvent is a chemical formulation used for cleaning. Exemplary solvents include dish detergent, soap, bleach, and other organic and / or non-organic solvents. In some embodiments, the solvent tank 114 contains a dry solvent that is mixed with water from the water tank 116 to create a cleaning solution. The solvent tank may be removable, allowing a user to refill the solvent tank 114 when it becomes empty.

[0021] The water tank 116 stores water used for cleaning. The water tank 116 includes at least one chamber and one or more valves for dispensing water from the chamber. The water tank 116 may be removable, allowing a user to refill the water tank 116 when it is empty. In one or more embodiments, the water tank 116 includes a valve located at the bottom of the water tank 116 when the water tank 116 is secured within the chassis 110. The weight of the water exerts a downward force, either through gravity, a spring mechanism, or some combination thereof, to keep the valve closed. To open the valve, some protrusion on the chassis 110 applies an opposing upward force that opens the valve, for example, by pushing the valve toward the interior of the chamber, exposing an outlet and allowing water to escape from the water tank 116.

[0022] The sensor system 118 may include a series of sensors to guide the operation of the autonomous vacuum cleaner 100. The sensor system 118 uses the sensor data to map the environment and determine and execute cleaning tasks to deal with various soils. The sensor system 118 is further described in FIG. 3.

[0023] The vacuum pump 120 generates a vacuum force that aids in the uptake of waste by the cleaning head 140. In one or more embodiments, to generate the vacuum force, the vacuum pump 120 may include one or more fans that rotate to rapidly move air. The vacuum force flows through the waste bag 112, through the connection assembly 130, and into the cleaning head 140.

[0024] Display 122 is an electronic display capable of displaying visual content. Display 122 may be located on top of autonomous vacuum cleaner 100. The display may be configured to notify a user regarding the operation of autonomous vacuum cleaner 100. For example, the notifications may describe operations performed by autonomous vacuum cleaner 100, error messages, service needs, or the status of autonomous vacuum cleaner 100, etc. Display 122 may be an output device, including a driver and / or a screen, that drives (e.g., provides for display) and / or reveals the display of visual information. Display 122 may include a user interface that allows a user to interact with and control the autonomous vacuum cleaner. In some embodiments, the display may additionally or alternatively include physical interface buttons along with a touch-sensitive interface. Display 122 may receive data from sensor system 118 and display the data. The data may include a representation of a view (real or virtual) of the physical environment, the path of the autonomous vacuum cleaner 100 through the environment, obstacles in the environment, and soils encountered in the environment. The data may also include alerts, analytics, and statistics about the cleaning performance of the autonomous vacuum cleaner 100 and soils and obstacles detected in the environment.

[0025] The controller 124 is a computing device configured to control the operation of the autonomous vacuum cleaner 100 using one or more processes described herein. As a computing device, the controller 124 may include one or more processors and a computer-readable storage medium for storing program code (including instructions) executable by the one or more processors. The operations of the controller 124 include operating the autonomous vacuum cleaner 100, simultaneously locating and mapping the autonomous vacuum cleaner 100, controlling the operation of the cleaning head 140, generating notifications for provision to a user via one or more output devices (e.g., the display 122, a speaker, or notifications sendable to the user's client device), performing quality checks on various components of the autonomous vacuum cleaner 100, controlling docking at the docking station 190, etc.

[0026] Controller 124 may control the movement of autonomous vacuum cleaner 100. In various embodiments, controller 124 also monitors and manages environmental mapping, sensors, detection of items and users in the environment, task lists and assignments, driving, surface detection, user interface, and other logic related to the operation of autonomous vacuum cleaner 100. Controller 124 connects to one or more motors connected to one or more wheels that may be used to move autonomous vacuum cleaner 100 based on sensor data acquired by sensor system 118 (e.g., indicating the location of soils to be addressed). Controller 124 may cause the motors to rotate the wheels forward / backward or turn to move autonomous vacuum cleaner 100 through the environment. Based on the detection of surface types by sensor system 118, controller 124 may modify or alter the operation of autonomous vacuum cleaner 100.

[0027] The controller 124 of the actuator assembly 138 may also control cleaning operations, which may include rotating the brush roller, positioning or orienting the cleaning head 140 via the actuator assembly 138, controlling solvent dispersion, activating the vacuum pump 120, monitoring the sensor system 118, and any combination of other functions of the autonomous vacuum cleaner 100.

[0028] In controlling the rotation of the brush roller, the controller 124 may connect to one or more motors (e.g., sweeping motor 146, mopping motor 150, and side brush motor 156) located at the ends of the brush roller. The controller 124 may use the motors to switch the rotation of the brush roller between forward rotation, reverse rotation, or no rotation. In some embodiments, the brush roller may be connected to the cleaning head 140 enclosure via a rotating assembly that includes one or more direct drive, geared, or belted drive assemblies that each connect to a motor to control the rotation of the brush roller. The controller 124 may rotate the brush roller based on the direction needed to clean soils or move components of the autonomous vacuum cleaner 100.

[0029] In some embodiments, sensor system 118 may determine the amount of pressure needed to clean the dirt (e.g., higher pressure for dirt than for spills), and controller 124 may alter the rotation of the brush rollers to match the determined pressure. In some examples, controller 124 may be coupled to load cells on each brush roller that are used to detect the pressure applied by the brush roller. In another example, sensor system 118 may determine the amount of current needed to rotate each brush roller at a set revolutions per minute (RPM), which may be used to determine the pressure applied by the brush roller. Sensor system 118 may also determine whether autonomous vacuum cleaner 100 can accommodate expected movement (e.g., whether a brush roller is clogged) and, if not, adjust its rotation via controller 124. Thus, sensor system 118, in a feedback control loop, may optimize the load applied by each brush roller to improve cleaning efficiency and mobility within an environment. The controller 124 may further control the combination of the spray 152, the liquid channel 134, the solvent tank 114, the water tank 116, and may control the distribution of solvent during the cleaning operation by switching the vacuum pump 120 on and off (operating state).

[0030] The autonomous vacuum cleaner 100 is powered by an internal battery 126. The battery 126 stores and supplies power for the autonomous vacuum cleaner 100. In some embodiments, the battery 126 may include multiple batteries that charge specific components of the autonomous vacuum cleaner 100. The battery 126 may implement a battery optimization scheme to efficiently distribute power among the various components. The battery 126 may be rechargeable and may be charged when the autonomous vacuum cleaner 100 is docked in a docking station 190.

[0031] The docking station 190 may be connected to an external power source to power the battery 126. The external power source may include a household power source and one or more solar panels. The docking station 190 may also include processing, memory, and communication computing components that may be used to communicate (e.g., via wired or wireless communication) with the autonomous vacuum cleaner 100 and / or a cloud computing infrastructure. These computing components may be used for firmware updates and / or maintenance status communication. The docking station 190 may also include other components, such as a cleaning station for the autonomous vacuum cleaner 100. In some embodiments, the cleaning station includes a solvent tray into which the autonomous vacuum cleaner 100 may spray solvent and roll the roller 144 or side brush roller 154 for cleaning. In other embodiments, the autonomous vacuum cleaner may discharge the waste bag 112 into a container located on the docking station 190 for removal by the user.

[0032] The connection assembly 130 is a rigid body that connects the cleaning head 140 to the chassis 110. A four-bar linkage may couple the cleaning head 140 to the connection assembly 130. In some embodiments, the connection assembly 130 includes a dry matter channel 132, one or more liquid channels 134, one or more pressure sensors 136, and an actuator assembly 138. Channels generally refer to either dry matter channels or liquid channels. The connection assembly 130 may include additional, fewer, or different components than those listed herein. For example, one or more sensors of the sensor system 118 may be disposed on the connection assembly 130.

[0033] The dry matter channel 132 is a conduit for transporting dry waste from the cleaning head 140 to the waste bag 112. The dry matter channel 132 is fairly large in diameter to accommodate the movement of most household waste.

