Mobile cleaning robot equipped with a scrubbing system

Abstract

A mobile cleaning robot may comprise a body, a drive system, a mopping pad assembly, and a scrubbing system. The drive system may be connected to the body and capable of moving the mobile cleaning robot within the floor surface of the environment. The mopping pad assembly may be connected to the body and configured to hold a mopping pad capable of gripping the floor surface. The scrubbing system may be connected to the body in front of the mopping pad assembly and capable of gripping and scrubbing the floor surface.

Description

Technical Field

[0001] 〔Priority Application〕 This application is a continuation application of U.S. Patent Application No. 18 / 207,346, filed on June 8, 2023, and claims priority based on this patent application. The content of this patent application is hereby incorporated by reference in its entirety into this specification.

Background Art

[0002] Examples of autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning operations within an environment such as a house. Various cleaning robots have varying degrees of autonomy in different ways. Some robots are capable of performing vacuuming operations, and some robots are capable of performing mopping operations. Additionally, other robots can be equipped with components or systems that perform both vacuuming and mopping operations.

Summary of the Invention

Problems to be Solved by the Invention

[0003] Some autonomous cleaning robots can be equipped with both a vacuum system and a mopping system, allowing the robot to perform both mopping and vacuuming operations (e.g., simultaneously or alternately). This is often referred to as a 2-in-1 robot. However, in mopping operations, some stains or dirt may be difficult to remove from the floor surface of the environment by using only a wet pad or a dry pad. The present disclosure helps to address these problems by providing a 2-in-1 robot equipped with a scrubbing system configured to scrub the floor surface when mopping or cleaning the floor surface, resulting in assisting in improving the cleaning effect or efficiency.

[0004] Other types of robots are equipped only with a mopping system to perform wet or dry mopping actions or missions. However, these mopping systems often rotate, vibrate, or otherwise move the entire cleaning pad, which can lead to mobility problems for the robot and a decrease in cleaning efficiency. This disclosure helps address these problems by providing a scrubbing system separate from the cleaning pad. Here, the scrubbing system or agitation system is capable of crushing the dirt that will be collected by the mopping pad positioned behind the agitation system, thereby helping to improve the effectiveness or efficiency of cleaning without significantly impacting the robot's mobility. [Means for solving the problem]

[0005] For example, a mobile cleaning robot may comprise a body, a drive system, a mopping pad assembly, and a scrubbing system. The drive system may be connected to the body and be operable to move the mobile cleaning robot within the floor surface of the environment. The mopping pad assembly may be connected to the body and be configured to hold a mopping pad capable of gripping the floor surface. The scrubbing system may be connected to the body in front of the mopping pad assembly and be operable to grip and scrub the floor surface.

[0006] The above description is intended to provide an overview of the subject matter of this patent application. It is not intended to describe the invention exclusively or exhaustively. The following description is provided to provide further information relating to this patent application.

[0007] The drawings are not necessarily drawn to scale. In these drawings, similar numbers may represent similar components from different viewpoints. Also, similar numbers with different suffixes may represent different examples of similar components. These drawings schematically illustrate, as examples and not limiting, the various embodiments discussed herein. [Brief explanation of the drawing]

[0008] [Figure 1] This is a plan view of a mobile cleaning robot in a certain environment. [Figure 2A] This is an isometric view of the mobile cleaning robot in its first state. [Figure 2B] This is an isometric view of the mobile cleaning robot in the second state. [Figure 2C] This is an isometric view of the mobile cleaning robot in the third state. [Figure 2D] This is a bottom view of the mobile cleaning robot in the third state. [Figure 2E] This is an isometric view from above of the mobile cleaning robot in the third state. [Figure 2F] This is a lateral cross-sectional view of the mobile cleaning robot in the first state. [Figure 3] This diagram shows an example of a communication network operating within a mobile cleaning robot and data transmission within that network. [Figure 4] This is a bottom view of a mobile cleaning robot. [Figure 5] This is an isometric view of a portion of a mobile cleaning robot. [Figure 6] This is a lateral cross-sectional view of a portion of a mobile cleaning robot along the guide line 6-6 in Figure 5. [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]It is an isometric view of a part of a mobile cleaning robot. [Figure 11] It is an isometric view of a part of a mobile cleaning robot. [Figure 12] It is an isometric view of a part of a mobile cleaning robot. [Figure 13] It is an isometric view of a part of a mobile cleaning robot. [Figure 14] It is an isometric view of a part of a mobile cleaning robot. [Figure 15] It is a side sectional view of a part of a mobile cleaning robot along the indication line 15-15 in FIG. 14. [Figure 16] It is a perspective view of a part of a mobile cleaning robot. [Figure 17] It is a perspective view of a part of a mobile cleaning robot. [Figure 18] It is an isometric view of a part of a mobile cleaning robot. [Figure 19] It is an isometric view of a part of a mobile cleaning robot. [Figure 20] It is a block diagram showing an example of a machine in which one or more embodiments can be implemented.

Mode for Carrying Out the Invention

[0009] Outline of Robot Operation FIG. 1 shows 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 such as a house or an apartment, and can include rooms 42a to 42e. In the rooms 42 in this environment, obstacles such as a bed 44, a table 46, and an island 48 can be located. Each room 42a to 42e can have floor surfaces 50a to 50e, respectively. Some rooms, such as room 42d, can include a rug such as rug 52. The floor surface 50 can be of one or more types, such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high)-pile carpet, or stone.

[0010] The mobile cleaning robot 100 can be operated by, for example, the user 60 and can autonomously clean the environment 40 room by room. In some examples, the robot 100 can clean the floor surface 50a of one room, such as room 42a, and then move to the next room, such as room 42d, and clean the surface of room 42d. Each room can have a different type of floor surface. For example, room 42e (such as a kitchen) can have a hard floor surface, such as wood or ceramic tile, and room 42a (such as a bedroom) can have a carpet surface, such as a medium-pile carpet. Another room, such as room 42d (such as a dining room), can have a rug 52 placed therein and can have multiple floor surfaces.

[0011] During the cleaning operation or the moving operation, the robot 100 can generate a map of the environment 40 using data collected from various sensors (such as optical sensors) and calculated values (such as odometry or obstacle detection). Once the map is generated, the user 60 can set rooms or zones (such as room 42) within the map. The map can be presented to the user 60 on a user interface, such as a mobile device, in which case the user 60 can, for example, indicate or change cleaning preferences.

[0012] Furthermore, during the operation, the robot 100 can detect the surface type within each room 42, and the detection result can be stored in the robot 100 or another device. The robot 100 can update the map (or related data) to include or reflect the surface types of the floor surfaces 50a - 50e of each room 42 in the environment 40. In some examples, the map can be updated to show different surface types for each room 42, for example.

[0013] In some examples, user 60 can set a behavior control zone 54. In autonomous operation, robot 100 can initiate behavior in response to being located in or near the behavior control zone 54. For example, user 60 can set a dirty area within the environment 40 as the behavior control zone 54. Accordingly, robot 100 can initiate a concentrated cleaning behavior that focuses on cleaning a portion of the floor surface 50d within the behavior control zone 54.

[0014] Examples of robots Figure 2A shows an isometric view of the mobile cleaning robot 100 with the pad assembly in the retracted position. Figure 2B shows an isometric view of the mobile cleaning robot 100 with the pad assembly in the extended position. Figure 2C shows an isometric view of the mobile cleaning robot 100 with the pad assembly in the mopping position. Furthermore, Figures 2A to 2C show letters indicating the forward and backward directions. Figures 2A to 2C will be discussed together later.

[0015] The mobile cleaning robot 100 may comprise a main body 102 and a mopping system 104. The mopping system 104 may comprise arms 106a and 106b (collectively referred to as arm 106) and a pad assembly 108. Furthermore, as will be discussed in more detail later, the robot 100 may also comprise a bumper 109 and other features such as an extractor (equipped with rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., a motor, gear train, and wheels), casters, and sensors. The distal portion of arm 106 is connected to the pad assembly 108, and the proximal portions of arms 106a and 106b are connected to an internal drive system for moving the pad assembly 108 by driving arm 106.

[0016] Figures 2A to 2C illustrate how the robot 100 can be operated to move the pad assembly 108 from the stowed position in Figure 2A to the transitional or partially deployed position in Figure 2B, and further to the mopping or deployed position in Figure 2C. In the stowed position in Figure 2A, the robot 100 can only perform a vacuuming operation. In the deployed position in Figure 2C, the robot 100 can perform either a vacuuming operation or a mopping operation. Figures 2D to 2E discuss other components of the robot 100.

[0017] Robot components Figure 2D shows a bottom view of the mobile cleaning robot 100, and Figure 2E shows an isometric view of the robot 100 from above. Figures 2D and 2E will be described together later. The robot 100 in Figures 2D and 2E is the same as that in Figures 2A to 2C. Figures 2D to 2E show further details of the robot 100. For example, Figures 2D to 2E show that the robot 100 comprises a body 102, a bumper 109, an extractor 113 (equipped with 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. Furthermore, the mopping system 104 may be equipped with a tank 132 and a pump 134.

