Mobile cleaning robot with active suspension

Abstract

The mobile cleaning robot may include a main body, a drive wheel (518), a wheel stop (558), and an actuator system (660). The drive wheel may be connected to the main body and may be operable to move the mobile cleaning robot around the environment. The wheel stop may be movable relative to the main body. The actuator system may be operable to move the wheel stop, engage with the drive wheel, and extend the drive wheel from the main body.

Description

Technical Field

[0001] Claim of Priority This patent application claims the benefit of priority of U.S. Patent Application No. 18 / 139,014, filed on April 25, 2023, by Timothy R. Ohm, titled "MOBILE CLEANING ROBOT WITH ACTIVE SUSPENSION", the document of which is hereby incorporated by reference in its entirety.

Background Art

[0002] Autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks in an environment (such as a home, etc.). Many types of cleaning robots are autonomous to some extent and are autonomous in different ways. Some robots are capable of performing vacuuming operations, and some robots are capable of performing mopping operations. Other robots can include components or systems for performing both vacuuming and mopping operations. Most types of mobile cleaning robots can interface with a docking station, and the docking station can perform maintenance (such as charging and debris discharge, etc.) on the robot.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Certain mobile cleaning robots are capable of performing both mopping and vacuuming actions, and the cleaning pad can be added to the bottom of the mobile cleaning robot and pulled behind the vacuuming element of the robot vacuum. In such systems, it can be difficult to distribute the appropriate amount of weight onto the cleaning pad and to provide sufficient contact between the cleaning head and the floor. Additionally, it may be desirable to lift the cleaning pad from the floor surface to traverse rugs or other surfaces (where it is undesirable to engage that surface with the cleaning pad). Furthermore, it may be desirable to adjust the suspension when the robot is not mopping and is vacuuming carpet or a surface with a relatively high pile. [Means for solving the problem]

[0004] To help address the problems described above, this disclosure discusses a solution involving an active suspension for a robot that is adjustable based on several factors (e.g., the operating mode (e.g., mopping mode or vacuuming mode) and the surface to be cleaned) to help provide more reliable and better cleaning. For example, by adjusting the robot suspension during mopping mode, a predetermined amount of weight can be applied to the cleaning pad, enabling more effective cleaning. And when vacuuming, the suspension can be adjusted to improve contact between the ground and the cleaning head, providing improved debris pickup, and can also be adjusted to improve the ride height relative to carpet piles.

[0005] Furthermore, active suspension can be used to help reduce slippage of the drive wheels of a mobile cleaning robot by adjusting the suspension, for example, to increase wheel downforce and thus increase traction when the wheels encounter a slippery or wet surface. Active suspension can also be used to allow the robot to interact with a pickup and drop-off dock, which can interface with the robot and automatically attach or detach pads from the robot, thus helping to reduce user interaction with the robot.

[0006] For example, a mobile cleaning robot may include a main body, a drive wheel, a wheel stop, and an actuator system. The drive wheel may be connected to the main body and may be operable to move the mobile cleaning robot around the environment. The wheel stop may be movable relative to the main body. The actuator system may be operable to move the wheel stop, engage with the drive wheel, and extend the drive wheel from the main body.

[0007] The above discussion is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive description of the invention. The following description is included to provide further information about this patent application.

[0008] In the drawings (which are not necessarily drawn to the correct scale), similar numbers may describe similar components in different drawings. Similar numbers with different letter suffixes may represent different instances of similar components. The drawings generally illustrate, but not as an example, the various embodiments discussed in this document. [Brief explanation of the drawing]

[0009] [Figure 1] This is a plan view of a mobile cleaning robot in an environmental setting. [Figure 2A] This is a bottom view of the mobile cleaning robot. [Figure 2B] This is an isometric view of the top of a mobile cleaning robot. [Figure 2C] This is a side cross-section of a mobile cleaning robot. [Figure 3] This is an isometric view of a mobile cleaning robot and docking station. [Figure 4] This diagram illustrates the communication network in which a mobile cleaning robot operates, and provides an example of data transmission within that network. [Figure 5A] This is a schematic diagram of a mobile cleaning robot under the first condition. [Figure 5B] This is a schematic diagram of a mobile cleaning robot under the second condition. [Figure 5C] This is a schematic diagram of a mobile cleaning robot under the third condition. [Figure 6] This is an isometric view of a portion of a mobile cleaning robot. [Figure 7] This is an isometric view of a portion of a mobile cleaning robot. [Figure 8] This is an isometric view of a portion of a mobile cleaning robot. [Figure 9] This is an isometric view of a portion of a mobile cleaning robot. [Figure 10] This is an isometric view of the docking station. [Figure 11] This is an isometric view of a portion of the docking station. [Figure 12A] This is a perspective view of a portion of the mobile cleaning robot and a portion of its docking station. [Figure 12B]Perspective view of a part of the mobile cleaning robot and a part of the docking station. [Figure 12C] Perspective view of a part of the mobile cleaning robot and a part of the docking station. [Figure 13] Isometric view of the docking station. [Figure 14] Isometric view of a part of the mobile cleaning robot. [Figure 15] Isometric view of a part of the mobile cleaning robot. [Figure 16] Isometric view of a part of the mobile cleaning robot. [Figure 17] Block diagram illustrating an example of a machine on which one or more embodiments may be implemented.

Mode for Carrying Out the Invention

[0010] Outline of robot operation FIG. 1 illustrates a plan view of a mobile cleaning robot 100 in an environment 40 according to at least one example of the present disclosure. The environment 40 can be a residence (e.g., a house or an apartment, etc.) and can include rooms 42a to 42e. Obstacles such as a bed 44, a table 46, and an island 48 can be positioned in the rooms 42 of the environment. Each of the rooms 42a to 42e can have floor surfaces 50a to 50e respectively. Some rooms (e.g., room 42d, etc.) can include a rug (e.g., rug 52, etc.). The floor surface 50 can be one or more types such as solid wood, ceramic, low-pile carpet, medium-pile carpet, long (or high) - pile carpet, or stone.

[0011] The mobile cleaning robot 100 can be operated (e.g., by the user 60, etc.) to autonomously clean the environment 40 on a room-by-room basis. In some examples, the robot 100 can clean the floor surface 50a of one room (e.g., room 42a, etc.) before moving to the next room (e.g., room 42d, etc.) and cleaning the surface of room 42d. Different rooms can have different types of floor surfaces. For example, room 42e (which can be a kitchen) can have a hard floor surface (e.g., wood or ceramic tile, etc.), and room 42a (which can be a bedroom) can have a carpet surface (e.g., medium pile carpet, etc.). Other rooms (e.g., room 42d, which can be a dining room, etc.) can include multiple surfaces, where a rug 52 is positioned within room 42d.

[0012] During the cleaning operation or the travel operation, the robot 100 can use data collected from various sensors (e.g., optical sensors, etc.) and calculations (e.g., odometry and obstacle detection, etc.) to build a map of the environment 40. Once the map is generated, the user 60 can define a room or zone (e.g., room 42, etc.) within the map. The map can be presented to the user 60 on a user interface (e.g., a mobile device, etc.), where the user 60 can, for example, indicate or change cleaning preferences.

[0013] Furthermore, during operation, the robot 100 can detect the surface type within each of the rooms 42, and this can be stored in the robot 100 or another device. The robot 100 can update the map (or data associated with it) to include, for example, the surface types of each floor surface 50a-50e in each of the rooms 42 of the environment 40, or to incorporate them into calculations. In some examples, the map can be updated to show different surface types, for example, within each of the rooms 42.

[0014] In some cases, user 60 can define an action control zone 54. In autonomous operation, robot 100 can initiate an action in response to being in or near the action control zone 54. For example, user 60 can define an area of ​​environment 40 that tends to get dirty as the action control zone 54. In response, robot 100 can initiate an intensive cleaning action, in which robot 100 performs intensive cleaning of a portion of the floor surface 50d within the action control zone 54.

[0015] Robot components Figure 2A shows a bottom view of the mobile cleaning robot 100, and Figure 2B shows a top isometric view of the robot 100. Figures 2A and 2B are discussed together below. Figure 2C shows a side cross-section of the mobile cleaning robot across indicator 2C-2C in Figure 2A. Figures 2A to 2C are discussed together below.

[0016] Figures 2A and 2B show that the robot 100 may include a main body 102, a bumper 109, an extractor 113 (including rollers 114a and 114b), motors 116a and 116b, drive wheels 118a and 118b, casters 120, a side brush assembly 122, a vacuum assembly 124, a memory 126, and a sensor 128. The robot 100 may also include a mopping system 104, which may include a tank 132 and a pump 134.

[0017] The cleaning robot 100 can be an autonomous cleaning robot capable of autonomously traversing the floor surface 50 (Figure 1) while taking in debris from different parts of the floor surface 50. As shown in Figure 2A, the robot 100 may include a body 102 that may be movable across the floor surface 50. The body 102 may include a plurality of connected structures to which movable or fixed components of the cleaning robot 100 may be mounted. The connected structures may include, for example, an outer housing (of the body 102) for covering the internal components of the cleaning robot 100, a chassis (of the body 102) to which drive wheels 118a and 118b and cleaning rollers 114a and 114b (of the cleaning assembly 113) may be mounted, and a bumper 109 connected to the outer housing. The caster wheels 120 are capable of supporting at least the front portion of the main body 102 above the floor surface 50, and the drive wheels 118a and 118b are capable of supporting at least the middle and rear portions of the main body 102 above the floor surface 50 (and are also capable of supporting most of the weight of the robot 100).