[0034] One or more liquid channels 134 are conduits for transporting liquid between the cleaning head 140 and the chassis 110. There is at least one liquid channel 134 (liquid waste channel) that transports liquid waste from the cleaning head 140 to the waste bag 112. In some embodiments, the liquid channel 134 that transports liquid waste may be smaller in diameter than the dry matter channel 132. In such embodiments, the autonomous vacuum cleaner 100 sweeps (collects dry waste) before mopping (collects liquid waste). There is at least one other liquid channel 134 (liquid solution channel) that transports water, solvent, and / or cleaning solution (a combination of water and solvent) from the chassis 110 to the cleaning head 140 for distribution to the cleaning environment.

[0035] One or more pressure sensors 136 measure pressure in one or more channels. The pressure sensors 136 may be positioned at various locations along the connection assembly 130. The pressure sensors 136 provide pressure measurements to the controller 124 for processing.

[0036] The actuator assembly 138 controls the movement and position of the cleaning head 140 relative to the chassis 110. The actuator assembly 138 includes one or more actuators configured to generate linear and / or rotational motion of the cleaning head 140. Linear motion may include the vertical height of the cleaning head 140. Rotational motion may include tilting the cleaning head 140 to various angles, for example, to switch between sweeping and mopping modes, or to adjust cleaning by the cleaning head 140 based on detected feedback signals. The actuator assembly 138 may include a series of joints that help provide motion to the cleaning head 140.

[0037] The actuator assembly 138 includes one or more actuators (hereinafter referred to as actuators for simplicity) and one or more controllers and / or processors (hereinafter referred to as controllers for simplicity) that work in conjunction with the sensor system 118 to control the movement of the cleaning head 140. The sensor system 118 collects and uses sensor data to determine the optimal height for the cleaning head 140 given the surface type, surface height, and soil type.

[0038] Dirt types are the forms of dirt (or waste) in an environment, such as small debris, dust, dirt, stains, spills, etc. They also include the type of phase the dirt embodies, such as liquid, solid, semi-solid, or a combination of liquid and solid. Some examples of waste include pieces of paper, popcorn, leaves, and particulate dust. Dirt typically has a relatively small size / form factor compared to obstacles in the environment. For example, spilled dry cereal may be a dirt, but the bowl it came in would be an obstacle. Spilled liquid may be a dirt, but a glass that held the liquid may be an obstacle. However, if the glass breaks into small pieces, the glass shards would be a dirt rather than an obstacle. Furthermore, if the sensor system 118 determines that the autonomous vacuum cleaner 100 cannot properly clean the glass, the glass may again be considered an obstacle, and the sensor system 118 may send a notification to the user indicating that a dirt is present that needs cleaning. In some embodiments, the stain may be defined visually, for example, in terms of visual characteristics. In other embodiments, the stain may be defined by particle size or configuration. When defined by size, in some embodiments, the stain and obstacle may coincide. For example, small interlocking brick pieces may be the size of both a stain and an obstacle.

[0039] The actuator assembly 138 automatically adjusts the height of the cleaning head 140 given the surface type, surface height, and soil type. The surface type may be flooring used in the environment, and may include surfaces of various characteristics (e.g., texture, material, absorbency), such as carpet, wood, tile, rug, laminate, marble, vinyl, etc. In particular, the actuator controls the vertical movement and rotational tilt of the cleaning head 140. The actuator may actuate the cleaning head 140 vertically based on instructions from the sensor system 118. For example, the actuator may adjust the cleaning head 140 to a higher height if the sensor system 118 detects a thick carpet in the environment, or may adjust the cleaning head 140 to a lower height if the sensor system 118 detects a thin carpet. Additionally, the actuator may adjust the cleaning head 140 to a higher height for solid waste spills than for liquid waste spills.

[0040] The autonomous vacuum cleaner 100 may detect the height of obstacles and / or obstructions, and if the obstacle or obstruction exceeds a threshold size, the autonomous vacuum cleaner 100 may use the collected visual data to determine whether to overcome or avoid the obstacle or obstruction by adjusting the height of the cleaning head 140 using the actuator assembly 138. In some embodiments, the actuator may set the height of the cleaning head 140 to push larger debris out of the path of the autonomous vacuum cleaner 100. For example, if the autonomous vacuum cleaner 100 is blocked by a stack of books, the sensor system 118 detects the obstacle (i.e., the stack of books), the actuator moves the cleaning head 105 to the height of the lowest book, and the autonomous vacuum cleaner 100 moves the books out of the path and continues cleaning the area.

[0041] The cleaning head 140 performs cleaning operations to clean an environment. The cleaning head 140 is a rigid body that defines a cleaning cavity 142 in which a sweeping roller 144 and a mopping roller 148 are disposed. The cleaning head 140 further includes a sweeping motor 146, a mopping motor 150, a sprayer 152, a side brush roller 154, and a side brush motor 156. The cleaning head 140 may be referred to as a "roller housing." The sweeping roller 144, the mopping roller 148, and the side brush roller 154 are collectively referred to as "brush rollers." Similarly, the "brush motor" includes the sweeping motor 146, the mopping motor 150, and the side brush motor 156. In some embodiments, each brush roller may be constructed of a different material and may operate at different times and / or speeds depending on the cleaning task being performed by the autonomous vacuum cleaner 100. Cleaning head 140 may include additional, fewer, or different components than those listed herein.

[0042] The sweeping roller 144 sweeps dry waste into the autonomous vacuum cleaner 100. The sweeping roller 144 typically comprises one or more brushes (e.g., including flexible bristles, flexible fins, or other sweeping extensions) attached to a cylindrical core. The sweeping roller 144 rotates to collect and clean dirt. The sweeping roller 144 may be used to handle large particle dirt, such as food spills, or small objects, such as plastic bottle caps. When the sweeping roller 144 is activated by the sweeping motor 146, the brushes work in concert to sweep the dry waste toward the dry material inlet connected to the dry material channel 132. The brushes may be constructed of a material suitable for sweeping dry waste. In some embodiments, the sweeping roller 144 may be constructed of multiple materials for collecting various waste materials, including synthetic bristle materials, microfiber, wool, or felt.

[0043] The mopping roller 148 mops the cleaning environment and introduces liquid waste into the autonomous vacuum cleaner 100. The mopping roller 148 typically comprises fabric bristles or flexible loops attached to a cylindrical core. With the aid of cleaning fluid, the fabric bristles scrub and remove dirt, grease, or other contaminants that may be on the cleaning surface (e.g., the surface being cleaned). A mopping motor 150 provides rotational force to the mopping roller 148. In some embodiments, the mopping roller 148 may be constructed of multiple materials for collecting various waste materials, including synthetic bristle materials, microfiber, wool, or felt.

[0044] In normal sweeping mode, air flows from the dry matter channel 132 and the dry matter inlet toward the vacuum pump 120, causing the sweeping roller 144 to rotate and move dry waste from the cleaning surface toward the inlet, depositing the dry waste in the waste bag 112. In normal mopping mode, the cleaning head 140 sprays a cleaning solution (water, solvent, or solvent mixed with water) onto the cleaning environment or onto the mopping roller 148 itself. The mopping roller 148 contacts the sprayed surface and scrubs the surface with its fabric bristles. The vacuum force sucks up or captures the liquid waste, depositing it in the waste bag 112.

[0045] The side brush rollers 154 sweep debris off the sides of the cleaning head 140. The side brush rollers 154 may rotate along an axis that is perpendicular or orthogonal to the ground. The side brushes are controlled by a side brush motor 156. The side brush rollers 154 may be disk-like in shape or a radial array of bristles, which may push debris into the path of the sweeping roller 144. In some embodiments, the side brush rollers 154 are constructed of a different material than the sweeping roller 144 to handle different types of waste and dirt. The side brush rollers 154 may be hidden to minimize the profile of the cleaning head 140 when the side brush rollers 154 are not in use.

[0046] The sprayer 152 sprays liquid into the cleaning environment. The sprayer 152 is connected to the liquid solution channel 134, which is connected to the solvent tank 114 and / or the water tank 116. A pump on the chassis 110 may dispense the solvent and / or water from the solvent tank 114 and / or the water tank 116. The liquid travels to the sprayer 152, which has a nozzle for spraying the liquid into the cleaning environment. The sprayer 152 may include multiple nozzles, for example, two nozzles located on either side of the cleaning head 140.