[0018] The cleaning robot 100 may be an autonomous cleaning robot capable of autonomously traversing the floor surface 50 (Figure 1) and sucking up dirt from various parts of the floor surface 50. As shown in Figure 2D, the robot 100 may have a body 102 that can move within the floor surface 50. This body 102 may consist of a plurality of connected structural parts to which the movable or fixed components of the cleaning robot 100 are attached. These connected structural parts may include, for example, an outer housing to cover the internal components of the cleaning robot 100, a chassis to which the drive wheels 118a, 118b and cleaning rollers 114a, 114b (of the cleaning assembly 113) are attached, and a bumper 109 connected to the outer housing. The caster wheels 120 can support the front portion of the body 102 above the floor surface 50, and the drive wheels 118a, 118b can support the central and rear portions of the body 102 above the floor surface 50 (and can also support the majority of the weight of the robot 100).

[0019] As shown in Figure 2D, the body 102 may have a front portion that is substantially semicircular in shape and can be connected to the bumper 109. Furthermore, the body 102 may also have a rear portion that is substantially semicircular in shape. In other examples, the body 102 may have other shapes, such as a square front or a straight front. Furthermore, the robot 100 may be equipped with a drive system comprising actuators (e.g., motors) 116a and 116b. The actuators 116a and 116b may be connected to the body 102 and operably connected to the drive wheels 118a and 118b, and these drive wheels 118a and 118b may be rotatably mounted to the body 102. When driven, the actuators 116a and 116b may rotate the drive wheels 118a and 118b, thereby enabling the robot 100 to move autonomously within the floor surface 50.

[0020] The vacuum assembly 124 can be located at least partially within the main body 102 of the robot 100, for example, in the rear part of the main body 102, and in other examples, it can be located elsewhere. The vacuum assembly 124 may be equipped with a motor for driving an impeller that generates airflow when rotated. The airflow from the vacuum assembly 124 works in cooperation with the rotating cleaning roller 114 to suck up debris into the robot 100.

[0021] A cleaning bin 130 (shown in Figure 2F) can be installed inside the main body 102 and can contain debris sucked up by the robot 100. A filter inside the main body 102 can separate debris from the airflow before it enters the vacuum assembly 124 and is discharged from the main body 102. In this regard, debris can be captured in both the cleaning bin 130 and the filter before the airflow is discharged from the main body 102. In some examples, the vacuum assembly 124 and extractor 113 can be provided as options or of different types. Optionally, the vacuum assembly 124 can be operated during a mopping operation, for example, if a mopping system 104 is included. That is, the robot 100 can perform vacuuming and mopping missions or operations simultaneously.

[0022] The cleaning rollers 114a and 114b can be operably connected to an actuator 115, such as a motor, via a gearbox. The cleaning head 113 and the cleaning rollers 114a and 114b may be positioned in front of the cleaning bin 130. The cleaning roller 114 can be attached to or connected to the underside of the main body 102 so that when the underside of the main body 102 faces the floor surface 50 during the cleaning operation, the cleaning rollers 114a and 114b can capture debris on the floor surface 50.

[0023] The controller 111 can be at least partially located within the housing 102 and can be, for example, a single-board computer or a multi-board computer, a direct digital controller (DDC), or a programmable controller such as a programmable logic controller (PLC). In other examples, the controller 111 can be any computing device, such as a smartphone, a handheld computer such as a tablet, a laptop, a desktop computer, or any other computing device having 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, connected to the controller 111, and accessible by the controller 111.

[0024] The controller 111 can autonomously guide the robot 100 on the floor surface 50 during cleaning by operating actuators 116a and 116b. Actuators 116a and 116b may be capable of driving the robot 100 in the forward and reverse directions, as well as rotating the robot 100. The controller 111 can operate the vacuum assembly 124 to generate an airflow that passes through the gap near the cleaning roller 114, through the main body 102, and out of the main body 102.

[0025] The robot 100 may be equipped with a sensor system comprising one or more sensors. A sensor system as described herein may generate one or more signals indicating the current position of the robot 100 and may generate signals indicating the position of the robot 100 as it moves along the floor surface 50. A sensor 128 (shown in Figure 2A) may be positioned along the bottom portion of the housing 102. Each sensor 128 may be an optical sensor configured to detect the presence or absence of an object located below, such as the floor surface 50. The sensors 128 (optionally cliff sensors) may be connected to a controller 111 and used by the controller 111 to guide the robot 100 within the environment 40. In some examples, a cliff sensor may be used to detect the floor surface type, and the floor surface type thus detected may be used by the controller 111 to selectively operate the mopping system 104.

[0026] The cleaning pad assembly 108 can be a cleaning pad connected to the bottom portion of the main body 102 (or connected to a moving mechanism configured to move the assembly 108 between a storage position and a cleaning position), for example, the cleaning pad can be connected to a cleaning bin 130 located behind the extractor 113. The tank 132 can be a water tank configured to store a fluid, such as water or cleaning solution, for delivery to the mopping pad 142. The pump 134 can be connected to the controller 111 and be in fluid communication with the tank 132. The controller 111 may be configured to operate the pump 134 to deliver fluid to the mopping pad 142 during the mopping operation. For example, the fluid can be delivered to the mopping pad 142 via one or more dispensers 117. The dispensers 117 can be valves, openings, or similar, and may be configured to deliver fluid to the floor surface 50 of the environment 40 or to deliver fluid directly to the pad 142. In some examples, the pad 142 can be a dry pad for purposes such as dust removal or dry debris removal. Furthermore, the pad 142 can be any cloth or fiber configured for cleaning (either wet or dry) floor surfaces.

[0027] As shown in Figure 2F, the vacuum assembly 124 can be positioned at least partially within the body 102 of the robot 100, for example, in the rear portion of the body 102. The controller 111 can operate the vacuum assembly 124 to generate an airflow that passes through the gap near the cleaning roller 114, through the body 102, and out of the body 102. This airflow, in cooperation with the rotating cleaning roller 114, allows the robot 100 to suck up debris 75 into the suction duct 136. The suction duct 136 extends to or near the bottom portion of the body 102 and can be at least partially defined by the cleaning assembly 113.

[0028] A suction duct 136 may be connected to a cleaning head 113 or cleaning assembly and to a cleaning bin 130. The cleaning bin 130 is mounted within the main body 102 and is capable of containing debris 75 sucked up by the robot 100. A filter 145 may be located within the main body 102 and may help separate the debris 75 from the airflow 138 before it enters the vacuum assembly 124 and is discharged from the main body 102. In this regard, the debris 75 may be captured in both the cleaning bin 130 and the filter before the airflow 138 is discharged from the main body 102. Furthermore, the robot 100 may also be equipped with a debris port 135 that may extend at least partially through the main body 102 or the cleaning bin 130 and be operable to remove debris 75 from the cleaning bin 130 via, for example, a docking station or discharge station.

[0029] The cleaning rollers 114a and 114b can each be operably connected to one or more actuators 115, such as 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 to the housing of the cleaning head 113 and can be indirectly or directly mounted to the body 102 of the robot 100, for example. In particular, the cleaning rollers 114a and 114b can be mounted to the underside of the body 102, so that when the underside faces the floor surface 50 during the cleaning operation, the cleaning rollers 114a and 114b can capture debris 75 on the floor surface 50.

[0030] 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 drive the drive wheels 118 by operating the motor 116, thereby propelling the robot 100 along the floor surface 50. The robot 100 can be propelled in either a forward or backward direction. Furthermore, the robot 100 can be propelled so that it turns in place or turns while moving in either a forward or backward direction. In addition, the controller 111 can rotate the rollers 114a and 114b by operating the motor 115, operate the side brush assembly 122, and operate the motor of the vacuum system 124 to generate airflow. By executing software stored in memory 126, the controller 111 can cause the robot 100 to perform various navigation and cleaning behaviors by operating various motors of the robot 100.

[0031] Various sensors on the robot 100 can be used to assist the robot's movement and cleaning within the environment 40. For example, a cliff sensor can detect obstacles such as steep slopes and cliffs located below the part of the robot 100 where the cliff sensor is located. The cliff sensor can transmit signals to the controller 111 so that the controller 111 can adjust the direction of the robot 100 based on the signals from the sensor.

[0032] A proximity sensor can generate a signal based on whether an object is present or absent in front of the optical sensor. For example, detectable objects include obstacles such as furniture, walls, people, and other objects within the robot 100's environment 40. The proximity sensor can transmit a signal to the controller 111 so that the controller 111 can reorient the robot 100 based on the signal from the proximity sensor. In some examples, a bump sensor may be used to detect the movement of a bumper 109 along the longitudinal axis of the robot 100. Furthermore, 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 optionally, it can also detect vertical bumper movement. The bump sensor 139 can transmit a signal to the controller 111 so that the controller 111 can reorient the robot 100 based on the signal from the bump sensor 139.