[0018] As shown in Figure 2A, the main body 102 may include a front section, which may have a substantially semicircular shape and be connected to a bumper 109. The main body 102 may also include a rear section having a substantially semicircular shape. In other examples, the main body 102 may have other shapes, such as a square front or a straight front. The robot 100 may also include a drive system including actuators (e.g., motors) 116a and 116b. The actuators 116a and 116b may be connected to the main body 102 and operably connected to drive wheels 118a and 118b, which may be rotatably mounted on the main body 102. When driven, the actuators 116a and 116b can rotate the drive wheels 118a and 118b, enabling the robot 100 to move autonomously across the floor surface 50.

[0019] The vacuum assembly 124 can be at least partially located within the main body 102 of the robot 100 (for example, within the rear portion of the main body 102), and in other examples, it can be located elsewhere. The vacuum assembly 124 may include a motor for driving an impeller that generates airflow when rotated. The airflow and cleaning roller 114 can cooperate to draw debris into the robot 100 when rotated. A cleaning bin 130 (shown in Figure 2C) can be mounted within the main body 102 and can contain the debris drawn in by the robot 100. A filter within the main body 102 can separate the debris from the airflow before the airflow enters the vacuum assembly 124 and is exhausted out of the main body 102. In this regard, the debris can be captured in both the cleaning bin 130 and the filter before the airflow is exhausted out of the main body 102. In some examples, the vacuum assembly 124 and the extractor 113 may be optionally included or of different types. Optionally, the vacuum assembly 124 may be operated during a mopping operation (for example, one involving a mopping system 104). That is, the robot 100 may perform simultaneous vacuuming and mopping missions or operations.

[0020] The cleaning rollers 114a and 114b can be operably connected to an actuator 115 (e.g., a motor) via a gearbox. The cleaning head 113 and the cleaning rollers 114a and 114b can be positioned in front of the cleaning bin 130. The cleaning roller 114 can be mounted on the underside of the main body 102 so that when the underside of the main body 102 faces the floor surface 50, the cleaning rollers 114a and 114b engage with the debris on the floor surface 50 during the cleaning operation.

[0021] The controller 111 can be located within the housing 102 and can be a programmable controller (for example, a single-board computer or multi-board computer, a direct digital controller (DDC), or a programmable logic controller (PLC)). In other examples, the controller 111 can be any computing device, such as a handheld computer, such as a smartphone, tablet, laptop computer, desktop computer, or any other computing device including a processor, memory, and communication capabilities. The memory 126 can be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random access memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, and other storage devices and media. The memory 126 can be located within the housing 102, can be connected to the controller 111, and can be accessed by the controller 111.

[0022] The controller 111 operates actuators 116a and 116b, enabling the robot 100 to autonomously navigate around the floor surface 50 during the cleaning operation. Actuators 116a and 116b are operable to drive the robot 100 in the forward drive direction, to drive the robot 100 in the backward direction, and to turn the robot 100. The controller 111 also operates the vacuum assembly 124 to generate an airflow, which flows through an air gap near the cleaning roller 114, through the main body 102, and out of the main body 102.

[0023] The robot 100 may include a sensor system comprising one or more sensors. The sensor system may generate one or more signals indicating the current location of the robot 100, as described herein, and may generate signals indicating the location of the robot 100 as it travels along the floor surface 50. Sensor 128 (shown in Figure 2A) may be positioned along the bottom portion of the housing 102. Each of the sensors 128 may be an optical sensor, and the optical sensors may be configured to detect the presence or absence of an object below the optical sensor (e.g., the floor surface 50). Sensor 128 (optionally, a cliff sensor) may be connected to a controller 111 and may be used by the controller 111 to navigate the robot 100 in the environment 40. In some examples, the cliff sensor may be used to detect a type of floor surface that the controller 111 can use to selectively operate the mopping system 104.

[0024] The cleaning pad assembly 108 can be a cleaning pad, which is connected to the bottom portion of the main body 102 (or to a moving mechanism configured to move the assembly 108 between a storage position and a cleaning position), and is connected to a cleaning bin 130, for example, at a location at the rear of the extractor 113. The tank 132 can be a water tank configured to store water or fluid (e.g., cleaning fluid) for delivery to the mopping pad 142. The pump 134 can be connected to the controller 111 and can be in fluid communication with the tank 132. The controller 111 can be configured to operate the pump 134 and deliver fluid to the mopping pad 142 during the mopping operation. For example, the fluid can be delivered to the mopping pad 142 through one or more dispensers 117. The dispensers 117 can be valves or openings, etc., and can be configured to deliver fluid to the floor surface 50 of the environment 40 or directly to the pad 142. In some examples, pad 142 can be a dry pad (for example, for removing dusting or dry debris). Alternatively, pad 142 can be any cloth or fabric configured for cleaning (either wet or dry) the floor surface.

[0025] As shown in Figure 2C, the vacuum assembly 124 can be at least partially positioned within the main body 102 of the robot 100 (for example, within the rear portion 102b of the main body 102). The controller 111 can operate the vacuum assembly 124 to generate an airflow, which flows through an air gap near the cleaning roller 114, through the main body 102, and out of the main body 102. The airflow and the cleaning roller 114 can cooperate to draw the debris 75 into the suction duct 136 of the robot 100 when rotated. The suction duct 136 can extend down to or near the bottom portion of the main body 102.

[0026] The suction duct 136 can be connected to the cleaning head 113 or the cleaning assembly, and can also be connected to the cleaning bin 130. The cleaning bin 130 can be mounted inside the main body 102 and can contain the debris 75 taken in by the robot 100. The filter 145 can be positioned inside the main body 102 and can help separate the debris 75 from the airflow before the airflow 138 enters the vacuum assembly 124 and is exhausted out of the main body 102. In this regard, the debris 75 can be captured in both the cleaning bin 130 and the filter before the airflow 138 is exhausted out of the main body 102. The robot 100 can also include a debris port 135, which can extend at least partially through the main body 102 or the cleaning bin 130 and can operate to remove the debris 75 from the cleaning bin 130 (for example, via a docking station or discharge station).

[0027] The cleaning rollers 114a and 114b can each be operably connected to one or more actuators 115 (e.g., motors). The cleaning head 113 and the cleaning rollers 114a and 114b can be positioned in front of the cleaning bin 130. The cleaning rollers 114a and 114b can be mounted on the housing of the cleaning head 113, and can also be mounted (e.g., indirectly or directly) on the body 102 of the robot 100. In particular, the cleaning rollers 114a and 114b can be mounted on the underside of the body 102 so that when the underside faces the floor surface 50, the cleaning rollers 114a and 114b engage with the debris 75 on the floor surface 50 during the cleaning operation.

[0028] Robot movements In some example operations, the controller 111 can be used to instruct the robot 100 to perform a mission. In such cases, the controller 111 can operate the motor 116 to drive the drive wheel 118 and propel the robot 100 along the floor surface 50. The robot 100 can be propelled in a forward drive direction or a backward drive direction. The robot 100 can also be propelled so that it turns at an appropriate location or turns while moving in a forward drive direction or a backward drive direction. In addition, the controller 111 can operate the motor 115 to cause the rollers 114a and 114b to rotate, as well as operate the side brush assembly 122, and operate the motor of the vacuum system 124 to generate airflow. The controller 111 can execute software stored in memory 126 and, by operating various motors of the robot 100, cause the robot 100 to perform various navigation and cleaning actions.

[0029] Various sensors on the robot 100 can be used to help the robot navigate and clean in the environment 40. For example, a cliff sensor can detect obstacles such as steep slopes and cliffs below the part of the robot 100 where the cliff sensor is installed. The cliff sensor can transmit a signal to the controller 111, which can then reorient the robot 100 based on the signal from the sensor.

[0030] The proximity sensor can generate a signal based on the presence or absence of an object in front of the optical sensor. For example, detectable objects include obstacles such as furniture, walls, people, and other objects in the environment 40 of the robot 100. The proximity sensor can transmit a signal to the controller 111, which can reorient the robot 100 based on the signal from the proximity sensor. In some examples, a bump sensor can be used to detect the movement of a bumper 109 along the longitudinal axis of the robot 100. A bump sensor 139 can also be used to detect the movement of a bumper 109 along one or more sides of the robot 100, and can optionally detect vertical bumper movement. The bump sensor 139 can transmit a signal to the controller 111, which can reorient the robot 100 based on the signal from the bump sensor 139.

[0031] Furthermore, the robot 100 may optionally include one or more dirt sensors 144, which are connected to the main body 102 and communicate with the controller 111. The dirt sensors 144 can be microphones, piezoelectric sensors, or optical sensors, and are positioned in or near the debris flow path, for example, near the opening of the cleaning roller 114, or in one or more ducts within the main body 102. This allows the dirt sensors 144 to detect how much dirt is being taken in by the vacuum assembly 124 (for example, via the extractor 113) at any given time during a cleaning mission. Because the robot 100 knows its location, it can maintain a log or record of which areas or rooms on the map are dirtier or where more dirt is being collected.

[0032] The image capture device 140 can be configured to generate signals based on images of the robot 100's environment 40 as the robot 100 moves around the floor surface 50. The image capture device 140 can transmit such signals to the controller 111. The controller 111 can use one or more signals from the image capture device 140 for various tasks or algorithms, as discussed in more detail below.

[0033] In some examples, the obstacle detection sensor is capable of detecting detectable objects, including obstacles such as furniture, walls, people, and other objects in the environment of the robot 100. In some implementations, the sensor system may include obstacle detection sensors along the side surface, which are capable of detecting the presence or absence of objects adjacent to the side surface. Also, one or more obstacle detection sensors can function as obstacle detection sensors, similar to proximity sensors described herein.