[0047] The cleaning head 140 captures waste 170 as the autonomous vacuum cleaner 100 cleans using the sweeping roller 144 and side brush roller 154 and delivers the waste 170 to the waste bag 112. The waste bag 112 collects the waste 170, filters it from the air, and delivers the filtered air 175 out of the autonomous vacuum cleaner 100 through the vacuum pump 120 as an exhaust vent 180. The autonomous vacuum cleaner 100 may also use a solvent 160 combined with pressure from the cleaning head 140 to clean various types of surfaces. The autonomous vacuum cleaner 100 may dispense the solvent 160 from the solvent tank 114 to an area to remove contaminants such as dust, dirt, and solid waste and / or to clean liquid waste. The autonomous vacuum cleaner 100 may also dispense solvent 160 into a separate solvent tray, which may be part of a charging station (such as docking station 190) for cleaning roller 144 and side brush roller 154.

[0048] In other embodiments, any of the components of the autonomous vacuum cleaner may be variably distributed among the chassis 110, the connection assembly 130, and the cleaning head 140.

[0049] Referring now to FIG. 2, FIG. 2 shows the spatial arrangement of components of an autonomous vacuum cleaner 100 according to one illustrated embodiment. The autonomous vacuum cleaner 100 includes a cleaning head 140 (described in connection with FIG. 1) at a front 200 and a chassis 110 at a rear 205. In one embodiment, the cleaning head 140 includes a first side 265 opposing a second side 270, a front 275 opposing a rear 280, and a top 285 opposing the floor. The rear 280 of the cleaning head 140 may be coupled to the front of the chassis 110 via a connection assembly 130 (e.g., a four-bar linkage system). The connection assembly 130 may include and / or be connected to one or more actuators of an actuator assembly 138, which may control movement of the cleaning head 140 via the four-bar linkage.

[0050] The chassis 110 includes a frame, a plurality of wheels 210, a cover 220, an opening flap 230, and a display 122. The cover 220 is an enclosed hollow structure that covers a container inside the base, containing solvent and waste (e.g., in a waste bag 112). In one embodiment, the cover and / or drive system frame of the chassis 110 includes a first side 235 opposite a second side 240, a front 245 opposite a rear 250, and a top 255 opposite a bottom 260. The opening flap 230 can be opened and closed by a user to access the container (e.g., to add more solvent, remove the waste bag 112, or insert a new waste bag 112). The cover can also house a subset of sensors of the sensor system 118 and an actuator assembly 138, which can be configured on the front of the cover 220 and connected to the cleaning head 140. The display 122 is embedded in the cover 220 of the autonomous vacuum cleaner 100 and may include physical interface buttons and a touch-sensitive interface.

[0051] 3 is a block diagram of the sensor system 118 of the autonomous vacuum cleaner 100 according to one example embodiment. The sensor system 118 may receive sensor data from one or more cameras (video / visual), microphones 330 (audio), LIDAR sensors, infrared (IR) sensors, and / or inertial sensors that capture inertial data (e.g., environmental ambient data or environmental sensor data) about the environment for cleaning. The sensor system 118 uses the sensor data to map the environment and determine and execute cleaning tasks to address various soilings. The controller 124 manages the operation of the sensor system 118 and its various components. The controller 124 may communicate with one or more client devices 310 via the network 300 to transmit sensor data, alert a user to soiling, or receive cleaning tasks to add to a task list.

[0052] Network 300 may comprise any combination of local area networks and / or wide area networks using wired and / or wireless communication systems. In one embodiment, network 300 uses standard communication technologies and / or protocols. For example, network 300 includes communication links using technologies such as Ethernet, 802.11 (WiFi), Wireless Maximum Access (WiMAX), 3G, 4G, 5G, Code Division Multiple Access (CDMA), Digital Subscriber Line (DSL), Bluetooth, Near Field Communication (NFC), Universal Serial Bus (USB), or any combination of protocols. In some embodiments, all or some of the communication links of network 300 may be encrypted using any suitable technology or technologies.

[0053] The client devices 310 are computing devices that can receive user input as well as send and / or receive data over the network 300. While only two client devices 310 (i.e., 310A and 310B) are shown in FIG. 3 , in some embodiments, more or fewer client devices 310 can be connected to the autonomous vacuum cleaner 100. In one embodiment, the client devices 310 are traditional computer systems, such as desktop or laptop computers. Alternatively, the client devices 310 can be devices with computing capabilities, such as personal digital assistants (PDAs), mobile phones, smartphones, tablets, Internet of Things (IoT) devices, or other suitable devices. The client devices 310 are configured to communicate over the network 300. In one embodiment, the client devices 310 run applications that allow a user of the client device 310 to interact with the sensor system 118, such as viewing sensor data, receiving alerts, configuring cleaning settings, adding cleaning tasks to a list of tasks to be completed by the autonomous vacuum cleaner 100, and so forth. For example, client device 310 executes a browser application with an application programming interface (API) that enables interaction between client device 310 and autonomous vacuum cleaner 100 over network 300. In another embodiment, client device 310 interacts with autonomous vacuum cleaner 100 through an application running on client device 310's native operating system, such as iOS® or ANDROID™.

[0054] In some embodiments, the sensor system 118 includes a camera system 320 , a microphone 330 , an inertial measurement unit (IMU) 340 , a glass detection sensor 345 , a LIDAR sensor 350 , and a light 355 .

[0055] Camera system 320 comprises one or more cameras that capture visual data (e.g., in the form of images and / or video signals) about the environment. In some embodiments, camera system 320 includes an IMU (separate from IMU 340 of sensor system 118) for capturing visual inertial data relative to the cameras. The visual data captured by camera system 320 may be used for image processing.

[0056] The microphone 330 captures audio data by converting sound into electrical signals, which may be stored or processed by other components of the sensor system 118. The audio data may be processed to identify voice commands to control functions of the autonomous vacuum cleaner 100. In one embodiment, the sensor system 118 uses multiple microphones 330, such as an array of microphones.

[0057] The IMU 340 captures inertial data that describes the forces, angular velocity, and orientation of the autonomous vacuum cleaner 100. The IMU 340 may include one or more accelerometers, gyroscopes, and / or magnetometers. In some embodiments, the sensor system 118 uses multiple IMUs 340 to capture a set of inertial data that can be combined to determine a more accurate measurement of the position of the autonomous vacuum cleaner 100 within an environment.

[0058] Glass detection sensor 345 detects glass in the environment. Glass can be a transparent material that is tinted, leaded, laminated, etc., and can be part of furniture, flooring, or other objects in the environment (e.g., cups, mirrors, candlesticks, etc.). Glass detection sensor 345 can be an infrared sensor and / or an ultrasonic sensor. In some embodiments, glass detection sensor 345 is coupled to camera system 320 to remove glitter from the visual data when glass is detected. For example, camera system 320 can have an integrated polarizing filter that can be applied to the camera of camera system 320 to remove glitter. In some embodiments, the glass sensor is a combination of an IR sensor and a neural network that determines whether an obstacle in the environment is transparent (e.g., glass) or opaque.

[0059] The LIDAR sensor 350 emits pulsed light into the environment and detects reflections of the pulsed light on objects in the environment (such as obstacles or obstructions). The LIDAR data captured by the LIDAR sensor 350 can be used to determine a 3D representation of the environment.

[0060] Lights 355 are one or more illumination sources that may be used by autonomous vacuum cleaner 100 to illuminate the area around autonomous vacuum cleaner 100. In some embodiments, the lights may be LEDs, for example, having a static color such as white or green, or a changing color (green when moving, red for stopped, yellow to indicate slowing down, etc.). Exemplary Magnetic Separate Ground Interactions The actuator assembly 138 can move the cleaning head between a first sweeping (or patrol) position and a second mopping position. In particular, the cleaning head 140 and connection assembly 130 are configured with a four-bar linkage system and pivot axis connecting the cleaning head 140 to the base plate, allowing limited vertical and tilting movement of the cleaning head 140. This arrangement means that when the autonomous vacuum cleaner 100 moves forward during sweeping, forces on the cleaning head can cause the cleaning head to tilt back and forth between the mopping and sweeping positions. The arrangement also makes mopping difficult because the cleaning head 140 tilts instead of performing a scrubbing action when moved back and forth.