[0033] Furthermore, the robot 100 may optionally be equipped with one or more dirt sensors 144 connected to the main body 102 and in communication with the controller 111. The dirt sensors 144 may be microphones, piezoelectric sensors, or optical sensors, etc., located in or near the path of the dirt, such as 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 the amount of dirt being sucked up by the vacuum assembly 124 (for example, via the extractor 113) at any point during the cleaning mission. Because the robot 100 is able to recognize its own position, it can keep a log or record of areas or rooms with more dirt on the map, or a log or record of locations where more dirt is collected.

[0034] The image capture device 140 may be configured to generate signals based on images of the environment 40 surrounding the robot 100 as the robot 100 moves across the floor surface 50. The image capture device 140 can transmit such signals to the controller 111. The controller 111 can use the signals from the image capture device 140, or a combination of signals, for various tasks or algorithms, as will be discussed in more detail later.

[0035] In some examples, obstacle-following sensors can detect 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-following sensors along the side surface, which can detect the presence or absence of objects adjacent to the side surface. Furthermore, one or more obstacle-following sensors may also function as obstacle detection sensors, similar to proximity sensors described herein.

[0036] Furthermore, the robot 100 may also include sensors for tracking the distance it has traveled. For example, the sensor system may include encoders associated with motors 116 for the drive wheels 118, which can track the distance the robot 100 has traveled. In some implementations, the sensors may include optical sensors facing downward toward the floor surface. These optical sensors can be positioned to send light through the bottom surface of the robot 100 toward the floor surface 50. The optical sensors can detect the reflection of light and, based on the changes in the floor features as the robot 100 moves along the floor surface 50, can detect the distance the robot 100 has traveled.

[0037] 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.

[0038] Furthermore, the sensor data can also be used by the controller 111 for simultaneous localization and mapping (SLAM) technology, in which the controller 111 extracts environmental features represented by the sensor data and constructs a map of the floor surface 50 of this environment. The sensor data collected by the image capture device 140 can be used for technologies such as vision-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 on the floor surface 50 during a mission, the controller 111 can use SLAM technology to detect features represented in the collected sensor data and determine the position of the robot 100 in the map by comparing these features with previously stored features. The map formed from the sensor data may show the locations of traversable and non-traversable spaces in the environment. For example, the location of an obstacle may be shown on the map as an impassable space, while the location of an unobstructed floor space may be shown on the map as a passable space.

[0039] Sensor data collected by any of these sensors can be stored in memory 126. Furthermore, other data generated for SLAM technology, including mapping data that forms a map, can also be stored in memory 126. This data generated during a mission may include persistent data generated during a mission and usable during subsequent missions. In addition to storing software for causing the robot 100 to perform behaviors, memory 126 can store data obtained as a result of processing sensor data for access by the controller 111. For example, the map could be a map that the robot 100's controller 111 can use and update on a per-mission basis to guide the robot 100 on the floor surface 50.

[0040] Persistent data, including persistent maps, can assist the robot 100 in efficiently cleaning the floor surface 50. For example, this map allows the controller 111 to orient the robot 100 towards an obstacle-free floor space and avoid spaces it cannot traverse. Furthermore, for subsequent missions, the controller 111 can use this map to optimize the path the robot follows during the mission, thereby assisting in planning the robot 100's movement throughout the environment 40.

[0041] Furthermore, the controller 111 can also drive the arm 106 by sending commands to a motor (located inside the main body 102) to move the pad assembly 108 between a retracted position (shown in Figures 2A and 2D) and an extended position (shown in Figures 2C and 2E). In the extended position, the pad assembly 108 (mopping pad 142) can be used to mop the floor surface of any room in the environment 40.

[0042] The mopping pad 142 can be a dry pad or a wet pad. Optionally, if 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 robot 100 can then use the wet mopping pad 142 to perform a wet mopping operation on the floor surface 50 of the environment 40.

[0043] Network example Figure 3 shows a communication network 300 that enables network connectivity between the mobile robot 100 and one or more other devices, such as a docking station 200 (or any of the docking stations discussed herein), a mobile device 304 (equipped with a controller), a cloud computing system 306 (equipped with a controller), or another autonomous robot independent of the mobile robot 100. By using the communication network 300, the robot 100, the mobile device 304, the docking station 200, and the cloud computing system 306 can communicate with each other and send and receive data between them. In some examples, the robot 100, the docking station 200, or both the robot 100 and the docking station 200 can communicate with the mobile device 304 via the cloud computing system 306. Alternatively or additionally, the robot 100, the docking station 200, or both the robot 100 and the docking station 200 can communicate directly with the mobile device 304. The communication network 300 can use 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, etc.).

[0044] In some examples, the mobile device 304 can be a remote device linked to a cloud computing system 306, allowing the user to input information. The mobile device 304 can have 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 user input. Furthermore, the mobile device 304 can also have immersive media (e.g., virtual reality or augmented reality) that allows the user to interact and input information. In these examples, the mobile device 304 can be a virtual reality headset or a head-mounted display.

[0045] The user can provide input corresponding to commands to the mobile robot 100. In such a case, the mobile device 304 can send a signal to the cloud computing system 306, which in turn can send command signals to the mobile robot 100. In some implementations, the mobile device 304 can present augmented reality images. In some implementations, the mobile device 304 can be a smartphone, laptop computer, tablet computing device, or other mobile device.

[0046] In some examples, the communication network 300 may have additional nodes. For example, a node of the communication network 300 may have additional robots. Furthermore, a node of the communication network 300 may have a network-connected device capable of generating information about the environment 40. Such a network-connected device may include one or more sensors, such as acoustic sensors, image capture systems, or other sensors that generate signals, thereby detecting characteristics of the environment 40 and extracting features from them. Additionally, network-connected devices may include home cameras or smart sensors.

[0047] In communication network 300, wireless links can use various communication methods and protocols, such as Bluetooth class, Wi-Fi, Bluetooth-Low-Energy (also known as BLE), 802.15.4, Worldwide Interoperability for Microwave Access (WiMAX), infrared channels, or satellite bands. In some examples, the wireless link may include any cellular network standard used for communication between mobile devices, and this includes, but is not limited to, standards corresponding to 1G, 2G, 3G, 4G, or 5G. When used, these network standards are certified as, for example, one or more generations of mobile communication standards by meeting specifications or standards, such as those maintained by the International Telecommunication Union. For example, the 4G standard corresponds to the International Mobile Communications 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.

[0048] Example of mopping Figure 4 shows a bottom view of the mobile cleaning robot 400. Furthermore, Figure 4 shows labels indicating the forward and backward directions. The mobile cleaning robot 400 can be similar to the robot 100 discussed above and may be equipped with a scrubbing system or a stirring system. Any mobile cleaning robot discussed above or below may be equipped with the features of the mobile cleaning robot 400.

[0049] The mobile cleaning robot 400 may comprise a body 402, a mopping pad assembly 408, an extractor 413, a spray nozzle 417, a drive wheel 418, a caster 420, and a scrubbing system 444. The body 402, mopping pad assembly 408, extractor 413, spray nozzle 417, drive wheel 418, and caster 420 may be similar to the body 102, mopping pad assembly 108, extractor 113, spray nozzle 117, drive wheel 118, and caster 120 discussed above.

[0050] The scrubbing system 444 can be connected to the main body 402, for example, in front of the mopping pad assembly 408 and behind the extractor 413. The scrubbing system 444 may be capable of gripping and scrubbing a floor surface, such as the floor surface 50. The scrubbing system 444 may be equipped with an actuator or motor and may be equipped with a scrubbing head 446. This actuator may be in communication with a controller (e.g., controller 111) and may be capable of moving or operating the scrubbing head 446, for example, to perform a scrubbing operation.

[0051] The scrubbing head 446 may be a belt 447 configured to rotate relative to the body 402, for example, around the vertical axis (or substantially vertical axis) of the body 402, or may comprise such a belt 447. Furthermore, the scrubbing head 446 may comprise brush bristles configured to capture the floor surface and debris. Furthermore, the scrubbing head 446 may comprise a pad material, abrasive material, or soft material configured to scrub or capture debris from the floor surface. Furthermore, a nozzle 417 may be positioned within the scrubbing head 446 (for example, at least partially surrounded by the scrubbing head 446), and this spray nozzle 417 may be configured to distribute fluid to the brush bristles or floor surface around the cleaning head.