[0034] Furthermore, the robot 100 may include sensors for tracking the distance traveled by the robot 100. For example, the sensor system may include an encoder associated with a motor 116 for a drive wheel 118, the encoder being able to track the distance traveled by the robot 100. In some implementations, the sensors may include an optical sensor facing downward toward the floor surface. The optical sensor may be positioned to direct light toward the floor surface 50 through the bottom surface of the robot 100. The optical sensor may be able to detect the reflection of light and, based on the changes in floor features as the robot 100 travels along the floor surface 50, it may be possible to detect the distance traveled by the robot 100.

[0035] The controller 111 can use data collected by the sensors of the sensor system to control the navigation behavior of the robot 100 during the mission. For example, the controller 111 can use sensor data collected by the robot 100's obstacle detection sensors (cliff sensors, proximity sensors, and bump sensors) to enable the robot 100 to avoid obstacles in its environment during the mission.

[0036] Furthermore, the sensor data can be used by the controller 111 for simultaneous localization and mapping (SLAM) techniques, in which the controller 111 extracts environmental features represented by the sensor data and constructs a map of the floor surface 50 of the environment. The sensor data collected by the image capture device 140 can be used for techniques such as visual-based SLAM (VSLAM), in which the controller 111 extracts visual features corresponding to objects in the environment 40 and constructs a map using these visual features. When the controller 111 orients the robot 100 around the floor surface 50 during the mission, the controller 111 can use SLAM techniques to determine the location of the robot 100 on the map by detecting features represented in the collected sensor data and comparing those features with previously stored features. The map formed from the sensor data can indicate the locations of traversable and non-traversable spaces in the environment. For example, the locations of obstacles can be shown on the map as spaces that cannot be traversed, while the locations of open floor spaces can be shown on the map as spaces that can be traversed.

[0037] Sensor data collected by any of the sensors can be stored in memory 126. In addition, other data generated for SLAM techniques (including mapping data that forms a map) can be stored in memory 126. These data generated during a mission can include persistent data, which is generated during a mission and is available for use between subsequent missions. In addition to storing the software that causes the robot 100 to take its actions, memory 126 can store data resulting from the processing of sensor data for access by the controller 111. For example, a map can be available and updatable by the robot 100's controller 111 from one mission to another, and can navigate the robot 100 around the floor surface 50.

[0038] Persistent data (including persistent maps) can help enable the robot 100 to efficiently clean the floor surface 50. For example, the map can enable the controller 111 to orient the robot 100 toward open floor spaces and avoid spaces that it cannot traverse. In addition, for subsequent missions, the controller 111 can use the map to optimize the paths taken during missions and help plan the navigation of the robot 100 through the environment 40.

[0039] Furthermore, the controller 111 can send commands to the motor (located inside the main body 102) to drive the arm 106 and move the pad assembly 108 between the retracted position (shown in Figure 2A) and the deployed position (shown in Figure 2C). In the deployed position, the pad assembly 108 (mopping pad 142) can be used to mop the floor surface of any room in the environment 40.

[0040] The mopping pad 142 can be either a dry or wet pad. Optionally, when the mopping pad 142 is a wet pad, the pump 134 can be operated by the controller 111 to spray or drip a fluid (e.g., water or cleaning solution) onto the floor surface 50 or the mopping pad 142. The wet mopping pad 142 can then be used by the robot 100 to perform a wet mopping operation on the floor surface 50 of the environment 40. As discussed in more detail below, the controller 111 can determine when to dispense the fluid and when to move the pad tray 141 and the mopping pad 142 between the storage position and the cleaning position.

[0041] Examples of docking stations and robots Figure 3 illustrates an isometric view of the mobile cleaning robot 100 and the docking station 300. The docking station 300 may include an upper section 346 and a base 348. The components of the docking station 300 may be rigid or semi-rigid components made from materials such as metal, plastic, foam, elastomer, ceramic, composite, or one or more of these combinations. The materials of some components are discussed in more detail below. The docking station 300 (or other docking stations discussed below) is discussed as working with the robot 100, but the docking station 300 (or other docking stations discussed below) may work with a dedicated vacuuming robot for debris collection or with any mobile cleaning robot.

[0042] The upper portion 346 may include an outer wall portion 350 (or wall portion) connected to the base. The base 348 may include a platform 352 including a track. The base 348 may be an inclined member including the platform 352, and the base 348 may be configured to receive a mobile cleaning robot 100 on it for maintenance (e.g., replacement of mopping pads of the mopping system 104). For example, the mobile cleaning robot 100 may move onto the base 348 by traversing the platform 352. The docking station 300 may optionally include a controller (e.g., similar to the controller 111) for communication with the robot 100 or other devices.

[0043] In some example operations, when the robot 100 is docked onto the base 348, the robot 100 can be operated to release the mopping pads from the mopping system 104, or to collect or attach the mopping pads to the mopping system 104. Further details of the robot 100 and the docking station 300 and their operations are discussed below.

[0044] Network example Figure 4 is a diagram showing a communication network 400 that enables networking between the mobile robot 100 and one or more other devices (docking station 300 (or any of the docking stations discussed herein), mobile device 404 (including a controller), cloud computing system 406 (including a controller), or another autonomous robot separate from the mobile robot 100). Using the communication network 400, the robot 100, mobile device 404, docking station 300, and cloud computing system 406 can communicate with each other, send data to each other, and receive data from each other. In some examples, the robot 100, docking station 300, or both the robot 100 and docking station 300 can communicate with the mobile device 404 through the cloud computing system 406. Alternatively or additionally, the robot 100, docking station 300, or both the robot 100 and docking station 300 can communicate directly with the mobile device 404. Various types and combinations of wireless networks (e.g., Bluetooth, radio frequency, optical-based, etc.) and network architectures (e.g., Wi-Fi or mesh network) can be used by the communication network 400.

[0045] In some examples, the mobile device 404 can be a remote device, which can be linked to a cloud computing system 406 and can also allow the user to provide input. The mobile device 404 can include user input elements, such as one or more of a touchscreen display, buttons, a microphone, a mouse, a keyboard, or other devices that respond to input provided by the user. The mobile device 404 can also include immersive media (e.g., virtual reality or augmented reality), which the user can interact with and provide input from. In these examples, the mobile device 404 can be a virtual reality headset or a head-mounted display.

[0046] The user can provide input corresponding to commands for the mobile robot 100. In such cases, the mobile device 404 can send a signal to the cloud computing system 406, which in turn can send a command signal to the mobile robot 100. In some implementations, the mobile device 404 can present augmented reality images. In some implementations, the mobile device 404 can be a smartphone, laptop computer, tablet computing device, or other mobile device.

[0047] In some examples, the communication network 400 may include additional nodes. For example, a node in the communication network 400 may include an additional robot. Furthermore, a node in the communication network 400 may include a network-connected device capable of generating information about the environment 40. Such a network-connected device may include one or more sensors (e.g., acoustic sensors, image capture systems, or other sensors that generate signals) for detecting characteristics (from which features can be extracted) within the environment 40. The network-connected device may also include a home camera or a smart sensor, etc.

[0048] In communication network 400, wireless links can utilize various communication schemes and protocols, such as Bluetooth Class, WiFi, Bluetooth-low-energy (also known as BLE), 802.15.4, Worldwide Interoperability for Microwave Access (WiMAX), infrared channels, or satellite bands. In some examples, wireless links can include any cellular network standard used to communicate between mobile devices, including standards that qualify them as 1G, 2G, 3G, 4G, or 5G, etc. Network standards qualify as one or more generations of mobile telecommunications standards, for example, by meeting specifications or standards, such as those maintained by the International Telecommunication Union, where utilized. For example, a 4G standard can correspond to the International Mobile Telecommunications Advanced (IMT-Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standards can utilize various channel access methods, such as FDMA, TDMA, CDMA, or SDMA.

[0049] Examples of robots Figure 5A shows a schematic diagram of the mobile cleaning robot 500 under the first condition. Figure 5B shows a schematic diagram of the mobile cleaning robot 500 under the second condition. Figure 5C shows a schematic diagram of the mobile cleaning robot 500 under the third condition. Figures 5A to 5C are discussed together below. The mobile cleaning robot 500 can be similar to the robot 100 discussed above, and any of the mobile cleaning robots discussed above can include the features of the mobile cleaning robot 500.

[0050] The mobile cleaning robot 500 may include a main body 502 and a drive wheel 518 connected to the main body 502 by a drive arm 554. The mobile cleaning robot 500 may also include casters 520. The drive wheel 518 and casters 520 may be configured to engage together with the floor surface 50 and move the mobile cleaning robot 500 around the environment (e.g., environment 40), and may be configured to support the mobile cleaning robot 500. The main body 502, drive wheel 518, and casters 520 may be similar to the main body 102, drive wheel 118, and casters 120 of the robot 100 discussed above.

[0051] The drive arm 554 is movable relative to the main body 502, for example, allowing the drive wheel 518 to move relative to the main body 502 (e.g., extend and retract). The drive arm 554 can also be connected to a spring or biasing element to bias the drive wheel 518 to extend from the main body 502. The drive arm 554 can optionally include a gear train. The main body 502 can also include a fender 555 or wheel guard connected to the drive arm 554 or the drive wheel 518, such that the fender 555 can at least partially surround the drive wheel 518. The fender 555 may be movable together with the drive arm 554 and the drive wheel 518.

[0052] The mobile cleaning robot 500 may also include a stop support 556 and a wheel stop 558. The stop support 556 may be connected to the main body and may be configured to support the wheel stop 558. The movable wheel stop 558 may be connected to the stop support 556 and may be engaged with the fender 555. Optionally, the wheel stop 558 may engage with other parts of the mobile cleaning robot 500 (e.g., the drive arm 554) insofar as the wheel stop 558 is able to restrict the movement of the drive arm 554 relative to the main body 502. The wheel stop 558 may be connected to one or more actuators (as discussed below) and may communicate with a controller (e.g., controller 111) so that the controller can operate the actuator or the wheel stop 558 to move relative to the main body 502 and the fender 555 (and thus the drive arm 554 and drive wheel 518).