[0061] To address this issue, one or more sets of magnets are used: one magnet attached to the base plate of the chassis 110 and another attached to the back tube of the cleaning head 140, allowing the cleaning head to be magnetically secured in place during mopping operations. This configuration keeps the mopping roller 148 exposed to the floor surface as the autonomous vacuum cleaner 100 moves back and forth during mopping, allowing for a scrubbing action and improved cleaning of stubborn dirt and grime that may cling to the floor.

[0062] 4 shows a side view of the cleaning head 140 and its attachment to the chassis 110 of the autonomous vacuum cleaner 100, according to one exemplary embodiment. The cleaning head 140 includes a sweeping roller 144 and a mopping roller 148. The bottom of the cleaning head 140 comprises two surfaces that converge at an obtuse angle. The first surface 420 includes a first opening 425 through which the sweeping roller 144 is exposed to the floor surface. In one embodiment, the first opening 425 extends across the first surface 420 from the first side 265 of the cleaning head 140 to the second side 270 of the cleaning head 140. The second surface 435 includes a second opening 440 through which the mopping roller 148 is exposed to the floor surface. In one embodiment, the second opening 440 extends across the second surface 435 from the first side 265 of the cleaning head 140 to the second side 270 of the cleaning head 140. The first surface 420 and the second surface 435 are angled away from each other to allow either the sweeping roller 144 or the mopping roller 148 to engage the floor without having both rollers exposed to the floor surface at the same time.

[0063] The cleaning head 140 may include a pivot point 445. The pivot point 445 is the point about which the cleaning head 140 will rotate and pivot due to the weight of the cleaning head 140 components and the back tube 410 and frictional forces generated when the cleaning head engages a floor surface. When the cleaning head 140 is tilted forward about the pivot point 445, the first surface 420 is approximately parallel to the floor surface, engaging the sweeping roller 144 with the floor surface. When the cleaning head 140 is tilted backward about the pivot point 445, the second surface 435 is approximately parallel to the floor surface, engaging the mopping roller 148 with the floor surface. In some embodiments, one of the four-bar linkages of the connection assembly 130 includes a pin assembly extending from the first side 265 to the second side 270 of the cleaning head at the pivot point 445, and the cleaning head may tilt about the pin assembly. As the cleaning head 140 tilts forward or backward about the pivot point, it encounters hard stops against one of the four-bar linkages in each direction, causing the forward or backward tilt to stop.

[0064] In some embodiments, the back tube may include wires, water tubes, snorkel ducts, sweep ducts, and pressure tubes that extend therethrough and connect components of the cleaning head 140 to components of the drive system and the chassis 110. In some embodiments, the wires, water tubes, sweep ducts, snorkel ducts, and pressure tubes are positioned such that they add beneficial resistance to movement of the cleaning head about the pivot point.

[0065] One or more back-tube magnets 455 are attached to the exterior of the back tube 410, on the rear side of the cleaning head 140. In some embodiments, the back-tube magnets 455 may instead be attached to the rear 280 of the cleaning head 140. For this reason, the back-tube magnets 455 may also be referred to as "cleaning head magnets." One or more base plate magnets 450 are attached to the base plate 405 of the chassis 110. The back-tube magnets 455 are positioned to align with corresponding base plate magnets 450. In some embodiments, the magnet surfaces may have a coating, film, or thin enclosure that reduces friction and wear to protect the magnets and aid component interaction. Furthermore, the magnets may be configured with any suitable shape, material configuration, and pole arrangement to meet the force and motion requirements associated with securing the cleaning head 140 in a mopping position. The magnets are positioned such that when the cleaning head 140 is tilted forward in the mopping position, the poles of the back tube magnet 455 and the corresponding poles of the base plate magnet 450 are not within range of each other, resulting in a magnetic force securing the two magnets together. However, when the cleaning head 140 is tilted backward in the mopping position, the poles of the back tube magnet 455 are within range of the corresponding poles of the base plate magnet 450, and the magnetic force will secure the two magnets together. The magnets may be configured such that they are secured to each other using magnetic adhesion and / or magnetic shear forces. In some embodiments, the force securing the cleaning head in the mopping position may be primarily magnetic shear forces or may be magnetic adhesion forces.

[0066] At the sweeping and patrolling heights of the cleaning head 140, the position of the back tube magnet 455 relative to the base plate magnet 450 is such that their poles are not close enough to be significantly attracted to each other by magnetic force. However, during the mopping state, the cleaning head 140 is lowered within a certain range, and as the cleaning head 140 initially tilts backward, the attractive poles of the back tube magnet 455 come close enough to the corresponding attractive poles of the base plate magnet 450, and the magnetic force tightly attracts the magnets together. This magnetic force therefore secures the cleaning head 140 in a backward-tilted mopping position, with some tolerance for changing height in the case of uneven floor surfaces. By the force of the actuator assembly 138, the back tube magnet 455 and the base plate magnet 450 can be pulled away from each other, raising the cleaning head 140 to a position in the sweeping state where the magnets are no longer close enough to be attracted to each other. That is, the back tube magnet 455 and base plate magnet 450 are positioned such that they can be disengaged by retraction of the actuator assembly 138. Additional information regarding the movement of the back tube magnet 455, base plate magnet 450, and cleaning head 140 is included in the description of Figures 6 and 7.

[0067] 5 is a top and rear perspective view of the cleaning head 140 according to one example embodiment. The figure shows the placement of a base plate magnet 450 that can be securely attached to the base plate 405 of the chassis 110. The base plate magnet 450 is exposed at the front of the chassis 110 and oriented so that its attracting pole faces substantially upward. A corresponding back tube magnet 455 is securely attached to the back tube 410 of the cleaning head 140. The back tube magnet 455 is exposed at the rear exterior of the back tube 410 and oriented so that its attracting pole, which corresponds to the attracting pole of the base plate magnet 450, faces substantially downward and is aligned with the attracting pole of the base plate magnet 450.

[0068] 6 is a diagram showing components of the autonomous vacuum cleaner 100 in a first sweeping state, according to one example embodiment. When the autonomous vacuum cleaner 100 is performing sweeping and patrol operations within an environment, the cleaning head 140 of the autonomous vacuum cleaner may be raised vertically by the actuator assembly 138 (e.g., by reeling in the cable). Raising the back tube 410 of the cleaning head 140 causes the cleaning head 140 to tilt or rotate forward about the pivot point 445, causing the first surface 420 of the cleaning head 140 to be approximately parallel to the floor surface 600 and the sweeping roller 144 to be exposed to the floor surface 600. The cleaning head 140 may be tilted forward by the weight of the internal components and / or the frictional forces of moving the cleaning head forward along the floor surface 600.

[0069] 6 represents the location around which the components of the cleaning head 140 tend to rotate due to the distribution of mass in the various components. In some embodiments, the pivot point 445 may be an axis attached to the chassis 110 at one or both ends around which the cleaning head 140 may pivot.

[0070] In the raised position (e.g., the height associated with the first sweep or patrol state), the back tube magnet 455 and the base plate magnet 450 are not positioned close enough together that the magnetic force between them causes the magnets to engage each other.

[0071] 7 is a diagram showing components of the autonomous vacuum cleaner 100 in a second mopping state, according to one example embodiment. The cleaning head 140 of the autonomous vacuum cleaner 100 may be lowered vertically by the actuator assembly 138 (e.g., by unwinding or winding a cable that may be wound on a spool). At a height of the cleaning head 140 associated with mopping, forward movement of the autonomous vacuum cleaner 100 by the drive system initiates a backward tilt of the cleaning head 140 about the pivot point 445. The tilt of the cleaning head 140 may be caused by frictional forces between the cleaning head 140 and the floor surface 600.