[0052] During operation, the controller can operate actuators to rotate the belt 447 and brush bristles, thereby capturing and scrubbing away dirt or debris from the floor surface or onto the floor surface. Furthermore, the controller can operate spray nozzles 417 to release fluid onto the floor surface, assisting the brush bristles in separating the dirt from the floor surface during scrubbing. Once the dirt is separated from the floor surface, this separated dirt can be captured (or collected) by the pad assembly 408, for example, by the cleaning pads of the pad assembly 408, thereby removing the dirt or debris from the floor surface. In this way, the scrubbing system 444 can be used to effectively lift dirt from the floor surface for extraction by the cleaning pads of the pad assembly 408. Further examples of scrubbing systems will be discussed below.

[0053] Optionally, the scrubbing system 444 can be stored within the main body 402 when not in use, and can be deployed from the main body 402 to grip the floor surface, for example, during missions involving the mopping pad assembly 408. Furthermore, the scrubbing system 444 can also be stored for docking or other movement-related operations of the mobile cleaning robot 400. Additionally, storing the scrubbing system 444 may help reduce noise during vacuuming-only missions.

[0054] Figure 5 is an isometric view of a portion of the mobile cleaning robot 500. The mobile cleaning robot 500 is similar to robots 100 and 400 discussed above and may be equipped with a reciprocating scrubbing system or a stirring system. Any of the mobile cleaning robots discussed above or below may be equipped with the features of the mobile cleaning robot 500.

[0055] The mobile cleaning robot 500 may comprise a main body 502, a mopping pad assembly 508, and a scrubbing system 544. The main body 502 and the mopping pad assembly 508 may be similar to the main body 102 and the mopping pad assembly 108 discussed above, respectively. As shown in Figure 5, the mopping pad assembly 508 may comprise a pad tray 541 and a mopping pad 542, and these pad tray 541 and mopping pad 542 may be similar to the pad tray 141 and the mopping pad 142, respectively. The pad tray 541 may be connected to the main body 502 by an arm 548 so that the mopping pad assembly 508 is movable relative to the main body 502 (for example, using one or more actuators).

[0056] The scrubbing system 544 may comprise a scrubbing head 546, a support 550, a linkage system 552, and an actuator 554 or a scrubbing motor. The support 550 may be a rigid or semi-rigid member configured to support or connect the components of the scrubbing system 544. For example, the scrubbing head 546, the linkage system 552, and the actuator 554 may be connected to the support 550. The actuator 554 may be a motor or actuator capable of operating or moving the scrubbing head 546. The actuator 554 may be in communication with a controller (e.g., controller 111).

[0057] The scrubbing head 546 may be equipped with brush assemblies 556a and 556b (collectively referred to as the brush assembly 556), which are connected to the support 550 and may be engaged with the actuator 554 so that the operation of the actuator 554 can move the brush assembly 556 to scrub or agitate the floor surface or dirt on the floor surface. The brush assembly 556, along with other features of the mobile cleaning robot 500, will be discussed in more detail later. The brush assembly 556 is referred to as a brush, but may be other scrubbing devices or materials.

[0058] The linkage system 552 may comprise links 552a, 552b, and 552c that can be connected to the main body 502 and thus connect the scrubbing system 544 to the main body 502. The linkage system 552 may consist of one or more links, members, or arms connected by one or more joints or fasteners, and may be configured to allow the actuator 554 and the scrubbing head 546 (scrubbing system 544) to move relative to the main body 502, for example, so that the brush assembly 556 can maintain contact with the floor surface while moving in the environment. Furthermore, the linkage system 552 may also be connected to an actuator 553, which is operable (e.g., by a controller) so that the brush assembly 556 can be moved relative to the main body 502 to or from contact with the floor surface (e.g., by moving the support 550). For example, the brush assembly 556 can be moved into contact with the floor surface for a mopping operation and moved out of contact with the floor surface for a vacuuming-only operation or a docking operation.

[0059] Figure 6 shows a lateral cross-sectional view of a portion of the mobile cleaning robot along the indicator line 6-6 in Figure 5. Figure 7 shows an isometric view of a portion of the mobile cleaning robot 500. Figures 6 and 7 will be discussed together later. The mobile cleaning robot 500 in Figures 6 and 7 can be the same as the mobile cleaning robot 500 in Figure 5. Figures 6 and 7 show additional details of the mobile cleaning robot 500. Furthermore, in Figure 7, letters indicating the directions right, left, up, and down are shown.

[0060] For example, Figures 6 and 7 show that the brush assembly 556a may include a frame 555a that includes or can form a follower 558a, and the brush assembly 556b may include a frame 555b that includes or can form a follower 558b. Furthermore, Figure 6 shows that the scrubbing head 546 may include a driver 560 that can be fixed to or connected to the shaft 562 of the actuator 554. The driver 560 may include bearings 564a and 564b. The bearing 564a may be at least partially located within the follower 558a, and the bearing 564b may be at least partially located within the follower 558b.

[0061] The driver 560 may comprise a camshaft 568 or other driver supporting bearings 564a and 564b. The camshaft 568 may at least partially extend into the frame 555 of the brush assembly 556 such that bearings 564a and 564b are at least partially positioned within the followers 558a and 558b, respectively. The bearings 564a and 564b may extend from the camshaft 568, for example, in opposite directions. For example, as shown in Figure 6, if bearing 564a extends downward, bearing 564b may extend upward.

[0062] Furthermore, Figures 6 and 7 show that brush assemblies 556a and 556b each comprise brush bristles (or scrubbers) 566a and 566b, respectively, and that these brush bristles (or scrubbers) 566a and 566b can be connected to frames 555a and 555b, respectively, and can extend downward from frames 555a and 555b. The brush bristles 566 may be one or more tufts, brushes, or brush bristles configured to capture and clean debris from a floor (or other) surface. The brush bristles 566 may be configured to flex or move relative to the frame 555 to cover a larger surface area of ​​the floor surface beneath the mobile cleaning robot 500 during a mopping or scrubbing operation.

[0063] Figure 7 shows that frames 555a and 555b may have or may be formed with tracks 570a and 570b, respectively. Tracks 570a and 570b are capable of receiving, at least partially, the head portions of brush bristles 566a and 566b to fix them to frames 555a and 555b, respectively. Tracks 570a and 570b may allow the user to replace the brush bristles 566a and 566b, for example, by sliding the brush bristles 566a and 566b in and out of tracks 570a and 570b.

[0064] Furthermore, Figure 7 shows that frames 555a and 555b may each have upper portions 572a and 572b, and that frames 555a and 555b may each have lower portions 574a and 574b. In addition, frames 555a and 555b may be provided with a flexure 576 connecting the upper portion to the lower portion. For example, the flexure 576 may connect the upper portion 572a to the lower portion 574a and the upper portion 572b to the lower portion 574b. The upper portions 572a and 572b may be connected to or fixed to the support portion 550 by one or more fasteners (e.g., screws or rivets). The lower portions 574a and 574b are capable of moving laterally relative to the upper portions 572a and 572b, respectively, under the constraint of the flexure 576, which can be configured to bias the lower portions 574a and 574b toward a neutral or central position (for example, to the center in the lateral or left-right direction). Furthermore, Figure 7 shows that the follower 558 may be elongated and have a height (or vertical) dimension greater than its width (or lateral) dimension.

[0065] In some example operations, a controller (e.g., controller 111) can operate the scrubbing system 544 by operating an actuator 554 to operate the scrubbing head 546. More specifically, the actuator 554 can be operated to rotate the shaft 562 to rotate the driver 560, thereby allowing the camshaft 568 to rotate with the shaft 562. As the camshaft 568 rotates around the shaft 562, the bearings 564a and 564b can move or rotate eccentrically around the camshaft 568 and the shaft 562. The bearings 564a and 564b can be configured such that when one cam extends in one direction, the other cam extends in the other direction. For example, as shown in Figure 6, the bearing 564b extends upward and the bearing 564a extends downward.

[0066] As bearings 564a and 564b rotate from the positions shown in Figures 6 and 7, bearing 564a extends to the left and engages with follower 558a, thereby pushing the lower portion 574a and brush bristles 566a to the left, while bearing 564b extends to the right and engages with follower 558b, thereby pushing the lower portion 574b and brush bristles 566b to the right. As bearings 564a and 564b continue to rotate, bearing 564a may move upward and bearing 564b may move downward. Due to the vertical elongation of the followers, when bearings 564a and 564b are positioned vertically (up and down), bearings 564a and 564b can align with the elongated portions of followers 558a and 558b, respectively, thereby allowing the flexure 576 to bias the frame 555 and brush bristles 566 to the central position. Next, as bearings 564a and 564b continue to rotate, bearing 564a extends to the right and engages with follower 558a, thereby pushing the lower portion 574a and brush bristles 566a to the right, while bearing 564b extends to the left and engages with follower 558b, thereby pushing the lower portion 574b and brush bristles 566b to the left. The cam then rotates to the upper and lower positions shown in Figures 6 and 7, thereby biasing the flexure 576 toward the central position, thereby completing the rotation and cycle, and allowing the cycle to be repeated again.