[0053] Furthermore, Figures 5B and 5C show that the mobile cleaning robot 500 may include a mopping pad 542 (for example, such as a mopping pad assembly), and that the mopping pad 542 may be similar to the mopping pad 142, and that the mopping pad 542 may be able to engage with the floor surface 50 and perform wet or dry mopping operations. The mopping pad 542 may be movable with the pad assembly, or may be releasably connected to the main body 502 of the mobile cleaning robot 500.

[0054] During operation, as shown in Figure 5A, the wheel stop 558 can be in a first condition or position, in which the robot 500 is in a dry mode configuration (e.g., vacuuming mode). Under such conditions, the clearance between the main body 502 and the floor can be optimized for vacuuming performance. Additionally, the weight distribution to the casters 520, drive wheels 518, and cleaning head can be optimized or set for effective vacuuming operation or robot mobility.

[0055] As shown in Figure 5B, the wheel stop 558 can be in a second condition or position, in which the robot 500 is in a wet mode configuration (e.g., mopping mode, or both mopping and vacuuming mode). In the second condition, the wheel stop 558 can be further retracted from the condition in Figure 5A, allowing the fender 555 and drive wheel 518 to retract further into the body 502 (relative to the condition in Figure 5A). That is, the drive wheel 518 can be free to have greater travel (or levitation) relative to the body 502 as needed to follow the flooring surface. In such a condition, the clearance between the body 502 and the floor can be optimized for mopping, or for vacuuming and mopping. Furthermore, the weight distribution to the casters 520, drive wheels 518, and mopping pad 542 (for example, additional robot weight applied to the mopping pad 542) can be optimized or configured for effective mopping, vacuuming and mopping, or robot mobility.

[0056] As shown in Figure 5C, the wheel stop 558 can be in a third condition or position, in which the robot 500 is in a transport or mobile mode or configuration. In the third condition, the wheel stop 558 can be further extended from the condition in Figure 5A, allowing the fender 555 and drive wheel 518 to extend further outward from the body 502 (compared to the condition in Figure 5A). In such a condition, the clearance between the body 502 (in particular the mopping pad 542) and the floor can be increased for mobility, which can allow the robot 100 to transport the mopping pad 542 over a fibrous floor surface (e.g., carpet). The robot 100 (or its controller) can operate the wheel stop 558 between different modes throughout the cleaning to improve mobility and cleaning efficiency or effectiveness.

[0057] Figure 6 shows an isometric view of a portion of the mobile cleaning robot 600. Figure 7 shows an isometric view of a portion of the mobile cleaning robot 600. Figure 8 shows an isometric view of a portion of the mobile cleaning robot 600. Figure 9 shows an isometric view of a portion of the mobile cleaning robot 600. Figures 6 to 9 are discussed together below. The mobile cleaning robot 600 can be similar to robots 100 or 500 discussed above, and any of the mobile cleaning robots discussed above can include the features of the mobile cleaning robot 600.

[0058] The mobile cleaning robot 600 may include a main body 602 and a drive wheel 618 connected to the main body 602 by a drive arm 654. The mobile cleaning robot 600 may also include casters 620. The drive wheel 618 and casters 620 may be configured to engage together with a floor surface and move the mobile cleaning robot 600 around an environment (e.g., environment 40), and may be configured to support the mobile cleaning robot 600. The main body 602, drive wheel 618, and casters 620 may be similar to the main body 102, drive wheel 118, and casters 120 of the robot 100 discussed above.

[0059] The drive arm 654 and drive wheel 618 are movable relative to the main body 602, for example, allowing the drive wheel 618 to move relative to the main body 602 (e.g., extend and retract). The drive arm 654 may optionally include a gear train. The main body 602 may also include a fender 655 or wheel guard connected to the drive arm 654 or drive wheel 618, such that the fender 655 at least partially surrounds the drive wheel 618. The fender 655 may be movable together with the drive arm 654 and drive wheel 618.

[0060] Figure 6 also shows that the mobile cleaning robot 600 may include an actuator system 660, which can move the wheel stops 658a and 658b and engage them with the drive wheels 618a and 618b (only the drive wheel 618a is shown in Figure 6), respectively, and can operate to extend the drive wheel 618 from the main body 602. For example, the actuator system 660 may be able to rotate the wheel stop 658 relative to the main body 602, for example, to change the mode of the mobile cleaning robot between vacuuming mode and mopping mode (or other modes).

[0061] More specifically, the actuator system 660 may include an actuator 662, a gearbox 664, a drive shaft 666, and actuator gears 668a and 668b. The actuator system 660 may also include an encoder (e.g., an absolute encoder) or other sensor that may be connected to (or communicate with) a controller (e.g., controller 111). The encoder may be configured to generate a position signal based on the position of one or more components of the actuator system 660, allowing the controller to determine the position of the wheel stop 658, which may be used by the controller 111 to vary between modes or to set a desired force distribution for the mobile cleaning robot 600.

[0062] The actuator gear 668 can be connected to each end or end portion of the drive shaft 666, and the actuator gears 668a and 668b can be engaged with the wheel stops 658a and 658b, respectively. The drive shaft 666 can be a shaft or elongated member extending across the main body 602. The drive shaft 666 can be connected to or coupled with the gearbox 664. The gearbox 664 can be a gearbox or housing containing one or more gears connected to the actuator 662. The actuator 662 and the gearbox 664 can be connected to or supported by the main body 602.

[0063] Actuator 662 is a motor or actuator capable of operating to rotate the gears of gearbox 664, thereby rotating drive shaft 666 and actuator gear 668, and driving wheel stop 658 to move or rotate. Actuator 662 may be connected to or communicating with a controller (e.g., controller 111) so that the controller can operate actuator 662 to move wheel stop 658, for example, based on one or more signals from a sensor system (e.g., the sensor system of robot 100). For example, the controller may be configured to determine the flooring type of a portion of an environment (e.g., environment 40) based on an image capture signal, and the controller may be configured to operate actuator system 660 based on the determined flooring type to move drive wheel 618 to improve the cleaning efficiency or mobility of mobile cleaning robot 600.

[0064] Figure 6 also shows that the wheel stop 658 may include a body portion 670 that is rotatable by an actuator system 660 (for example, by an actuator gear 668 and the actuator system 660). The wheel stop 658 may also include a projection 672 extending laterally inward from the body portion 670, which may be engageable with the fender 655. The body portion 670 may also include one or more teeth 674 on its outer surface, which may be engageable with or engageable with the teeth of the actuator gear 668. The body portion 670 may also define a slot 676 that extends at least partially through the body portion 670. The slot 676 may at least partially receive a pin 678 therein. Pin 678 can be connected to the main body 602 and may be engaged with the end of slot 676, for example, to guide and restrict the rotation of the wheel stop 658 relative to the main body 602.

[0065] Figure 7 shows the wheel stop 658a in two configurations. The first configuration is a raised configuration, in which the fender 655 (not visible in Figure 7) does not contact the wheel stop 658a (as shown by 658c), allowing the fender 655 and the drive wheel 618a (not visible in Figure 7) to move freely throughout their entire range, which can be similar to the configuration shown in Figure 5B. The second configuration of the wheel stop 658a is a lowered configuration, in which the fender 655 (as shown by the dashed line by 658d) contacts the wheel stop 658a, so that the travel of the drive wheel 618a is most restricted by the wheel stop 658a, which can be similar to the configuration shown in Figure 5C. The wheel stop 658a may be movable to any position between the two shown configurations and may optionally be movable outside the two shown configurations, as restricted by contact between pin 678 and slot 676 as discussed above.

[0066] Figures 8 and 9 show the wheel stop 658a in several configurations. In the configuration shown by 658d (solid line), the projection 672 of the wheel stop 658a engages with the fender 655, allowing the drive arm 654 and drive wheel 618a to move, extending from the main body 602 or restricting the retraction of the drive wheel 618a into the main body 602. In the configuration shown by 658c (dashed line), the wheel stop 658a can be disengaged from the fender, allowing the drive arm 654 and drive wheel 618a to retract into the main body 602.

[0067] Furthermore, Figures 8 and 9 show the gear train 680 of the drive arm 654, which may be operable to rotate the drive wheel 618a. Also, Figure 9 more clearly shows how the projection 672 may extend laterally inward from the body 670 so that the projection 672 may be able to engage with the fender 655, and so that the body 670 can rotate or move without engaging with the fender 655.

[0068] The above examples of robots (e.g., Mobile Cleaning Robot 500 and Mobile Cleaning Robot 600) allow the adjustable suspension to recover from wheel slip events or from events that detect that the robot is not moving as intended, taking into account the movement of the drive wheels. In such situations, for example, when traction is lost due to vacuuming high-pile carpeting (when there is high resistance to the robot) or when mopping a wet floor (for example, when there is low friction from a slippery flooring surface), the robot can use the active suspension to help regain traction by pushing down on the drive wheels (increasing the downward force).

[0069] Furthermore, the robot described above can help prevent or correct the robot from sinking into relatively high-pile carpets. In such situations, when the robot sinks or begins to sink, the adjustable suspension can cause the drive wheels to extend from the body, lifting the robot's body relatively higher, which helps reduce cleaning head engagement and thus reduce the intake or engagement of carpet fibers.

[0070] Example of a docking station Figure 10 illustrates an isometric view of the docking station 300. Figure 10 also shows the front and rear of the orientation indicator. The docking station 300 in Figure 10 may be consistent with the docking station 300 discussed above. Figure 10 shows additional details of the docking station 300.