[0072] The back tube magnet 455 and the base plate magnet 450 are positioned such that when the cleaning head 140 is lowered into the mopping position and tilted backward, their magnetic surfaces are close enough to attract each other with sufficient magnetic force to lock them together. The base plate magnet 450 and the back tube magnet 455 are attracted together with sufficient magnetic force to hold the drive system base plate 405 and the cleaning head 140 together during mopping operations. Securing the cleaning head 140 in a tilted-back position with a magnet allows the autonomous vacuum cleaner 100 to move back and forth across the floor surface 600 without frictional forces causing the cleaning head 140 to tilt with each movement. Locking the cleaning head in the mopping position therefore allows the autonomous vacuum cleaner 100 to perform a scrubbing action with the mop, as well as mop in a forward direction.

[0073] The back-tube magnet 455 and base plate magnet 450 have a strong enough magnetic attraction to hold the cleaning head 140 in place during mopping operations; in one embodiment, weight from the cleaning head 140, spring extension of the duct, normal contact with the floor, and frictional sliding between the cleaning head 140 and the floor surface all impart forces to the cleaning head during operation. Therefore, the minimal attractive force from the back-tube magnet 455 to the base plate magnet 450 in the direction of movement (e.g., rotation about the cleaning head pivot creating shear motion between the magnets) must be sufficient to overcome forces from other components in the system. At the same time, the magnetic attraction between the back-tube magnet 455 and base plate magnet 450 is weak enough that the magnets can be disengaged to separate by the force of the actuator assembly 138, raising the back tube 410 to a higher mopping position. In one exemplary embodiment, the actuator assembly 138 pulls upward on the system, releasing the back tube magnet 455 from the latched position (i.e., magnetically secured position) and returning it to the mopping position. The ability to hold the back tube magnet 455 in the latched position with the base plate magnet 450 defines a lower limit of the allowable magnetic force. The force provided by the actuator system 138 to switch from the mopping position defines an upper limit of the allowable magnetic force. The magnetic force in the system must be selected between these two limits, and in one embodiment, the system's nominal latch magnet has a maximum shear attractive force of 900 grams.

[0074] 8 is a side view of the cleaning head 140 showing the magnet placement when the cleaning head 140 is in the sweeping state, according to one example embodiment. The base plate magnet 450 and the back tube magnet 455 are not positioned close enough together so that the magnetic poles are held together by magnetic force when the cleaning head 140 is in the raised, sweeping position. Thus, given the distance between the magnetic poles of the base plate magnet 450 and the back tube magnet 455, the magnetic field is not sufficient to attract the magnets 450, 455 together, which in turn adjusts the position of the cleaning head 140 to the sweeping state.

[0075] 9 is a side view of the cleaning head 140 showing the magnet placement when the cleaning head 140 is in the mopping state, according to one example embodiment. The base plate magnet 450 and the back tube magnet 455 are positioned such that, in the lowered mopping position, the poles of the magnets are aligned and close enough to be secured together by the magnetic attraction between them. Thus, the distance between the poles of the base plate magnet 450 and the back tube magnet 455 is now large enough that the magnetic field is strong enough to bring the magnets 450, 455 together, in turn adjusting and securing the position of the cleaning head 140 in the mopping state. Snorkel Duct The autonomous vacuum cleaner 100 includes a sweeping system and a mopping system, both implemented in the cleaning head 140. The sweeping system primarily sucks in air and dry waste, such as dirt (often small dirt particles like dust). The mopping system primarily sucks in air and liquid waste (such as dirty water and used cleaning fluid). Problems can arise when both dry dirt and liquid travel through the same ducts from the cleaning head 140 to the waste bag 112.

[0076] First, different types of waste require different power settings and suction configurations to efficiently transfer the liquid from the floor surface 600 to the waste bag 112. Fluid from the mopping roller 148 of the cleaning head 140 is primarily carried upstream along the duct walls in a thin film due to viscous drag created by the flowing air. In systems using a single duct to remove both dry and wet debris, transporting fluid in this manner requires high air velocities and high vacuum speed settings, which can be noisy and result in high power draws. Furthermore, ducts for removing dry waste are often designed to be expandable and have rough internal structures that can prevent airflow from easily transferring liquid to the waste bag 112. These same features can also retain liquid and allow it to drip onto the cleaning head 140 when the vacuum cleaner 100 is not in use.

[0077] Second, the removal of liquid during mopping can cause the removal duct to become wet: when dry debris from the sweeping system interacts with the liquid collected during mopping, a slurry forms in the duct, which can lead to blockages.

[0078] Therefore, it is advantageous to separate the wet and dry waste streams during the suction process, which in some embodiments are later recombined into a single waste bag 112.

[0079] FIG. 10 is a perspective top view of the cleaning head 140 of the autonomous vacuum cleaner 100, showing the snorkel duct, according to one exemplary embodiment. FIG. 10 shows the cleaning head 140, a main duct 1020, and two snorkel ducts 1010. The main duct 1020 extends from the rear of the cleaning head 140 and is configured to receive dry debris collected by the sweeping roller 144 and transport the dry debris to the waste bag 112 via the suction system. The autonomous vacuum cleaner 100 also includes one or more snorkel ducts 1010. The snorkel ducts 1010 extend from the rear of the cleaning head 140 and are configured to receive wet debris and liquid from the mopping roller 148. The snorkel ducts 1010 are used to transport the wet debris and liquid to the waste bag 112 via the suction system.

[0080] The snorkel duct 1010 can be one or more flexible elastomeric tubes with smooth walls. The snorkel duct 1010 is sized and routed to flex and collapse its cross-section to block fluid intake when the cleaning head 140 is not engaged in a mopping action. In some embodiments, the total cross-sectional area of ​​the snorkel duct 1010 is smaller than the cross-sectional area of ​​the main duct 1020. This size increases the air velocity within the snorkel duct 1010 and therefore also increases the drag force on the water film within the snorkel duct 1010. The greater drag force on the water film within the snorkel duct allows a lower vacuum speed (and therefore lower power consumption) to be used to move the liquid to the waste bag 112.

[0081] In one embodiment, the snorkel system is designed with two snorkel ducts 1010 that are separate from the main duct 1020. The ratio of the inner diameter of the main duct 1020 to the inner diameter of the snorkel duct 1010 ranges from 10:1 to 1:1. The snorkel duct 1010 comprises a flexible elastomeric tube with an inner diameter ranging from 4 millimeters (mm) to 25 mm and an inner diameter to wall thickness ratio ranging from 1:1 to 1:25. The snorkel duct 1010 has smooth walls in some embodiments, and in some cases, the snorkel duct 1010 may have one or more tight (zero bend radius) sections along the path of the wet debris. The dimensions and paths of the snorkel ducts 1010 are designed so that a particular actuation action by the autonomous vacuum cleaner 100 (e.g., raising the cleaning head 140) will initiate a bend in at least one location in each snorkel duct 1010, blocking or partially blocking the opening of the duct and preventing the inhalation of dry debris into the snorkel duct 1010 during the sweeping operation. In some embodiments, there may be a surface, edge, and / or point proximate to the snorkel duct 1010 that is positioned to help initiate the bend in the snorkel duct 1010 when the cleaning head is raised to the sweeping position.

[0082] 11 is a rear view of the cleaning head 140. In one embodiment, the rear portion 280 of the cleaning head 140 includes a snorkel duct outlet 1110 and a main duct outlet 1120. The main duct outlet 1120 is an opening configured to connect a first end of the main duct 1020 to the cleaning head 140. The main duct outlet 1120 opens to the sweeping roller 144 to facilitate suction and transfer of dry debris and material from the sweeping roller 144, through the main duct outlet 1120, and into the waste bag 112. The rear portion 280 of the cleaning head 140 also includes one or more snorkel duct outlets 1110. The snorkel duct outlets 1110 are openings configured to connect a first end of the snorkel duct 1010 to the cleaning head 140. The snorkel duct outlet 1110 opens into the mopping roller 148 portion of the cleaning head 140 and facilitates the suction and transfer of liquid from the mopping roller 148, through the snorkel duct 1010, and into the waste bag 112.