[0067] The flexure 576 can function as a spring, and when combined with the movable mass of the frame 555 and brush bristles 566, it means that the system inherently has a natural frequency. The controller can be configured to operate the actuator at the same (natural) frequency, thereby reducing power consumption, increasing efficiency, and reducing noise during the operation of the scrubbing system 544.

[0068] As the bearing 564 rotates, the brush assemblies 556a and 556b can translate or move in opposite directions to the left and right, generating a lateral scrubbing motion. The offset movement of the brush assemblies 556a and 556b helps to offset the force applied to the body 502 by the brush assembly 556, thereby helping to limit its impact on the travel or movement of the mobile cleaning robot 500. Furthermore, this offset or alternating movement of the brush assembly 556 in the forward and backward directions can also result in the effective or efficient removal, agitation, or separation of debris from the floor surface, which can then be effectively collected by the mopping pad 542.

[0069] Figure 8 shows an isometric view of a portion of the mobile cleaning robot 800. Figure 9 shows an isometric view of a portion of the mobile cleaning robot 800. Figures 8 and 9 will be discussed together below. The mobile cleaning robot 800 can be similar to robots 100, 400, and 500 discussed above, and the mobile cleaning robot 800 may be equipped with a rotary scrubbing system or an agitation system. Any of the mobile cleaning robots discussed above or below may be equipped with the features of the mobile cleaning robot 800.

[0070] The mobile cleaning robot 800 may comprise a main body 802, a mopping pad assembly 808, and a scrubbing system 844. The main body 802 and the mopping pad assembly 808 may be similar to the main body 102 and the mopping pad assembly 108 discussed above, respectively. As shown in Figures 8 and 9, the mopping pad assembly 808 may comprise a pad tray 841 and a mopping pad 842, and these pad tray 841 and mopping pad 842 may be similar to the pad tray 141 and the mopping pad 142, respectively. The pad tray 841 may be connected to the main body 802 by an arm (for example, using one or more actuators) so that the mopping pad assembly 808 is movable relative to the main body 802.

[0071] The scrubbing system 844 may comprise a scrubbing head 846, a support 850, a linkage system 852, and an actuator 854 or a scrubbing motor. The support 850 may be a rigid or semi-rigid member configured to support or connect the components of the scrubbing system 844. For example, the scrubbing head 846, the linkage system 852, and the actuator 854 may be connected to the support 850. Furthermore, the scrubbing system 844 may comprise a motor mount 878 configured to support the actuator 854 and which may be connected to the support 850. The actuator 854 may be a motor or actuator capable of operating or moving the scrubbing head 846. The actuator 854 may be in communication with a controller (e.g., controller 111).

[0072] The scrubbing head 846 may be equipped with brushes 856a to 856n (collectively referred to as brush 856), which may be connected to a support 850 and engaged with an actuator 854 so as to cause movement or rotation of the brushes 856 to scrub or agitate the floor surface or dirt on the floor surface by the operation of the actuator 854. Furthermore, the scrubbing head 846 may be equipped with a gear train which may include gears for each brush 856, as will be discussed in more detail later. The brushes 856 may comprise a shaft, bristles, and a housing, as will be discussed in more detail later.

[0073] The linkage system 852 may comprise links 852a, 852b, and 852c that can be connected to the main body 802, thereby enabling the scrubbing system 844 to be connected to the main body 802. The linkage system 852 may consist of one or more links, members, or arms connected by one or more joints or fasteners, and the linkage system 852 may be configured to allow the actuator 854 and the scrubbing head 846 (scrubbing system 844) to move relative to the main body 802, for example, to allow the brush 856 to maintain contact with the floor surface while moving through the environment. Furthermore, the linkage system 852 may also be connected to actuators that can move the brush 856 to or from contact with the floor surface. In addition, the linkage system 852 may enable the scrubbing system 844 (e.g., the brush 856) to follow the floor surface (e.g., in the left-right direction) around the roll axis of the mobile cleaning robot 800. For example, the brush 856 can be moved to a contact state with the floor surface for a mopping operation, and can be moved from the contact state with the floor surface for a vacuuming-only operation or a docking operation.

[0074] The brushes 856 can be connected to the support 850 so that the brushes 856 move in sync with the support 850. In this example, the brushes 856 can follow the floor by the floating or movement (relative to the body 802) of the support 850 or by the following of the individual brush bristles 888. In this example, if any of the brushes 856 encounter a discontinuity in the floor (positive or negative with respect to the reference plane), the support 850 will either lift the other brushes off the floor or lose contact with the floor. In another example, each brush 856 can be connected to the support 850 so that each brush 856 can float or move independently of the support 850. In this example, the downward force on each brush can be controlled independently of the floor, for example, by setting the downward force on each brush by weighting or spring-biasing it. In other words, each brush may be connected to the support 850 via one or more biasing elements to help achieve a more uniform scrubbing against the floor when crossing discontinuities (such as grout lines).

[0075] Figure 10 shows an isometric view of a portion of the mobile cleaning robot 800. Furthermore, Figure 10 shows letters indicating the directions up and down. The mobile cleaning robot 800 in Figure 10 can be the same as the mobile cleaning robot 800 in Figures 8 and 9. Figure 10 shows further details of the mobile cleaning robot 800.

[0076] For example, Figure 10 shows a scrubbing head 846 with the motor mount 878 removed to illustrate how the actuator 854 may be coupled or linked to the brush 856. The actuator 854 may include a drive gear 880 which can be coupled or engaged to an idler gear 882. The idler gear 882 may engage to one or more gears of the brush 856. Optionally, the drive gear 880 may engage directly to one or more gears of the brush 856, and the idler gear 882 may be omitted.

[0077] Each of the brushes 856a to 856n may comprise a shaft 884, a housing 886, a brush or brush bristles 888, and a brush gear 890. The shaft 884 of each brush may extend at least partially through the support portion 850, for example, by passing through a bore of the support portion 850, which may form a bearing or bush for the shaft 884 to rotate relative to the support portion 850. The housing 886 or shaft 884 may comprise a collar 891 that can engage with the lower surface of the support portion 850. The brush gear 890 may be connected to the shaft 884 and rotatable with the shaft 884. The brush gear 890 may be engageable with the upper surface of the support portion 850 so that the brush gear 890 and the collar 891 can limit the axial movement of the brush 856 relative to the support portion 850. Brush gears 890 can be engaged with adjacent brush gears 890 such that all brush gears 890 and shafts 884 (and consequently housings 886 and brush bristles 888) are configured to rotate together.

[0078] The housing 886 can support one or more brushes or brush bristles 888 configured to grip and scrub a floor surface for purposes such as removing debris from the floor surface. The brush bristles 888 can be configured to flex or move relative to the housing 886 to cover a larger surface area of ​​the floor surface located below the mobile cleaning robot 800 during a mopping or scrubbing operation. Although eight brushes 856 are illustrated, the scrubbing system 844 can comprise one, two, three, four, five, six, seven, nine, ten, eleven, twelve, thirteen, fourteen, fifteen, sixteen, seventeen, eighteen, nineteen, or twenty brushes, etc. Optionally, the brush bristles 888 can be replaced with abrasive pads or other scrubbing devices or scrubbing features.

[0079] In some example operations, a controller (e.g., controller 111) can operate the scrubbing system 844 by operating an actuator 854 to operate the scrubbing head 846. More specifically, the actuator 854 can be operated to rotate a drive gear 880, thereby rotating an idler gear 882, which in turn drives one or more brush gears 890 to rotate all the brush gears 890, and therefore all the shafts 884 and brush bristles 888, thereby causing a rotational scrubbing action of all the brushes 856 on a floor surface, for example, to remove dirt or grime from the floor surface. This rotational scrubbing of the brushes 856 on the floor surface may result in effective or efficient removal, agitation, or separation of debris from the floor surface, so that the debris can be effectively collected by the mopping pad 842.

[0080] Optionally, these brushes 856 can rotate in opposite directions so that no two adjacent brushes rotate in the same direction, which can be useful in balancing the force transmitted to the main body 802 by the brushes 856. Optionally, these brushes 856 can all be aligned, or they can be arranged in a staggered pattern, for example, in the front-to-back direction. When the speed of the mobile cleaning robot 800 is combined with the speed of the brushes 856, there may be areas where the speeds are combined and cleaning is powerful, and areas where the speeds are in opposite directions and cleaning is relatively weak. By arranging the brushes 856 in a staggered pattern, for example in the front-to-back direction, some overlap is created, reducing or improving areas or locations with relatively weak cleaning.

[0081] Figure 11 shows an isometric view of a portion of the mobile cleaning robot 1100. Figure 12 shows an isometric view of a portion of the mobile cleaning robot 1100. Both Figures 11 and 12 will be discussed below. The mobile cleaning robot 1100 can be similar to the robots 100, 400, 500, and 800 discussed above, and the mobile cleaning robot 1100 can be equipped with a scrubbing system having rollers. Any of the mobile cleaning robots discussed above or below can be equipped with the features of the mobile cleaning robot 1100.