[0071] For example, Figure 10 shows that the docking station 300 may include fiducials. Each fiducial may be a visual indicator (e.g., a barcode, a quick response (QR) code, or an April tag). Fiducial 382 may be connected to the outer wall 350 and face the front portion of the docking station 300. The docking station 300 may also include fiducials 384a and 384b, which may be positioned within notches 386a and 386b, respectively, and face the front portion of the docking station 300. Notches 386a and 386b may allow the robot 100 (or the mobile cleaning robot 600 or other mobile cleaning robot) to identify fiducials 384a and 384b from the front of the docking station 300. The fiducials 384a and 384b are out of plane with fiducial 382, ​​making it possible to provide the robot with three-dimensional information (e.g., using parallax) for docking purposes.

[0072] Furthermore, the docking station 300 may include tracks 388a and 388b in or on the base 348 (for example, on the platform 352, etc.), which can be configured to at least partially receive drive wheels (for example, drive wheels 618a and 618b) on or in the base 348, respectively. The docking station 300 may also include rollers 390a and 390b, which can be connected to the base 348, for example, at the rear ends of tracks 388a and 388b, respectively. The rollers 390a and 390b can be configured to engage with the drive wheels when they reach the respective ends of the tracks 388, for example, to restrict the forward and backward movement of the mobile cleaning robot relative to the base 348 when one or more drive wheels are engaged with the base. In other words, backward movement of the drive wheels (and thus the mobile cleaning robot) on the base 348 can be restricted through engagement with the rollers 390. Furthermore, the engagement of the drive wheel with the roller 390 allows the robot to be aligned or oriented in a rotational direction (around the vertical axis) on the docking station 300. That is, when the robot retracts and engages with the roller 390, if only one roller is engaged, the other drive wheel continues to move until the second roller is engaged, causing the robot to rotate and rotate in order to properly align the robot on the docking station 300. In addition, the outer wall portion 350 can engage with the main body of the robot and can help to center or align the robot laterally (for example, laterally) on the docking station 300, and can also help to restrict the robot's backward movement on the docking station 300.

[0073] Furthermore, the docking station 300 may include a pad engagement system 391 including claws 392a and 392b, which can be connected to the outer wall 350 (or base 348), for example, within openings 394a and 394b in the outer wall 350, respectively. The claws 392 can be pivotably or rotatably connected to the outer wall 350 and can engage with the robot's mopping pad, for example, to assist in removing the mopping pad from the robot. Further details and operation of the claws 392 are discussed below.

[0074] During operation, the robot 100 can use fiducials 382 and 384 to identify the docking station 300 and align itself with the docking station 300 for proper docking. For example, the robot 100's controller 111 can use fiducials 382 and 384 to navigate the mobile cleaning robot 100 to dock. However, navigation of the robot 100 onto the docking station 300 is not required. Due to the fiducials and rollers (and the wall section 350), the robot 100 can use the fiducials to align itself with the track, rotate 180 degrees, and then reverse onto the base 348. The robot can move its drive wheels into the track 388 and travel or move at least partially on the base 348, for example, until the robot engages with the outer wall section 350 or until the robot's drive wheels engage with the rollers 390. The sensors on robot 100 can confirm that robot 100 has stopped moving and is located 180 degrees from the point where alignment with the fiducial occurred, indicating that robot 100 is properly docked on docking station 300.

[0075] Before docking and after docking identification, the robot 100 can determine whether the mopping pad is positioned on the docking station 300 (for example, on the base 348) using, for example, signals from one or more sensors (for example, an image capture device 140) and identification routines (for example, ODOA). The robot 100 can then determine whether the pad can be dropped off (for example, when it is determined that the pad is not on the docking station 300) or whether the pad can be picked up (for example, when it is determined that the pad is on the docking station 300).

[0076] When the robot is docked at the docking station 300, the pad engagement system 391 engages with the mopping pads of the mobile cleaning robot (e.g., mopping pad 142 or mopping pad 542) and can release the mopping pads from the mobile cleaning robot. In scenarios where no mopping pads are attached to the robot, the robot can collect mopping pads from the docking station 300. For example, the robot can complete a vacuuming mission (or the vacuuming portion of a mission), then dock on the docking station 300, and attach mopping pads to the robot. Then, when the robot needs to remove the mopping pads (e.g., when the mopping mission is complete, or when more vacuuming is required), the robot can interact with the docking station 300 and remove the mopping pads. In this way, the docking station 300 can be used by the robot as a pick-up and drop-off docking station for mopping pads. Further details about the docking station 300 and how it can interact with robots are discussed below.

[0077] Figure 11 illustrates an isometric view of a portion of the docking station 300. The docking station 300 can be consistent with the docking station 300 discussed above, and Figure 11 shows additional features of the docking station 300.

[0078] For example, Figure 11 shows that the claw 392a of the pad engagement system 391 may include a body 396 and teeth 398. The body 396 is connected to the outer wall 350 by a pin 399, which may, for example, form a bearing for the claw 392a, allowing the claw 392a to rotate relative to the outer wall 350. As illustrated by 392c (indicated by a dashed line), the claw 392a may rotate away from the outer wall 350, so that the teeth 398 do not extend through the opening 394a. Such rotation may occur when a mobile cleaning robot moves downward relative to the pad engagement system, and when a pad (or other part of the robot) engages with the upper surface of the claw 392, allowing the pad connected to the robot to be lowered beyond the claw 392. As illustrated by 392d (with a solid line), the claw 392a is capable of rotating toward the outer wall portion 350, with the teeth 398 extending through the opening 394a, allowing the bottom surface of the teeth 398 of the claw 392 to engage with the pad and to separate the pad from the robot.

[0079] Example of docking operation Figure 12A shows a perspective view of a portion of the mobile cleaning robot 600 and a portion of the docking station 300. Figure 12B shows a perspective view of a portion of the mobile cleaning robot 600 and a portion of the docking station 300. Figure 12C shows a perspective view of a portion of the mobile cleaning robot 600 and a portion of the docking station 300. Figures 12A to 12C are discussed together below.

[0080] The docking station 300 and the mobile cleaning robot 600 can be consistent with the docking station 300 and the mobile cleaning robot 600 discussed above. Figures 12A to 12C illustrate how the docking station 300 and the mobile cleaning robot 600 can interact. For example, Figure 12A shows the mobile cleaning robot 600 docked on the docking station 300, with the pad 642 in a lowered position, but raised high enough so that the pad 642 does not engage with the docking station 300 when the mobile cleaning robot 600 docks, thus helping to limit the mobile cleaning robot 600 from pushing against the docking station 300 when docking. In such a position, the drive wheel 618 can engage with the roller 390, and the teeth 398 of the claw 392 can be positioned between the mopping pad 642 and the body 602. The claws 392 and outer wall portion 350 can be designed or configured so that the teeth 398 are inserted between the mopping pad 642 and the main body portion 602 when the mobile cleaning robot 600 docks onto the docking station 300 in a mopping configuration (or in another predetermined configuration, such as a docking configuration).

[0081] Once the mobile cleaning robot 600 is docked and the teeth 398 are inserted between the mopping pad 642 and the main body 602, the docking station 300 can use its active suspension system (e.g., actuator system 660) to move to detach the pad 642. For example, a controller (e.g., controller 111) can operate the actuator system 660 to move the wheel stop 658, move the drive wheel 618 downward, and lift the main body 602. During such movement, the teeth 398 can remain engaged with the pad 642, and thus the claws 692 can release the pad 642 from the main body 602, so that the pad 642 rests on the base 348, as shown in Figure 12B. Once the pad 642 is detached, the mobile cleaning robot 600 can move forward from the docking station 300 and continue (or terminate) its mission.

[0082] Furthermore, the docking station 300 can be used to attach the pad 642 to the mobile cleaning robot 600. For example, as shown in Figure 12B, the pad 642 can be detached from the mobile cleaning robot 600 and placed on the base 348. The mobile cleaning robot 600 can then dock on the docking station 300 with the body 602 above the pad 642. The mobile cleaning robot 600 can then use its active suspension (e.g., actuator system 660) to move the wheel stop 658 and lower the body 602. When the body 602 is lowered, the claw 392 can rotate outward, as shown in Figure 12C, allowing the body to move over the claw 392. The body 602 can then engage with the pad 642, connecting the pad 642 to the body 602, for example, through a snap engagement or magnetic engagement between the body 602 and the pad 642. When the pad 642 is connected to the main body 602, the pad 642 can be raised high enough so that it does not engage with the docking station 300 when the mobile cleaning robot 600 undocking, thus helping to restrict the mobile cleaning robot 600 from moving the docking station 300. The mobile cleaning robot 600 can then move forward from the docking station 300 with the pad 642 connected and perform a mopping operation.

[0083] When the mobile cleaning robot 600 drops off the cleaning pad, it is possible to adjust the mobile cleaning robot 600 to a predetermined height so that it does not engage with the released pad resting on the base 348. In this way, the docking station 300 can be used by the robot as a pickup and drop-off docking station for the mopping pad.

[0084] Example of a docking station Figure 13 illustrates an isometric view of the docking station 1300. The docking station 1300 can be similar to the docking station 300 discussed above. The docking station 1300 can include a different pad engagement system. Any of the docking stations discussed above or below can include the features of the docking station 1300.

[0085] The docking station 1300 may include a base 1348 connected to an upper section 1346, the upper section 1346 may include a wall section 1350. The base 1348 may include tracks 1388a and 1388b and rollers 1390a and 1390b. The docking station 1300 may also include one or more fiducials 1382.

[0086] Furthermore, the docking station 1300 may include a pad engagement system 1391, which may include projections 1393a and 1393b or a shelf. More specifically, projections 1393a and 1393b may include a ledge 1395, which may be the lower surface of projection 1393a or 1393b. The ledges 1395 of projections 1393a and 1393b may be configured to engage with the pads of a mobile cleaning robot, for example, to engage with the pads for removal from the robot. Optionally, in this configuration, the robot's pads may extend beyond the perimeter of the robot's body, improving engagement between projections 1393.