[0083] FIG. 12 is a side view of the cleaning head 140 showing the snorkel duct 1010 during a mopping operation. When the cleaning head 140 is lowered to the mopping position and secured by the attractive force of the base plate magnets 450 and back tube magnets 455, the snorkel duct 1010 opens, allowing fluid to flow unimpeded through the snorkel duct and into the waste bag 112. The snorkel duct 1010 is dynamically affected by the vertical deflection and movement of the cleaning head 140 as it transitions from the sweeping state to the mopping state. As the cleaning head 140 with its magnet system moves up and down, it imparts a simultaneous movement to the snorkel duct 1010, which can cause the snorkel duct 1010 to bend open and close. The snorkel duct 1010 is sized to open 50%-100% of its cross section during a mopping operation. Wet debris 1200 exiting the mopping roller 148 is directed along the snorkel duct 1010 where it may be recombined 1210 with other collected debris, liquids, and particles within the waste bag 112 .

[0084] 13 is a side view of the cleaning head 140, showing the snorkel duct 1010 during a sweeping or patrol operation. Similar to the act of lowering the cleaning head 140, raising the cleaning head 140 to the mopping position affects the cross-sectional area of ​​the snorkel duct 1010 by releasing the attractive force between the base plate magnet 450 and the back tube magnet 455 that secures the cleaning head 140 in the mopping position. In particular, raising the cleaning head 140 to the mopping position causes the snorkel duct 1010 to bend 1300. When the snorkel duct 1010 is bent, some wet debris may exit the cleaning head 1200 but will not reach the waste bag 112 because the bend completely or partially blocks the air and debris pathway, preventing suction through the snorkel duct 1010. The snorkel duct 1010 is sized so that the bend 1300 reduces the open cross-sectional area by 50%-100%. In some embodiments, there may be faces, edges, and / or points near the snorkel duct 1010 positioned to help initiate the bend in the snorkel duct 1010. Cleaning logic of the mopping system The autonomous vacuum cleaner 100 includes cleaning logic routines that control the saturation level of the mopping rollers and detect problems with various rotating parts such as the mopping roller 148, the side brush roller 154, and the sweeping roller 144. Within the routines, sensor data obtained by the sensor system 118 is interpreted periodically or continuously to determine the optimal next course of action for the autonomous vacuum cleaner 100.

[0085] FIG. 14 is a flowchart illustrating a process for detecting the presence of a rotating component, according to one example embodiment. The rotating component presence detection routine may be executed by the controller 124 in conjunction with inputs detected and processed by the sensor system 118 and / or input data received from the rotating components themselves. The rotating component presence detection routine performs start-up and continuous checks to determine whether the sweeping roller 144, the mopping roller 148, or the side brush roller 154 are disengaged. The start-up check may be performed once at the beginning of a cleaning routine and may involve driving each of these rotating components at a predetermined duty setting (1410). The predetermined duty setting may be configured to maximize a measurable difference in the component's current draw and / or rotational speed when the component is present and when it is not. While the rotating components are driven, the sensor system 118 records data regarding the current draw and / or rotational speed associated with the rotating components (1420). In one embodiment, the sensor system 118 may smooth (1430) the recorded data, for example, by calculating a rolling average (e.g., over 1-3 seconds) of the data received from the rotating components. Then, during the cleaning operation, the sensor system 118 monitors the current draw and / or rotational speed associated with the rotating components and smooths the received data with the rolling average. The controller 124 compares (1450) the data received during the cleaning operation with the initial data collection. In response to detecting a difference in the comparison, the controller 124 may stop (1460) the cleaning operation of the autonomous vacuum cleaner 100 and alert the user to identify and replace the missing rotating component. That is, during the cleaning itself, the routine continuously monitors the current draw and / or rotational speed from the rotating components, smooths these data with a rolling average, and compares the rolling average to criteria consistent with a missing rotating component (e.g., low current draw, high rotational speed).

[0086] FIG. 15 is a flowchart illustrating a process for detecting a jammed rotating component according to one example embodiment. The routine for detecting a jammed rotating component may be executed by the controller 124 in conjunction with inputs detected and processed by the sensor system 118 and / or input data received from the rotating components themselves. The sweeping roller 144, the mopping roller 148, and the side brush roller 154 are rotated by separate motors and drivers. The jam detection routine continuously acquires and monitors (1410) the current draw and / or rotational speed reported by the motor drivers during cleaning operations. These data may be smoothed by generating (1420) a rolling average over the observation period. The smoothed data is then compared (1430) to a threshold reference value, which may be a preset value associated with an indication that a jammed rotating component is present. For example, the threshold reference value may be higher than normal current draw, indicating that the motor is exerting excessive force to move a jammed rotating component. The threshold criteria may be different for each of the rotating components of the autonomous vacuum cleaner 100, and there may be multiple values ​​associated with a clog for any one rotating component. If the threshold criteria indicating a clog are met, the controller 124 may initiate a jam-clearing procedure, including a sequence of reverse rotation 1440, vacuum speed adjustment, and head height adjustment 1450, before returning to normal operation. The jam-clearing sequence may be unique for each rotating component. In some embodiments, if several consecutive jams are detected in the same rotating component and the detected current draw and / or rotation speed for that component do not improve after the jam-clearing sequence, the controller 124 stops cleaning operations and sends a warning to the user to check the autonomous vacuum cleaner 100 for a jam.

[0087] 16 is a flowchart illustrating a process for controlling saturation of the mopping roller 145, according to one example embodiment. This routine may be executed by the controller 124 in conjunction with inputs detected and processed by the sensor system 118 and / or input data received from rotating components. The routine uses a technique for pre-setting the solvent pump flow rate depending on how wet or dry the mopping roller 148 is prior to the start of a mopping operation. This prevents an already saturated mopping roller 148 from becoming over-saturated (resulting in dripping) and maximizes the rate at which a dry mopping roller 148 can become saturated and ready for cleaning. The sensor system 118 continuously monitors and acquires (1310) current draw and / or rotational speed data from the mopping roller 148 and generates (1320) a rolling average to smooth the acquired data for an initial period (e.g., the first 20 seconds) of the mopping operation. The controller 124 determines (1330) a value representing torque draw in the mopping roller system, where the torque draw value represents the saturation of the mopping roller 148 (e.g., because a more saturated mopping roller 148 is lubricated and therefore easier to turn than a fluffy, dry mopping roller). The controller then sets (1340) an appropriate solvent pump speed to increase or decrease the amount of solvent dispensed depending on the torque draw value. After this initial period, steady-state saturation is achieved in the mopping roller 148.

[0088] FIG. 17 is a flowchart illustrating a self-drying process for the mopping roller according to one example embodiment. This routine may be executed by the controller 124 in conjunction with inputs detected and processed by the sensor system 118 and / or input data received from the rotating components. The mopping roller 148 is wet during normal operation, and it is desirable to dry it as much as possible before the autonomous vacuum cleaner 100 performs a sweeping sequence, charges, or otherwise becomes inactive. Thus, at the end of a mopping operation, the autonomous vacuum cleaner may perform a sequence of operations to briefly rinse the mopping roller 148 with water before performing a drying sequence. In some embodiments, the drying sequence may take 20-60 seconds to complete. The controller activates (1310) the solvent pump at a high flow rate to dispense solvent to the mopping roller 148 and also increases (1320) the vacuum speed. Simultaneously, the controller rotates the mopping roller 148 back and forth (1330) by repeatedly rotating the rotating parts of the mopping roller 148, scrubbing and scrubbing the mopping roller 148. In one embodiment, this may involve rubbing the mopping roller 148 against a wringer component without introducing new debris from the environment. The controller then turns off the solvent pump (1340), stopping the dispensing of solvent. The vacuum continues (1350) at a high speed to remove excess solvent from the mopping roller, and rotates the mopping roller 148 back and forth (1360) by repeatedly rotating the rotating parts of the mopping roller 148, drying the mopping roller 148 until it is drier.