[0082] The mobile cleaning robot 1100 may comprise a main body 1102 and a scrubbing system 1144. The main body 1102 may be the same as the main body 102 discussed above. Furthermore, the mobile cleaning robot 1100 may also comprise a mopping pad assembly positioned behind the scrubbing system 1144. As shown in Figures 11 and 12, the scrubbing system 1144 may comprise a scrubbing head 1156 comprising a support 1150, a linkage system 1152, an actuator 1154, and a drive system 1192 and rollers 1194.

[0083] The support 1150 can be a rigid or semi-rigid member configured to support or connect components of the scrubbing system 1144. For example, the scrubbing head 1156, linkage system 1152, and actuator 1154 can be connected to the support 1150. The actuator 1154 can be a motor or actuator capable of operating or moving the drive system 1192 to move or rotate the roller 1194. The actuator 1154 can be in communication with a controller (e.g., controller 111).

[0084] The drive system 1192 can be a gear train or other driver configured to convert rotation from actuator 1154 into rotation of roller 1194. Roller 1194 can be a rotatable member configured to grip and scrub a floor surface, for example, to remove debris from the floor surface. Roller 1194 can be made from one or more of the following: polymer, foam, or rubber. Optionally, roller 1194 can have one or more brush bristles or fletch extending radially from the core of roller 1194.

[0085] In some example operations, a controller (e.g., controller 111) may operate the scrubbing system 1144 by operating the actuator 1154, which in turn operates the scrubbing head 1156. More specifically, the actuator 1154 can be operated to rotate the drive system 1192, thereby rotating all the rollers 1194 to produce a rotational scrubbing motion, for example, on the floor surface, for the removal of debris or dirt from the floor surface. This rotational scrubbing of the rollers 1194 on the floor surface may result in effective or efficient removal, agitation, or separation of debris from the floor surface so that the debris can be effectively collected by the mopping pad. Optionally, the support 1150 can act as a useful guard or deflector to restrict the movement of debris from the rollers 1194 to the body of the mobile cleaning robot 1100.

[0086] Figure 13 shows an isometric view of a portion of the mobile cleaning robot 1300. The mobile cleaning robot 1300 can be similar to the robot discussed above, and the mobile cleaning robot 1300 can be equipped with a scrubbing system having a belt. Any of the mobile cleaning robots discussed above or below can be equipped with the features of the mobile cleaning robot 1300.

[0087] The mobile cleaning robot 1300 may comprise a body 1302 and a scrubbing system 1344. The body 1302 may be similar to the body 102 discussed above. Furthermore, the mobile cleaning robot 1300 may comprise a mopping pad assembly positioned behind the scrubbing system 1344. The scrubbing system 1344 may comprise a support 1350, a linkage system 1352, actuators, and scrubbing heads 1356a and 1356b. The support 1350 may be a rigid or semi-rigid member configured to support or connect the components of the scrubbing system 1344. For example, the scrubbing head 1356, the linkage system 1352, and actuators may be connected to the support 1350.

[0088] The actuator may include a shaft 1362 that can be connected to a drive gear 1380, the drive gear 1380 may be rotatable with the shaft 1362. The drive gear 1380 may be engaged with a reversing gear 1382, the reversing gear 1382 may be engaged with one or more driven gears 1383 of a scrubbing head 1356b. Furthermore, the drive gear 1380 may be engaged with a driven gear 1383 of a scrubbing head 1356a. Each of the scrubbing heads 1356 may include one or more pulleys 1395, the pulleys 1395 configured to support a belt 1396 at least partially on the scrubbing head 1356. Each belt 1396 may include one or more brush bristles 1397 extending from each belt, for example, extending outward from each belt 1396. Although the scrubbing system 1344 is illustrated as comprising a belt and pulleys, the scrubbing system 1344 may also comprise one or more chains and sprockets.

[0089] During operation, the actuator can drive the drive gear 1380 by rotating the shaft 1362, which in turn drives the reversing gear 1382 to drive the driven gear 1383 of the scrubbing head 1356b to rotate in a first direction, and the driven gear 1383 of the scrubbing head 1356a to rotate in a second direction opposite to the first direction, thereby causing the belt 1396 and one or more brush bristles 1397 of the scrubbing head 1356a to rotate in the opposite direction to the belt 1396 and one or more brush bristles 1397 of the scrubbing head 1356b, so that each belt 1396 can rotate about the horizontal axis of the body 1302. Optionally, the belts 1396 can rotate toward each other along the bottom portion of each belt 1396, such as moving or carrying dirt or debris toward the center of the body 1302 for collection by a cleaning pad or mopping pad. Furthermore, such a design may also be useful in limiting the forces transmitted to and returned to the main body 1302 via vibration or rotational force.

[0090] Figure 14 shows an isometric view of a portion of the mobile cleaning robot 1400. Figure 15 shows a lateral cross-sectional view of a portion of the mobile cleaning robot 1400 along the guide line 15-15 in Figure 14. Figures 14 and 15 will be discussed together later. The mobile cleaning robot 1400 can be similar to the robot discussed above, and the mobile cleaning robot 1400 can be equipped with a pad scrubbing system. Any of the mobile cleaning robots discussed above or below can be equipped with the characteristic parts of the mobile cleaning robot 1400.

[0091] The mobile cleaning robot 1400 may comprise a body 1402, a mopping pad assembly 1408, and a scrubbing system 1444. The body 1402 and the mopping pad assembly 1408 may be similar to the body 102 and the mopping pad assembly 108 discussed above, respectively. The scrubbing system 1444 may comprise a support 1450, an actuator 1454, a scrubbing head 1456, and an arm 1448. The support 1450 may be a rigid or semi-rigid member configured to support or connect the components of the scrubbing system 1444. For example, the scrubbing head 1456 and the actuator 1454 may be connected to the support 1450. The pad plate 1441 of the mopping pad assembly 1408 may be connected to the support 1450 via one or more flexures 1476. The flexures 1476 may be configured to bias the pad plate 1441 to a neutral position.

[0092] As most clearly illustrated in Figure 15, the scrubbing system 1444 may include a driver 1498 that can be coupled to an actuator 1454, and the driver 1498 may be rotatable with the actuator 1454. The driver 1498 may include a body 1410 and a head 1412. The body 1410 may include or define a bore 1414 at least partially inside to receive the shaft 1462 of the actuator 1454 in order to secure the driver 1498 to the actuator 1454. The body 1410 may engage with a support 1450 via a bearing or bushing 1416. The bearing 1416 may be fixed to the support 1450 so that the body 1410 is rotatable relative to the support 1450. Furthermore, the head 1412 may be coupled to the pad plate 1441 via a bushing or bearing 1418. The bearing 1418 can be connected to the pad plate 1441 so that the head 1412 can rotate relative to the pad plate 1441. Furthermore, the driver 1498 may also include a balancer 1420.

[0093] As shown in Figure 15, the head 1412 of the driver 1498 can be offset with respect to the axis A of the bore 1414 and shaft 1462 so that the head 1412 can move eccentrically relative to the body 1410 as the shaft 1462 and body 1410 rotate. Since the head 1412 is connected to the pad plate 1441, the eccentric movement of the head 1412 allows the pad plate 1441 and mopping pad 1442 to move or vibrate eccentrically when the shaft 1462 rotates, thereby causing a scrubbing motion of the mopping pad 1442, for example, on a floor surface. During such eccentric movement of the pad plate 1441, the balancer 1420 rotates with the body 1410 to help offset the force (e.g., reaction force) applied to the body 1402 by the moving pad plate 1441 and mopping pad 1442.

[0094] The pad plate 1441 may be driven by an actuator 1454 via a controller (e.g., controller 111) to rotate at a high frequency and low amplitude, thereby causing a scrubbing motion of the mopping pad 1442 and helping to limit the transmission of reaction force to the main body 1402, thereby minimizing the impact on the travel and mobility of the mobile cleaning robot 1400 during the scrubbing motion. The pad plate 1441 may be driven to rotate at a frequency between 10 Hz and 200 Hz, for example between 800 Hz and 150 Hz.

[0095] Figure 16 shows a perspective view of a portion of the mobile cleaning robot 1600. Figure 17 shows a perspective view of a portion of the mobile cleaning robot 1600. Figures 16 and 17 will be discussed together later. The mobile cleaning robot 1600 can be similar to the robot discussed above, and the mobile cleaning robot 1600 can be equipped with a retractable pad having a mobile pad scrubbing system. Any of the mobile cleaning robots discussed above or below can be equipped with the features of the mobile cleaning robot 1600.