[0087] Examples of robots Figure 14 illustrates an isometric view of a portion of the mobile cleaning robot 1400. Figure 15 illustrates an isometric view of a portion of the mobile cleaning robot 1400. Figures 14 and 15 are discussed together below. The mobile cleaning robot 1400 can be similar to the mobile cleaning robot 600 discussed above, and the mobile cleaning robot 1400 can include overload protection. Any of the robots discussed above or below can include the features of the mobile cleaning robot 1400.

[0088] The mobile cleaning robot 1400 may include a main body 1402 and drive wheels 1418a (shown in Figure 14) and 1418b (shown in Figure 15). The drive wheel 1418 may be similar to the drive wheel discussed above (for example, drive wheel 618) and may be configured to be connected to the main body 1402 and to move relative to the main body 1402. The mobile cleaning robot 1400 may include a drive arm 1454 or a fender 1455 connected to the drive wheel 1418.

[0089] Furthermore, the mobile cleaning robot 1400 may include wheel stop assemblies 1458a (shown in Figure 14) and 1458b (shown in Figure 15). Wheel stop assembly 1458 may be similar to those discussed above (e.g., wheel stop 658), and wheel stop assembly 1458 may include overload protection. More specifically, wheel stop assemblies 1458a and 1458b may each include a housing 1403 (shown in Figure 14), a stop 1404, a drive gear 1406, and a biasing element 1408 (discussed in Figure 16). Stop 1404 may include a projection 1472 extending from the main body 1470. Furthermore, the stop 1404 may include a shaft 1410 that extends at least partially through the drive gear 1406 and the housing 1403, which can allow coaxial or concentric rotation of the stop 1404 and the drive gear 1406.

[0090] The housing 1403 can accommodate at least a portion of the actuator gear 1468, allowing the actuator gear 1468 to engage with the teeth of the drive gear 1406. The drive gear 1406 can engage with the stop 1404, so that rotation of the actuator gear 1468 (e.g., from the actuator system 1460) causes rotation of the drive gear 1406 and the stop 1404, engaging with the fender 1455 and moving the fender 1455 and the drive wheel 1418. Rotation of the actuator gear 1468 in the opposite direction causes rotation of the stop 1404 and the drive gear 1406, which can cause, for example, the stop 1404 to disengage from the fender 1455. The biasing element 1408 engages with the stop 1404 and the drive gear 1406 and can act as an overload protection device, as discussed in more detail below.

[0091] Figure 16 illustrates an isometric view of a portion of the mobile cleaning robot 1400. The mobile cleaning robot 1400 may be consistent with the mobile cleaning robot 1400 discussed above, and Figure 16 shows additional details of the mobile cleaning robot 1400. For example, Figure 16 shows the actuator gear 1468 engaged with the teeth of the drive gear 1406.

[0092] Figure 16 also shows that the drive gear 1406 may include an engaging portion 1412 extending laterally inward from the main body 1414 of the drive gear 1406. The drive gear 1406 may also include a support portion 1416 extending laterally inward from the main body 1414 of the drive gear 1406. The stop 1404 may include an engaging portion 1420 extending laterally outward from the main body 1470 of the drive gear 1406. The engaging portion 1420 of the stop 1404 may be engaged with or be engaged with the engaging portion 1412 of the drive gear 1406.

[0093] The biasing element 1408 may be a spring (for example, a torsion spring), which includes one or more coils and includes legs 1422 and 1424. Leg 1422 may engage with the engaging portion 1420 of the stop 1404, and leg 1424 may engage with the support portion 1416 of the drive gear 1406. Since the engaging portion 1412 engages with the engaging portion 1420, the stop 1404 may be rotated by the drive gear 1406 away from the fender 1455. And since leg 1424 engages with the support portion 1416 and leg 1422 engages with the engaging portion 1420, the stop 1404 may be rotated by the drive gear 1406 toward the fender 1455. Thus, the stop 1404 and the drive gear 1406 can operate as a single component in the direction of rotation of the stop 1404 such that it moves away from the fender 1455.

[0094] Furthermore, until the force applied to the leg portion 1422 by the stop 1404 (e.g., from the fender 1455) overcomes the spring force of the biasing element 1408 (at which point the stop 1404 can move relative to the drive gear 1406), the stop 1404 and the drive gear 1406 can operate as a single component in the direction of rotation of the stop 1404 toward the fender 1455. In this overload scenario, the stop 1404 can rotate relative to the drive gear 1406 far enough to disengage the projection 1472 from the fender 1455, which can help minimize the force applied to the actuator system 1460 (e.g., via the actuator gear 1468 and drive shaft 1466), thus helping to prevent damage to the actuator system 1460 during overload conditions (e.g., when a user steps on the body portion 1402). When the force applied to the leg portion 1422 by the stop 1404 (for example, from the fender 1455) falls below the spring force, the stop 1404 is biased by the biasing element 1408 and is able to return to its normal position with the engaging portion 1420 engaged with the engaging portion 1412. In this way, the stop 1404, drive gear 1406, and biasing element 1408 can provide overload protection for the wheel stop assembly 1458 and help limit damage to the wheel stop assembly 1458 or the actuator system 1460.

[0095] Figure 17 illustrates a block diagram of an exemplary machine 1700 capable of implementing any one or more of the techniques (e.g., methodologies) discussed herein. As described herein, the example may include, or be capable of operating by, logic or a set of components or mechanisms within machine 1700. A circuit (e.g., a processing circuit) is a collection of circuits implemented within the tangible entities of machine 1700, including hardware (e.g., simple circuits, gates, logic, etc.). Circuit membership may be flexible over time. A circuit includes components that can perform specific operations individually or in combination when operating. In one example, the hardware of a circuit may be designed immutably to perform a specific operation (e.g., hardwired). In one example, the hardware of a circuit may include variably connected physical components (e.g., execution units, transistors, simple circuits, etc.), including a machine-readable medium that is physically modified to encode instructions for a specific operation (e.g., a magnetically, electrically, or movable placement of particles of invariant mass). When connecting physical components, the fundamental electrical properties of the hardware components are changed, for example, from an insulator to a conductor, or vice versa. Instructions allow embedded hardware (e.g., an execution unit or loading mechanism) to generate components of a circuit within the hardware via variable connections, performing a specific part of an operation while in operation. Thus, in one example, a machine-readable medium element is either part of a circuit or communicatively connected to other components of a circuit while the device is in operation. In one example, any of the physical components can be used in two or more components of two or more circuits. For example, under operation, an execution unit can be used in a first circuit of a first circuit at one point in time, and at different times, it can be reused by a second circuit within the first circuit, or by a third circuit within the second circuit.Additional examples of these components for Machine 1700 are shown below.

[0096] In an alternative embodiment, machine 1700 can operate as a standalone device or can be connected to other machines (e.g., networked). In a networked deployment, machine 1700 can operate within the capacity of a server machine, within the capacity of a client machine, or in a server-client network environment of both. For example, machine 1700 can act as a peer machine in a peer-to-peer (P2P) (or other distributed) network environment. Machine 1700 can be a personal computer (PC), tablet PC, set-top box (STB), personal digital assistant (PDA), mobile phone, web appliance, network router, switch or bridge, or any machine capable of executing instructions (sequential or otherwise) specifying actions to be taken by that machine. Furthermore, although only a single machine is illustrated, the term “machine” shall also be interpreted to include any collection of machines individually or collectively performing any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), other computer cluster configurations, etc.

[0097] The machine (e.g., a computer system) 1700 may include a hardware processor 1702 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), main memory 1704, static memory (e.g., memory or storage for firmware, microcode, basic-input-output (BIOS), Unified Extensible Firmware Interface (UEFI), etc.) 1706, and mass storage 1708 (e.g., a hard drive, tape drive, flash storage, or other block device), some or all of which may communicate with each other via an interlink (e.g., a bus) 1730. The machine 1700 may further include a display unit 1710, an alphanumeric input device 1712 (e.g., a keyboard), and a user interface (UI) navigation device 1714 (e.g., a mouse). In one example, the display unit 1710, the input device 1712, and the UI navigation device 1714 may be touchscreen displays. Machine 1700 may additionally include a storage device (e.g., a drive unit) 1708, a signal generating device 1718 (e.g., a speaker), a network interface device 1720, and one or more sensors 1716, such as a Global Positioning System (GPS) sensor, a compass, an accelerometer, or other sensors. Machine 1700 may also include an output controller 1728, such as a serial (e.g., Universal Serial Bus (USB)), parallel, or other wired or wireless (e.g., infrared (IR), near-field communication (NFC)) connection, which can communicate with or control one or more peripheral devices (e.g., a printer, a card reader).

[0098] The registers of the processor 1702, main memory 1704, static memory 1706, or mass storage 1708 may be or contain machine-readable media 1722, and one or more sets of data structures or instructions 1724 (e.g., software) that embody or utilize any one or more of the techniques or functions described herein are stored on the machine-readable media 1722. Furthermore, the instructions 1724 may, entirely or at least partially, reside in any of the registers of the processor 1702, main memory 1704, static memory 1706, or mass storage 1708 during their execution by the machine 1700. In one example, one or any combination of the hardware processor 1702, main memory 1704, static memory 1706, or mass storage 1708 can constitute machine-readable media 1722. Although the machine-readable medium 1722 is illustrated as a single medium, the term “machine-readable medium” can include a single or multiple mediums configured to store one or more instructions 1724 (for example, a centralized or distributed database, and / or associated caches and servers).