[0089] FIG. 18 is a flowchart illustrating a self-cleaning process for a mopping roller according to one example embodiment. The routine may be executed by the controller 124 in conjunction with inputs detected and processed by the sensor system 118 and / or input data received from the rotating components themselves. The controller 124 of the autonomous vacuum cleaner system records (1310) the time spent by the system performing tasks in different cleaning states, such as a sweeping state and a mopping state. That is, the controller may record the total elapsed execution time of the components of the autonomous vacuum cleaner 100 (e.g., the execution time of different motors). The controller 124 uses the total elapsed usage data to determine (1320) an estimated soiling value associated with the mopping roller 148. In particular, the controller 124 may use collected information about the total time spent performing mopping operations combined with empirical data regarding the rate of dirt accumulation within the mopping system to generate an estimate of the degree of soiling. If the soiling estimate exceeds a predetermined soiling value for the mopping roller 148, the controller 124 executes 1330 a cleaning procedure to clean the mopping roller 148. The cleaning procedure may include running the solvent pump and vacuum at a high setting while periodically switching the direction of rotation of the mopping roller 148. This action is applied for 30-600 seconds to rinse and scrub the mopping roller 148. In some embodiments, the self-cleaning routine also accesses the sensor system 118 to determine if there is enough solvent available in the solvent tank to complete the cleaning process.

[0090] Additional Considerations The foregoing description of embodiments of the present invention has been presented for purposes of illustration and is not intended to be exhaustive or to limit the invention to the precise form disclosed. Those skilled in the relevant art will recognize that many modifications and variations are possible in light of the above disclosure.

[0091] Some portions of this description will describe embodiments of the invention in terms of algorithms and symbolic representations of operations on information. These algorithmic descriptions and representations are commonly used by those skilled in the data processing arts to effectively convey the substance of their work to others skilled in the art. While these operations are described functionally, computationally, or logically, it will be understood that they are implemented by computer programs or equivalent electrical circuits, microcode, or the like. Further, without loss of generality, it has also proven convenient at times to refer to arrangements of these operations as modules. The described operations and their associated modules may be implemented in software, firmware, hardware, or any combination thereof.

[0092] Any of the steps, operations, or processes described herein may be performed or implemented using one or more hardware or software modules, alone or in combination with other devices. In one embodiment, the software modules are implemented in a computer program product comprising a computer-readable medium containing computer program code, which may be executed by a computer processor to perform any or all of the steps, operations, or processes described. Embodiments of the present invention may also relate to apparatus for performing the processes herein. This apparatus may be specially constructed for the required purposes and / or it may comprise a general-purpose computing device selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored on a non-transitory, tangible, computer-readable storage medium or any type of medium suitable for storing electronic instructions, which may be coupled to a computer system bus. Furthermore, any computing system referred to herein may include a single processor or may be an architecture employing a multiple processor design for increased computing power.

[0093] Embodiments of the present invention may also relate to products produced by the computing processes described herein. Such products may include information resulting from the computing processes, where that information is stored on a non-transitory, tangible computer-readable storage medium, and may include any embodiment of a computer program product or other data combination described herein.

[0094] Finally, the language used in this specification has been chosen primarily for purposes of readability and explanation, and not to delineate or limit the subject matter of the invention. Accordingly, it is intended that the scope of the invention be limited not by this detailed description, but rather by any claims that issue in this application based upon this specification. Accordingly, the disclosure of embodiments of the invention is intended to be illustrative, but not limiting, of the scope of the invention, which is set forth in the following claims.

Claims

1. An autonomous vacuum cleaner, the autonomous vacuum cleaner comprising:

1. A drive system comprising a motor and a drive assembly, the drive system further comprising: a body enclosure having a first side opposite a second side, a front opposite a rear, and a top opposite a bottom substantially parallel to the cleaning surface; a base plate attached to the bottom of the main enclosure; the drive system comprising: one or more base plate magnets fixedly attached to the base plate and having magnetic poles exposed at the front portion of the body enclosure; a cleaning head configured to engage the cleaning surface, the cleaning head comprising: a cleaning head enclosure having a first side opposite a second side, a front opposite a rear, and a top opposite the cleaning surface; a first cleaning surface of the cleaning head enclosure, the first cleaning surface being connected to the front portion of the cleaning head enclosure and extending diagonally rearward and downward from the front portion of the cleaning head enclosure; a second cleaning surface of the cleaning head enclosure, the second cleaning surface being connected to the rear portion of the cleaning head enclosure and extending diagonally forward and downward from the rear portion of the cleaning head enclosure and intersecting the first cleaning surface of the cleaning head enclosure at an obtuse angle; a first opening in the first cleaning surface, the first opening extending from the first side of the cleaning head enclosure to the second side of the cleaning head enclosure; a second opening in the second cleaning surface, the second opening extending from the first side of the cleaning head enclosure to the second side of the cleaning head enclosure; a first roller comprising a cylindrical core having a first end and a second end, the first roller rotatably mounted within the first opening, the first end of the first roller mounted to the first side of the cleaning head enclosure, and the second end of the first roller mounted to the second side of the cleaning head enclosure; a second roller comprising a cylindrical core having a first end and a second end, the second roller rotatably mounted within the second opening, the first end of the second roller mounted to the first side of the cleaning head enclosure, and the second end of the second roller mounted to the second side of the cleaning head enclosure; a backtube having an outer surface surrounding a hollow core, a first end of the backtube, and a second end of the backtube, the first end of the backtube being attached to the rear of the cleaning head enclosure, and the hollow core being positioned such that the second end of the backtube faces upward and away from the cleaning surface; the cleaning head comprising: one or more cleaning head magnets securely attached to and exposed on the exterior surface of the back tube facing the rear of the cleaning head, each of the one or more cleaning head magnets aligning with an exposed magnetic pole of a corresponding one of the one or more base plate magnets; a connection system for attaching the back tube of the cleaning head to the front of the drive system, the connection system comprising: one or more four-bar linkages securing the rear of the cleaning head enclosure to the front of the body enclosure of the drive system; an actuator connected to the one or more four-bar linkages. the connection system attaches the cleaning head to the drive system in a first state; the cleaning head enclosure is lifted from the cleaning surface by the actuator; the cleaning head enclosure is tilted forward so that the first cleaning surface is substantially parallel to the cleaning surface and the first roller is exposed to the cleaning surface; the exposed poles of the one or more cleaning head magnets are spaced apart from the exposed poles of the one or more base plate magnets so that they do not significantly attract each other; the connection system attaches the cleaning head to the drive system in a second state; the cleaning head enclosure is lowered by the actuator toward the cleaning surface; the cleaning head enclosure is tilted backward so that the second cleaning surface is substantially parallel to the cleaning surface and the second roller is exposed to the cleaning surface; the exposed magnetic poles of the one or more cleaning head magnets and the exposed magnetic poles of the one or more base plate magnets tightly attract each other to secure the cleaning head in place.

2. 2. The autonomous vacuum cleaner of claim 1, wherein when the cleaning head is attached to the drive system in the second condition and the second roller is positioned on the cleaning surface, driving the autonomous vacuum cleaner forward causes the cleaning head to tilt to a magnetically locked position.

3. 10. The autonomous vacuum cleaner of claim 1, wherein the first roller is a sweeping roller having sweeping bristles or flexible fins extending outward from the cylindrical core of the first roller.

4. 2. The autonomous vacuum cleaner of claim 1, wherein the second roller is a mopping roller having woven bristles or loops along the outside of the cylindrical core of the second roller.

5. 2. The autonomous vacuum cleaner of claim 1, wherein the cleaning head is arranged to tilt between the first and second positions about a pivot point, the pivot point further comprising a pin assembly having a cylindrical pin connected at a first end to the first side of the cleaning head and connected at a second end to the second side of the cleaning head.