[0096] More specifically, the mobile cleaning robot 1600 can be similar to the robot 100 discussed above, and the mobile cleaning robot 1600 may comprise a main body 1602 and a mopping assembly 1608 that is movable relative to the main body 1602 between a stowed position and an unfolded or mopping position, as shown in Figures 2A to 2C. Furthermore, as shown in Figure 16, the mobile cleaning robot 1600 may comprise a driver 1698 that can be similar to the driver 1498 discussed above, and this driver 1698 may be driven to rotate eccentrically (for example, by an actuator connected to a controller such as a controller 111).

[0097] As shown in Figure 17, the mopping assembly 1608 may comprise a pad tray 1641 and a mopping pad 1642. The pad tray 1641 (shown in the retracted position and tilted upward in Figure 17) may comprise or define a notch 1622, which may be a recess or opening within the pad tray 1641. The pad notch 1622 may open on one side, for example, the front, so that when the pad tray 1641 moves from the retracted position to the deployed position below the main body 1602, the notch 1622 may engage with the driver 1698, or the notch 1622 may at least partially receive the driver 1698 inside.

[0098] When in operation, with the mopping assembly 1608 in the deployed position and the driver 1698 at least partially engaged with the notch 1622, the driver 1698 is operated to rotate eccentrically (e.g., via actuators and controllers), thereby causing the pad tray 1641 and mopping pad 1642 to move or vibrate, producing a scrubbing or cleaning action against the floor surface. The "eccentricity" of the driver 1698 can be selected along with the rotational speed of the driver 1698 so that the mopping assembly 1608 vibrates or moves within the tolerance range of the arm (e.g., arm 106) supporting the mopping assembly 1608. For example, the mopping assembly 1608 can vibrate between 5 Hz and 100 Hz, such as between 20 Hz and 30 Hz. This frequency can be selected to increase the total distance the mopping pad 1642 moves on the floor and can be optimized to balance noise, the natural frequency of the mopping assembly 1608, and the increase in travel distance.

[0099] The mopping assembly 1608 is capable of vibrating with an amplitude between 1 and 5 millimeters, for example between 1 and 3 millimeters. For example, the mopping assembly 1608 is capable of vibrating with an amplitude of 2 millimeters in each direction, for example, with an amplitude of ±2 millimeters to the left and right from the center. In this way, the mobile cleaning robot 1600 can provide a mopping pad assembly that is movable between a stowed position and a deployed position, and further performs a scrubbing motion when in the deployed position.

[0100] Figure 18 is an isometric view of a portion of the mobile cleaning robot 1800. Figure 19 is an isometric view of a portion of the mobile cleaning robot 1800. The mobile cleaning robot 1800 can be similar to the robot described above and can be equipped with a retractable pad having a movable pad scrubbing system. Any of the mobile cleaning robots discussed above or below can be equipped with the features of the mobile cleaning robot 1800. The mobile cleaning robot 1800 can be equipped with a body 1802 and a drive system connected to the body 1802. This drive system may be operable to move the mobile cleaning robot 1800 within the floor surface of the environment. Furthermore, the mobile cleaning robot 1800 may be equipped with a mopping assembly 1808 comprising a pad tray 1841 and a mopping pad 1842 connected to the pad tray 1841, the mopping pad 1842 may be capable of gripping the floor surface. Furthermore, the mobile cleaning robot 1800 includes a pad drive system 1824 connected to the mopping pad tray 1841 and to the main body 1802. The pad drive system 1824 may include an actuator 1826 and a gear train or other drive system. In addition, the pad drive system 1824 may include an arm 1828 connected to the pad tray 1841. The actuator 1826 of the pad drive system 1824 may be capable of moving the pad tray 1841 and the mopping pads 1842 between a cleaning position and a storage position relative to the main body 1802 (for example, vertically) by moving the arm 1828.

[0101] Furthermore, the mobile cleaning robot 1800 may include a cover 1830 connected to a body 1802 and movable between a first and second position relative to the body 1802. The mobile cleaning robot 1800 may also include a cover drive system 1832 connected to the body 1802 and to the cover 1830. The cover drive system 1832 may include an actuator and a gear train or other driver that can be operated to move the cover 1830 between a first and second position. For example, the gear train can be operated to push or push the cover 1830 in by rotating an arm 1833 (which may be connected to the body 1802). Furthermore, the arm 1833 may include, for example, one or more springs (or biasing elements) housed within the arm 1833 to bias the cover 1830 toward an open or closed position. Furthermore, the cover 1830 may have or define a slot 1834, and by extending the arm 1828 through this slot 1834, the arm 1828 and the mopping assembly 1808 can move relative to the body 1802, and the cover 1830 can move relative to the mopping assembly 1808 and the body 1802.

[0102] In some example operations, the cover 1830 may be movable laterally or horizontally, for example, to allow space for the mopping assembly 1808 to move vertically. For example, the cover 1830 may be in a first position as shown in Figure 18, and the mopping assembly 1808 may be in a storage position above the cover 1830. In such a position, the cover 1830 may restrict the movement of the mopping assembly 1808 between the storage position and the cleaning or mopping position.

[0103] Next, the cover 1830 is moved to a second position (away from the body 1802) by the cover drive system 1832, and the actuator 1826 may be operated to move the arm 1828 and mopping assembly 1808 downwards below the cover 1830. When the pad tray 1841 is separated from the cover 1830, the body 1802 is closed by the cover 1830 moving back to the first position, but the mopping pads 1842 may maintain their mopping configuration as shown in Figure 19. Furthermore, by the cover 1830 moving back to the second position, the mopping assembly 1808 may be moved vertically or upwards to return to its storage position. The drive systems, namely the pad drive system 1824 and the cover drive system 1832, as well as the cover 1830, can be incorporated into one or more of the robots discussed above. Optionally, the pad drive system 1824 or the cover drive system 1832 can also be used to move the pad assembly or the scrubbing system.

[0104] Figure 20 shows a block diagram of an example machine 2000 that may implement any one or more of the techniques (e.g., methodologies) discussed herein. Examples as described herein may comprise, or be operated by, logic circuits, a number of components, or mechanisms within the machine 2000. A circuit (e.g., a processing circuit) is a collection of circuits implemented in an entity of the machine 2000 that comprises hardware (e.g., simple circuits, gates, logic circuits, etc.). The components of a circuit may change over time. A circuit may include members that can perform a specified process individually or in combination when in operation. In one example, the hardware of a circuit may be designed invariantly to perform a particular process (e.g., a hardwired circuit). In another example, the hardware of a circuit may comprise variablely connected physical components (e.g., execution units, transistors, circuits, etc.) that include a machine-readable medium that has been physically modified (e.g., magnetically modified, electrically modified, or a movable arrangement of invariant physical particles) to encode instructions for a particular process. By connecting these physical components, the fundamental electrical properties of the hardware components change, for example, from an insulator to a conductor or vice versa. These instructions enable embedded hardware (e.g., an execution unit or loading mechanism) to generate members of a circuit within the hardware via variable connections, thereby performing a specific part of an operation during operation. Thus, in one example, a machine-readable media element is either part of a circuit or communicates with other components of a circuit when the device is operating. In one example, any of these physical components may be used in two or more members of two or more circuits. For example, under operation, an execution unit may be used at one point in a first circuit of a first circuit, and at another point reused by a second circuit of the first circuit or a third circuit of the second circuit. Further examples of these components relating to Machine 2000 are given below.

[0105] In alternative embodiments, machine 2000 may operate as a standalone device or may be connected to other machines (e.g., networked). In a networked deployment example, machine 2000 may operate as a server machine, a client machine, or both in a server-client network environment. In one example, machine 2000 can function as a peer machine in a peer-to-peer (P2P) (or other distributed) network environment. Machine 2000 may 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 instructions or other instructions) that specify the actions that the machine should perform. Furthermore, although only a single machine is illustrated, the term “machine” should be interpreted to include a collection of machines that individually or collectively execute an instruction set (or more instruction sets) to implement any one or more of the methodologies discussed herein, such as cloud computing, software as a service (SaaS), or other computer cluster configurations.

[0106] The machine (e.g., computer system) 2000 may include a hardware processor 2002 (e.g., a central processing unit (CPU), a graphics processing unit (GPU), a hardware processor core, or any combination thereof), main memory 2004, static memory 2006 (e.g., memory or storage for firmware, microcode, basic input / output (BIOS), integrated expansion firmware interface (UEF1), etc.), and mass storage devices 2008 (e.g., hard drives, tape drives, flash storage, or other block devices), some or all of which may communicate with each other via an interlink (e.g., a bus) 2030. Furthermore, the machine 2000 may include a display unit 2010, an alphanumeric input device 2012 (e.g., a keyboard), and a user interface (UI) navigation device 2014 (e.g., a mouse). In one example, the display unit 2010, the input device 2012, and the UI navigation device 2014 may be touchscreen displays. Furthermore, machine 2000 may include a memory device (e.g., a drive unit) 2008, a signal generating device 2018 (e.g., a speaker), a network interface device 2020, and one or more sensors 2016, such as a Global Positioning System (GPS) sensor, a compass, an accelerometer, or other sensors. Machine 2000 may also include an output controller 2028, 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) for communicating with or controlling one or more peripheral devices (e.g., a printer, a card reader, etc.).