[0099] The term “machine-readable medium” can include any medium capable of storing, encoding, or carrying instructions for execution by machine 1700, any medium causing machine 1700 to perform any one or more of the techniques of the present disclosure, or any medium capable of storing, encoding, or carrying data structures used by or associated with such instructions. Examples of non-limiting machine-readable mediums can include solid-state memory, optical mediums, magnetic mediums, and signals (e.g., radio frequency signals, other photon-based signals, acoustic signals, etc.). In one example, a non-transient machine-readable medium includes a machine-readable medium comprising a plurality of particles having an invariant mass (e.g., rest mass), and is therefore a composition of matter. Thus, a non-transient machine-readable medium is a machine-readable medium that does not contain transient propagating signals. Specific examples of non-temporary machine-readable media may include non-volatile memory such as semiconductor memory devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM)) and flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks.

[0100] Instruction 1724 can be further transmitted or received over a communication network 1726 using a transmission medium via a network interface device 1720 that utilizes one of several transport protocols (e.g., Frame Relay, Internet Protocol (IP), Transmission Control Protocol (TCP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), etc.). Illustrative communication networks may include, among others, local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), Plain Old Telephone (POTS) networks, wireless data networks (e.g., the family of IEEE 802.11 standards known as WiFi®, the family of IEEE 802.16 standards known as WiMAX®), the family of IEEE 802.15.4 standards, and peer-to-peer (P2P) networks. In one example, the network interface device 1720 may include one or more physical jacks (e.g., Ethernet, coaxial, or phone jacks) or one or more antennas to connect to the communication network 1726. In another example, the network interface device 1720 may include multiple antennas and may communicate wirelessly using at least one of the following techniques: single input multiple output (SIMO), multiple input multiple output (MIMO), or multiple input single output (MISO). The term "transmission medium" is to be interpreted as including any intangible medium capable of storing, encoding, or carrying instructions for execution by machine 1700, including digital or analog communication signals or other intangible mediums for facilitating the communication of such software. The transmission medium is a machine-readable medium.

[0101] Notes and Examples The following non-limiting embodiments, in particular, detail specific aspects of the subject matter that address and provide benefits to the problems discussed herein.

[0102] Embodiment 1 is a mobile cleaning robot, the mobile cleaning robot comprising a main body, a drive wheel connected to the main body and operable to move the mobile cleaning robot around an environment, a wheel stop movable relative to the main body, and an actuator system operable to move the wheel stop, engage with the drive wheel, and extend the drive wheel from the main body.

[0103] In Example 2, the subject matter of Example 1 optionally includes the fact that the actuator system is capable of operating to rotate the wheel stop relative to the main body.

[0104] In Example 3, the subject of Example 2 optionally includes a fender, which is connected to the drive wheel and at least partially surrounds the drive wheel, and the wheel stop is engageable with the fender.

[0105] In Embodiment 4, the subject of Embodiment 3 is further modified, with the wheel stop comprising a main body rotatable by an actuator system, and the wheel stop comprising a projection extending laterally inward from the main body, optionally including the projection being able to engage with a fender.

[0106] In Example 5, any one or more themes from Examples 1 to 4 optionally include the fact that the actuator system is capable of operating to change the mode of the mobile cleaning robot between vacuuming mode and mopping mode.

[0107] In Example 6, any one or more subjects from Examples 1 to 5 optionally include a mopping pad assembly that can be removably connected to the main body.

[0108] In Example 7, any one or more subjects from Examples 1 to 6 optionally include a sensor system connected to the main body and a controller circuit configured to operate an actuator system based on one or more signals from the sensor system.

[0109] In Example 8, the subject of Example 7 optionally includes a sensor system comprising an image capture sensor configured to generate an image capture signal, a controller configured to determine the flooring type of a portion of the environment based on the image capture signal, and the controller configured to operate an actuator system based on the determined flooring type.

[0110] In Example 9, any one or more subjects of Examples 1 to 8 optionally include an actuator system that includes a drive gear that can engage with the wheel stop to move the wheel stop relative to the main body.

[0111] In Example 10, the subject of Example 9 optionally includes an actuator system which includes an overload spring engaged with a drive gear and a wheel stop, wherein the overload spring is configured to allow the wheel stop to move independently of the drive gear when the force applied to the drive gear by the wheel stop exceeds a threshold force.

[0112] Embodiment 11 is a docking station for a mobile cleaning robot, the docking station comprising: a base configured to at least partially receive a mobile cleaning robot on it, the base configured to at least partially receive a mopping pad on it; one or more walls connected to and extending from the base; and a pad engagement system, the pad engagement system connected to one or more walls and capable of engaging with the mopping pad of the mobile cleaning robot to release the mopping pad from the mobile cleaning robot.

[0113] In Example 12, the subject of Example 11 is further expanded to include a pad engagement system comprising a claw connected to a base or one or more walls, wherein the claw optionally includes being able to engage with the mopping pad of the mobile cleaning robot to release the mopping pad from the mobile cleaning robot when the mobile cleaning robot moves upward relative to the pad engagement system, while the mobile cleaning robot is at least partially positioned on the base.

[0114] In Example 13, the subject of Example 12 optionally includes the mobile cleaning robot being able to engage with the claws such that the claws rotate relative to the base when the mobile cleaning robot moves downward relative to the pad engagement system, while the mobile cleaning robot is at least partially positioned on the base.

[0115] In Example 14, any one or more subjects from Examples 11 to 13 optionally include a first fiducial connected to one or more wall sections, and a second and third fiducial connected to a base.

[0116] In Example 15, any one or more subjects from Examples 11 to 14 optionally include one or more wall sections that can engage with a mobile cleaning robot so as to orient the mobile cleaning robot laterally on the docking station.

[0117] In Example 16, any one or more subjects from Examples 11 to 15 optionally include one or more rollers that can engage with one or more drive wheels of the mobile cleaning robot to restrict the forward and backward movement of the mobile cleaning robot relative to the base when one or more drive wheels are engaged with the base.

[0118] Embodiment 17 is a mobile cleaning robot system comprising a mobile cleaning robot and a docking station, wherein the mobile cleaning robot comprises a body, a mopping pad releasably connected to the body, a pair of drive wheels connected to the body and operable to move the mobile cleaning robot around an environment, and an active suspension system operable to move the body relative to the pair of drive wheels, and the docking station comprises a base configured to at least partially receive the mobile cleaning robot on it, a wall connected to the base and extending from the base, and a pad engagement system, wherein the pad engagement system is connected to the wall and is engaged with the mopping pad to release the mopping pad from the mobile cleaning robot.

[0119] In Example 18, the subject of Example 17 optionally includes an active suspension system comprising a pair of wheel stops movable relative to a main body, and an actuator system which is operable to move the pair of wheel stops so as to engage with a pair of drive wheels, and which 1) restricts the vertical travel of the drive wheels relative to the main body, and 2) moves the drive wheels relative to the main body.

[0120] In Example 19, the subject of Example 18 optionally includes a sensor system connected to the main body and a controller configured to operate an actuator system based on one or more signals from the sensor system.

[0121] In Example 20, the subject of Example 19 optionally includes a sensor system comprising an image capture sensor configured to generate an image capture signal, a controller configured to determine the flooring type of a portion of the environment based on the image capture signal, and the controller configured to operate an actuator based on the determined flooring type.

[0122] In Example 21, the subject of Example 20 is a first fiducial connected to a wall, and a second and third fiducial connected to a base, the controller optionally including the second and third fiducials, which are configured to use the first, second, and third fiducials to navigate a mobile cleaning robot to dock on the base.

[0123] In Example 22, any one or more subjects of Examples 17-21 optionally include a pad engagement system that includes a claw connected to a wall, the claw being capable of engaging with the mopping pad of the mobile cleaning robot to release the mopping pad from the mobile cleaning robot when the mobile cleaning robot moves upward relative to the pad engagement system, while the mobile cleaning robot is at least partially positioned on the base.

[0124] In Example 23, any one or any combination of the apparatus or method from Examples 1 to 22 can be optionally configured such that all described elements or options are available for use or selection.

[0125] The above detailed description includes references to the accompanying drawings, which form part of the detailed description. The drawings illustrate specific embodiments in which the present invention may be put into practice. These embodiments are also referred to herein as “examples.” Such examples may include elements in addition to those shown or described. However, the inventors also intend examples in which only those elements shown or described are provided. Furthermore, the inventors also intend examples using any combination or permutation of those elements shown or described (or one or more embodiments thereof) with respect to a particular example (or one or more embodiments thereof) or with respect to any other example (or one or more embodiments thereof) shown or described herein.

[0126] In the event of any conflicting use between this document and any document incorporated in this manner by reference, the use in this document shall prevail.

[0127] In this document, the terms "a" or "an" are used to include one or more, independently of any other instances or uses of "at least one" or "one or more," as is common in patent literature. In this document, the term "or" is used to indicate non-exclusiveness, or, unless otherwise indicated, "A or B" is used to include "A but not B," "B but not A," and "A and B." In this document, the terms "including" and "in which" are used as plain English equivalents of the terms "comprising" and "wherein," respectively. Furthermore, in the following claims, the terms "including" and "comprising" are open-ended, meaning that a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such terms in a claim is still considered to be within the scope of that claim. Furthermore, in the following claims, terms such as “first,” “second,” and “third” are used merely as labels and are not intended to impose numerical requirements on those subjects.