6. An autonomous vacuum cleaner, the autonomous vacuum cleaner comprising: A drive system having a front and a bottom, the drive system further comprising: a base plate substantially parallel to the cleaning surface; the drive system comprising: one or more base plate magnets rigidly coupled to the base plate and having magnetic poles exposed at a front end of the base plate; 1. A cleaning head enclosure having a rear portion, the cleaning head enclosure further comprising: a back tube having an outer surface surrounding a hollow core, a first end, and a second end, the first end of the back tube being coupled to the rear of the cleaning head enclosure and the second end of the back tube being directed upward, away from the cleaning surface; the cleaning head enclosure, comprising one or more cleaning head magnets having exposed magnetic poles coupled to an exterior surface of the back tube facing a rear of the cleaning head enclosure, the exposed magnetic poles of the one or more cleaning head magnets aligning with exposed magnetic poles of the one or more base plate magnets; a connection system coupling the back tube of the cleaning head enclosure to the front of the drive system, the connection system including an actuator; In a first state, the connection system couples the cleaning head enclosure to the drive system; the cleaning head enclosure is in a vertically elevated position away from the cleaning surface; the cleaning head enclosure is in a forward tilted position; the exposed poles of the one or more cleaning head magnets are spaced from the exposed poles of the one or more base plate magnets to prevent sufficient attraction; In a second state, the connection system couples the cleaning head enclosure to the drive system; the cleaning head enclosure is in a vertically lowered position toward the cleaning surface; the cleaning head enclosure is in a rearwardly tilted position; an exposed magnetic pole of said one or more cleaning head magnets tightly attracting an exposed magnetic pole of said one or more base plate magnets;

7. 7. The autonomous vacuum cleaner of claim 6, wherein the one or more base plate magnets and the one or more cleaning head magnets each further comprise a surface having a coating, film, or thin enclosure that reduces friction and wear.

8. 7. The autonomous vacuum cleaner of claim 6, wherein the one or more base plate magnets are arranged to orient an exposed magnetic pole of each of the one or more base plate magnets away from the cleaning surface, and the one or more cleaning head magnets are arranged to orient the exposed magnetic pole of the one or more cleaning head magnets towards the cleaning surface.

9. 7. The autonomous vacuum cleaner of claim 6, wherein the one or more cleaning head magnets and the one or more base plate magnets are paired, and when the cleaning head enclosure is in the first state, there is a magnetic force between exposed magnetic poles of the one or more base plate magnets and exposed magnetic poles of the one or more cleaning head magnets that is strong enough to attract and secure the exposed magnetic poles of the one or more base plate magnets to the exposed magnetic poles of the one or more cleaning head magnets.

10. 7. The autonomous vacuum cleaner of claim 6, wherein the one or more cleaning head magnets and the one or more base plate magnets are paired with a magnetic force between the one or more cleaning head magnets and the one or more base plate magnets that allows for release of the magnetic force by the actuator.

11. 7. The autonomous vacuum cleaner of claim 6, wherein the one or more base plate magnets and the one or more cleaning head magnets have magnetic adhesion forces and magnetic shear forces that, when fixed in the second state, allow the one or more base plate magnets and the one or more cleaning head magnets to separate upon contraction of the actuator.

12. 7. The autonomous vacuum cleaner of claim 6, wherein the one or more base plate magnets and the one or more cleaning head magnets secure the cleaning head enclosure in the second state by magnetic shear forces existing between the one or more base plate magnets and the one or more cleaning head magnets.

13. 7. The autonomous vacuum cleaner of claim 6, wherein the one or more base plate magnets and the one or more cleaning head magnets are configured with a shape, material composition and magnetic pole arrangement to meet force and motion requirements for securing the cleaning head enclosure in the first state and the second state.

14. An autonomous vacuum cleaner, the autonomous vacuum cleaner comprising:

1. A drive system including a motor and a drive assembly, the drive system further comprising: a body enclosure having a first side opposite a second side, a front opposite a rear, and a top opposite a bottom substantially parallel to the cleaning surface; a base plate attached to the bottom of the main enclosure; the drive system comprising: one or more base plate magnets fixedly attached to the base plate and having magnetic poles exposed at the front portion of the body enclosure; a cleaning head configured to engage the cleaning surface, the cleaning head comprising: a cleaning head enclosure having a first side opposite a second side, a front opposite a rear, and a top opposite the cleaning surface; a first cleaning surface of the cleaning head enclosure, the first cleaning surface being connected to the front portion of the cleaning head enclosure and extending diagonally rearward and downward from the front portion of the cleaning head enclosure; a second cleaning surface of the cleaning head enclosure, the second cleaning surface connected to the rear of the cleaning head enclosure and extending obliquely forward and downward from the rear of the cleaning head enclosure and intersecting the first cleaning surface of the cleaning head enclosure at an obtuse angle; a first opening in the first cleaning surface, the first opening extending from the first side of the cleaning head enclosure to a second side of the cleaning head enclosure; a second opening in the second cleaning surface, the second opening extending from the first side of the cleaning head enclosure to a second side of the cleaning head enclosure; a first roller comprising a cylindrical core having a first end and a second end, the first roller rotatably mounted within the first opening, the first end of the first roller mounted to the first side of the cleaning head enclosure, and the second end of the first roller mounted to the second side of the cleaning head enclosure; a second roller comprising a cylindrical core having a first end and a second end, the second roller rotatably mounted within the second opening, the first end of the second roller mounted to the first side of the cleaning head enclosure and the second end of the second roller mounted to the second side of the cleaning head enclosure; a backtube having an outer surface surrounding a hollow core, a first end, and a second end, the first end of the backtube being attached to the rear of the cleaning head enclosure and the hollow core being positioned such that the second end of the backtube is directed away from the cleaning surface; the cleaning head comprising one or more cleaning head magnets securely attached to and exposed on an exterior surface of the back tube facing the rear of the cleaning head, each of the one or more cleaning head magnets aligning with an exposed magnetic pole of a corresponding one of the one or more base plate magnets; a connection system for attaching the back tube of the cleaning head to a front portion of the drive system, the connection system comprising: one or more four-bar linkages securing the rear of the cleaning head enclosure to the front of the body enclosure of the drive system; an actuator connected to the one or more four-bar linkages; the cleaning head comprising one or more snorkel ducts, each of the one or more snorkel ducts being a flexible elastomeric tube attached at a first end to the rear of the cleaning head and at a second end to a waste bag on the drive system; a connection system for attaching the rear of the cleaning head to the front of the drive system, the connection system comprising: a four-bar linkage that secures the rear of the cleaning head enclosure to the front of the body enclosure of the drive system; an actuator connected to the four-bar linkage; the connection system comprising one or more snorkel ducts, each of the one or more snorkel ducts attached at a first end to the rear of the cleaning head and at a second end to a waste bag of the drive system; In a first state, the connection system attaches a precursor cleaning head to the drive system; the cleaning head enclosure is in an elevated position away from the cleaning surface; the cleaning head enclosure is in a tilted forward position that positions the first cleaning face substantially parallel to the cleaning surface and exposes the first roller to the cleaning surface; the one or more snorkel ducts are bent to substantially close the one or more snorkel ducts; the exposed poles of the one or more cleaning head magnets are spaced apart from the exposed poles of the one or more base plate magnets to prevent sufficient attraction; In a second state, the connection system attaches the cleaning head to the drive system; the cleaning head enclosure is in a lowered position toward the cleaning surface; the cleaning head enclosure is in a tilted-back position with the second cleaning surface positioned substantially parallel to the cleaning surface and the second roller exposed to the cleaning surface; the one or more snorkel ducts are substantially open; the exposed magnetic poles of the one or more cleaning head magnets and the exposed magnetic poles of the one or more base plate magnets have an attractive force that releasably couples the one or more cleaning head magnets with the one or more base plate magnets, maintaining the cleaning head in the second state.

15. 15. The autonomous vacuum cleaner of claim 14, wherein the cleaning head further comprises wires, a water tube, a sweeping duct, and a pressure tube that extend through the back tube and connect to the drive system.

16. 16. An autonomous vacuum cleaner according to claim 15, wherein the wires, water tubes, sweeping duct, snorkel duct and pressure tube are arranged to apply resistance to movement of the cleaning head about a pivot point.

17. 15. The autonomous vacuum cleaner of claim 14, wherein the one or more snorkel ducts each have an inner diameter in the range of 4 millimeters (mm) to 25 mm.

18. 15. An autonomous vacuum cleaner according to claim 14, wherein the one or more snorkel ducts each have a ratio of inner diameter to wall thickness in the range of 1:1-1:

25.

19. 15. The autonomous vacuum cleaner of claim 14, wherein one of the one or more four-bar linkages is arranged to stop forward tilt of the cleaning head when the cleaning head is transitioned in a forward direction about a pivot point to the first state.

20. 15. An autonomous vacuum cleaner according to claim 14, wherein one of the one or more four-bar linkages is arranged to stop rearward tilt of the cleaning head when the cleaning head is transitioned rearwardly about a pivot point into the second state.

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