[0128] The above description is intended to be illustrative and not restrictive. For example, the examples (or one or more embodiments thereof) described above can be used in combination with each other. Other embodiments can be used, for example, by those skilled in the art who have considered the above description. The abstract is provided in accordance with 37 CFR 1.72(b) to enable the reader to quickly understand the nature of the technical disclosure. The abstract is submitted with the understanding that it is not to be used to interpret or limit the claims or their meaning. Also, in the above detailed description, various features can be grouped together to simplify the disclosure. This should not be interpreted as meaning that any disclosed feature not claimed is essential to any claim. Rather, the inventive subject matter may reside in fewer features than all the features of a particular disclosed embodiment. Accordingly, the following claims are incorporated into the detailed description as examples or embodiments, and it is intended that each claim stands alone as a separate embodiment, and that such embodiments can be combined with each other in various combinations or permutations. The scope of the present invention should be determined by reference to the appended claims, along with the entire scope of equivalents to which such claims are entitled. [Explanation of Symbols]

[0129] 40 Environment 42 rooms Rooms 42a-42e 44 beds 46 tables 48 Island 50 Floor surface 50a~50e Floor surface 52. Rugs 54 Behavioral Control Zone 60 users 75 Debris 100 Mobile Cleaning Robots 102 Main body 102b Rear part 104 Mopping System 106 Arm 108 Pad Assembly 109 Bumper 111 Controller 113 Extractor, Cleaning Head, Cleaning Assembly 114 Cleaning Roller 114a, 114b Cleaning rollers 115 Actuators, Motors 116a, 116b Actuators, Motors 117 Dispenser 118a, 118b drive wheel 120 casters 122 Side Brush Assembly 124 Vacuum Assembly 126 memory 128 sensors 130 Cleaning Bin 132 tanks 134 Pumps 135 Debris Port 136 Suction duct 138 Airflow 139 Bump sensor 140 Image Capture Devices 141 Pad Tray 142 Mopping Pad 144 Dirt Sensor 145 filters 300 Docking Stations 346 Upper part 348 base 350 Outer wall 352 platforms 382 Fiducial 384a, 384b fiducial 386a, 386b Notches 388a, 388b Tracks 390 Rollers 390a, 390b rollers 391 Pad Engagement System 392 Nails 392a, 392b, 392c, 392d Nails 394a, 394b opening 396 Main body 398 teeth 399 pins 400 Communication Networks 404 Mobile Devices 406 Cloud Computing Systems 500 Mobile Cleaning Robots 502 Main body 518 Drive Wheel 520 Casters 542 Mopping Pad 554 Drive Arm 555 Fender 556 Stop support part 558 Wheel Stop 600 Mobile Cleaning Robots 602 Main body 618 Drive Wheel 620 Casters 642 Mopping Pad 654 Drive Arm 655 Fender 658 Wheel Stop 658a, 658b, 658c, 658d Wheel Stop 660 Actuator System 662 Actuator 664 Gearbox 666 Driveshaft 668 Actuator Gear 668a, 668b Actuator Gear 670 Main unit 672 Protrusion 674 teeth 676 slots 678 pins 680 Gear Train 1300 Docking Station 1346 Upper part 1348 Base 1350 Wall 1382 Fiducial 1388a, 1388b Trucks 1390a, 1390b ​​rollers 1391 Pad Engagement System 1393 Protrusion 1393a, 1393b protrusion 1395 Ledge section 1400 Mobile Cleaning Robot 1402 Main body 1403 Housing 1404 Stop 1406 Drive Gear 1408 biasing element 1410 Shaft 1412 Engagement part 1414 Main body 1416 Support part 1418 Drive Wheel 1418a, 1418b drive wheel 1420 Engagement part 1422 Legs 1424 Legs 1454 Drive Arm 1455 Fender 1458 Wheel Stop Assembly 1458a, 1458b Wheel Stop Assembly 1460 Actuator System 1466 Drive shaft 1468 Actuator Gear 1470 Main body 1472 Protrusion 1700 Machine 1702 Hardware Processor 1704 Main Memory 1706 Static memory 1708 Mass Storage 1710 Display Unit 1712 Input Devices 1714 User Interface (UI) Navigation Devices 1716 Sensor 1718 Signal Generating Device 1720 Network Interface Device 1722 Machine-readable media 1724 Instructions 1726 Communication Network 1728 Output Controller 1730 Interlink

Claims

1. A mobile cleaning robot, wherein the mobile cleaning robot is The main body and A drive wheel connected to the main body and capable of moving the mobile cleaning robot around the environment, A wheel stop that is movable relative to the main body, An actuator system capable of moving the wheel stop, engaging it with the drive wheel, and extending the drive wheel from the main body, Mobile cleaning robots, including...

2. The mobile cleaning robot according to claim 1, wherein the actuator system is operable to rotate the wheel stop relative to the main body.

3. The mobile cleaning robot according to claim 2, wherein the mobile cleaning robot includes a fender, the fender is connected to the drive wheel and at least partially surrounds the drive wheel, and the wheel stop is engageable with the fender.

4. The mobile cleaning robot according to claim 3, wherein the wheel stop includes a main body that is rotatable by the actuator system, the wheel stop includes a projection extending laterally inward from the main body, the projection being engageable with the fender.

5. The mobile cleaning robot according to any one of claims 1 to 4, wherein the actuator system is operable to change the mode of the mobile cleaning robot between a vacuuming mode and a mopping mode.

6. A mobile cleaning robot according to any one of claims 1 to 5, comprising a mopping pad assembly that can be removably connected to the main body.

7. The sensor system connected to the main unit, A controller circuit configured to operate the actuator system based on one or more signals from the sensor system, A mobile cleaning robot according to any one of claims 1 to 6, including the mobile cleaning robot according to any one of claims 1 to 6.

8. The mobile cleaning robot according to claim 7, wherein the sensor system includes an image capture sensor configured to generate an image capture signal, the controller is configured to determine the flooring type of a portion of the environment based on the image capture signal, and the controller is configured to operate the actuator system based on the determined flooring type.

9. The mobile cleaning robot according to any one of claims 1 to 8, wherein the actuator system includes a drive gear that can engage with the wheel stop to move the wheel stop relative to the main body.

10. The mobile cleaning robot according to claim 9, wherein the actuator system includes an overload spring engaged with the drive gear and the wheel stop, the overload spring being configured to allow the wheel stop to move independently of the drive gear when the force applied to the drive gear by the wheel stop exceeds a threshold force.

11. A docking station for a mobile cleaning robot, wherein the docking station is A base configured to at least partially receive the mobile cleaning robot thereon, the base being configured to at least partially receive a mopping pad thereon, One or more wall portions connected to the base and extending from the base, A pad engagement system, wherein the pad engagement system is connected to one or more wall portions and is capable of engaging with the mopping pad of the mobile cleaning robot to release the mopping pad from the mobile cleaning robot, A docking station, including one.

12. The mobile cleaning robot according to claim 11, wherein the pad engagement system includes a claw connected to the base or one or more walls, the claw being able to engage with the mopping pad of the mobile cleaning robot to release the mopping pad from the mobile cleaning robot when the mobile cleaning robot moves upward relative to the pad engagement system when the mobile cleaning robot is at least partially positioned on the base.

13. The mobile cleaning robot according to claim 12, wherein the mobile cleaning robot is capable of engaging with the claws such that when the mobile cleaning robot moves downward relative to the pad engagement system, the claws rotate relative to the base when the mobile cleaning robot is at least partially positioned on the base.

14. A first fiducial connected to one or more of the wall portions, A second fiducial and a third fiducial connected to the base, A mobile cleaning robot according to any one of claims 11 to 13, further comprising:

15. The mobile cleaning robot according to any one of claims 11 to 14, wherein one or more wall portions are engageable with the mobile cleaning robot so as to orient the mobile cleaning robot laterally on the docking station.

16. The mobile cleaning robot according to any one of claims 11 to 15, further comprising one or more rollers that can engage with one or more drive wheels of the mobile cleaning robot to restrict the forward and backward movement of the mobile cleaning robot relative to the base when the one or more drive wheels are engaged with the base.

17. A mobile cleaning robot system, wherein the mobile cleaning robot system is Mobile cleaning robots and docking station and Includes, The aforementioned mobile cleaning robot The main body and A mopping pad that can be removably connected to the main body, A pair of drive wheels connected to the main body and capable of moving the mobile cleaning robot around the environment, An active suspension system that is operable to move the main body relative to the pair of drive wheels, Includes, The docking station is, A base configured to at least partially receive the aforementioned mobile cleaning robot, A wall portion connected to the base and extending from the base, A pad engagement system, wherein the pad engagement system is connected to the wall and is capable of engaging with the mopping pad to release the mopping pad from the mobile cleaning robot, A mobile cleaning robot system, including...

18. The active suspension system is A pair of wheel stops that are movable relative to the main body, An actuator system, wherein the actuator system is operable to move a pair of wheel stops so as to engage with a pair of drive wheels, and the actuator system 1 - restricts the vertical travel of the drive wheels relative to the main body, and 2 - moves the drive wheels relative to the main body. The mobile cleaning robot system according to claim 17, including the above.

19. The sensor system connected to the main unit, A controller configured to operate the actuator system based on one or more signals from the sensor system, The mobile cleaning robot system according to claim 18, including the above.

20. The mobile cleaning robot system according to claim 19, wherein the sensor system includes an image capture sensor configured to generate an image capture signal, the controller is configured to determine the flooring type of a portion of the environment based on the image capture signal, and the controller is configured to operate the actuator based on the determined flooring type.

21. The first fiducial connected to the wall portion, A second fiducial and a third fiducial connected to the base, wherein the controller is configured to use the first fiducial, the second fiducial, and the third fiducial to navigate the mobile cleaning robot to dock on the base, The mobile cleaning robot according to claim 20, further comprising:

22. The mobile cleaning robot system according to any one of claims 17 to 21, wherein the pad engagement system includes a claw connected to the wall, the claw being able to engage with the mopping pad of the mobile cleaning robot to release the mopping pad from the mobile cleaning robot when the mobile cleaning robot moves upward relative to the pad engagement system when the mobile cleaning robot is at least partially positioned on the base.

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