[0107] The registers of the processor 2002, main memory 2004, static memory 2006, or mass storage device 2008 may be a machine-readable medium 2022 containing a set of one or more data structures or instructions 2024 (e.g., software) that embody or utilize any one or more of the technologies or functions described herein, or may comprise such a machine-readable medium 2022. Furthermore, the instructions 2024 may reside entirely or at least partially in the registers of the processor 2002, main memory 2004, static memory 2006, or mass storage device 2008 during execution by the machine 2000. In one example, any one or any combination of the hardware processor 2002, main memory 2004, static memory 2006, or mass storage device 2008 may constitute the machine-readable medium 2022. Although machine-readable medium 2022 is illustrated as a single medium, the term “machine-readable medium” may include a single or multiple mediums configured to store one or more instructions 2024 (e.g., a centralized or distributed database, and / or associated caches and servers).

[0108] The term “machine-readable medium” can include any medium capable of storing, encoding, or carrying instructions executed by machine 2000, causing machine 2000 to execute any one or more of the technologies of the Disclosure, or capable of storing, encoding, or carrying data structures used by or related to such instructions. Non-limiting examples of machine-readable mediums may include solid 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 is a material composition consisting of a plurality of particles having constant (e.g., stationary) mass. 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 include, for example, semiconductor memory devices (such as electrically programmable read-only memory (EPROM) and electrically erasable programmable read-only memory (EEPROM)) and non-volatile memory such as flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks.

[0109] Furthermore, instruction 2024 may be transmitted or received through a communication network 2026 using a transmission medium via a network interface device 2020 that utilizes any 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.). Examples of communication networks may include, in particular, local area networks (LANs), wide area networks (WANs), packet data networks (e.g., the Internet), mobile phone networks (e.g., cellular networks), simple old-fashioned telephone (POTS) networks, wireless data networks (e.g., IEEE 802.11 series known as WiFi®, IEEE 802.16 series known as WiMAX®, etc.), IEEE 802.15.4 series, peer-to-peer (P2P) networks, etc. In one example, the network interface device 2020 may have one or more physical jacks (e.g., Ethernet, coaxial cable, or telephone jack) or one or more antennas for connecting to the communication network 2026. For example, the network interface device 2020 may have multiple antennas for wireless communication using at least one of the following technologies: SIMO (Single-Input Multiple-Output), MIMO (Multiple-Input Multiple-Output), or MISO (Multiple-Input Single-Output). The term “transmission medium” should be interpreted to include any intangible medium capable of storing, encoding, or carrying instructions executed by machine 2000, and includes digital or analog communication signals, or other intangible mediums for facilitating the communication of such software. The transmission medium is a machine-readable medium.

[0110] Notes and examples The following non-limiting examples illustrate in detail specific aspects of this subject matter that address and benefit from the issues discussed herein.

[0111] Example 1 is a mobile cleaning robot comprising: a main body; a drive system connected to the main body and capable of moving the mobile cleaning robot within the floor surface of the environment; a mopping pad assembly connected to the main body and configured to hold a mopping pad capable of gripping the floor surface; and a scrubbing system connected to the main body in front of the mopping pad assembly and capable of gripping and scrubbing the floor surface.

[0112] In Example 2, the subject of Example 1 optionally includes a scrubbing system and a linkage system connected to the main body, the linkage system being configured to allow movement of the scrubbing system relative to the main body.

[0113] In Example 3, the subject of Example 2 optionally includes a linkage motor connected to the linkage system, and the linkage motor is operable to move the scrubbing system relative to the main body.

[0114] In Example 4, one or more of the themes from Examples 1 to 3 optionally include the feature that the scrubbing system has a scrubbing head capable of gripping the floor surface.

[0115] In Example 5, the subject of Example 4 optionally includes the feature that the scrubbing system comprises a scrubbing motor that is capable of moving a scrubbing head to scrub the floor surface.

[0116] In Example 6, the subject of Example 5 optionally includes the feature that the scrubbing head has multiple brushes and the scrubbing motor is capable of operating to rotate each of the multiple brushes.

[0117] In Example 7, one or more of the themes from Examples 5 to 6 optionally include the feature that the scrubbing head comprises a pair of brushes and the scrubbing motor is capable of translating each of the pair of brushes relative to the body.

[0118] In Example 8, one or more of the themes from Examples 5 to 7 optionally include the feature that the scrubbing head is equipped with rollers and a scrubbing motor is operable to rotate the rollers to scrub the floor surface.

[0119] In Example 9, one or more of the themes from Examples 5 to 8 optionally include the feature that the scrubbing head comprises a belt supporting a plurality of bristles, the belt being rotatable to move the plurality of bristles to scrub a floor surface.

[0120] In Example 10, the subject of Example 9 optionally includes the feature that the belt rotates about a substantially vertical axis of the main body.

[0121] In Example 11, one or more of the themes from Examples 9 to 10 optionally include the feature that the belt rotates about a substantially horizontal axis of the body.

[0122] In Example 12, one or more subjects from Examples 5 to 11 optionally include the feature that the scrubbing head comprises one or more flexures connected to the scrubbing head to bias the scrubbing head to a neutral position.

[0123] In Example 13, one or more subjects from Examples 1 to 12 optionally include a vacuum system capable of sucking up debris from the floor surface.

[0124] In Example 14, the subject of Example 13 optionally includes the feature that the vacuum system comprises a cleaning head capable of operating to grasp the floor surface and suck up debris from the floor surface, and a blower capable of operating to generate an airflow that flows through the cleaning head into the main body in order to suck up the debris.

[0125] Example 15 is a mobile cleaning robot comprising: a main body; a drive system connected to the main body and capable of moving the mobile cleaning robot within the floor surface of the environment; a mopping pad connected to the main body and capable of gripping the floor surface; a pad drive system connected to the mopping pad and the main body and capable of moving the mopping pad relative to the main body between a cleaning position and a storage position; a cover connected to the main body and capable of moving relative to the main body between a first position and a second position; and a cover drive system connected to the main body and the cover and capable of moving the cover between a first position and a second position.

[0126] In Example 16, the subject of Example 15 optionally includes the feature that the pad is movable between the cleaning position and the storage position when the cover is in the second position, and the movement of the pad is restricted between the cleaning position and the storage position when the cover is in the first position.

[0127] In Example 17, the subject of Example 16 optionally includes the feature that the pad drive system is capable of operating to move the mopping pad perpendicular to the main body.

[0128] In Example 18, the subject of Example 17 optionally includes the feature that the cover drive system is capable of operating to move the cover horizontally relative to the main body.

[0129] Example 19 is a mobile cleaning robot comprising a main body; a drive system connected to the main body and operable to move the mobile cleaning robot within the floor surface of the environment; a mopping pad assembly connected to the main body and having a mopping pad capable of gripping the floor surface; and a pad drive system connected to the mopping pad and operable to move the mopping pad to scrub the floor surface.

[0130] In Example 20, the subject of Example 19 optionally includes the feature that the pad drive system comprises a motor capable of moving a mopping pad to scrub a floor surface.

[0131] In Example 21, the subject of Example 20 optionally includes the feature that the pad drive system comprises an eccentric driver connected to a motor and to a mopping pad assembly, the eccentric driver being configured to move the mopping pad eccentrically when rotated by the motor.

[0132] Example 22 is a system for implementing any of Examples 1 through 27.

[0133] Example 23 is a method for implementing any of Examples 1 through 27.

[0134] In Example 24, any one or any combination of the devices or methods described in Examples 1 to 23 may be configured such that all of the listed elements or options are available or selectable.

[0135] The above detailed description includes references to accompanying drawings, which constitute part of the detailed description. These drawings illustrate specific embodiments that can carry out the present invention. These embodiments are also referred to herein as “examples.” Such examples may include elements other than those illustrated or described. However, the inventors also envision examples in which only the illustrated or described elements are provided. Furthermore, the inventors also envision examples using any combination or arrangement of the illustrated or described elements (or one or more embodiments thereof) with respect to a particular example (or one or more embodiments thereof) or to other examples (or one or more embodiments thereof) illustrated or described herein.

[0136] In the event of any usage conflict between this specification and any reference incorporated herein, the usage of this specification shall prevail. In this specification, the terms “including” and “in which” are used as simple English translations of “comprising” and “wherein,” respectively. Furthermore, in the appended claims, the terms “including” and “equipped with” are open-ended; that is, a system, device, article, composition, formulation, or process comprising elements other than those listed after such terms in a claim is still considered to be included within the scope of that claim.

[0137] In this specification, the terms “a, an” are used to include one or more, regardless of any other examples or uses such as “at least one” or “one or more,” as is common in patent literature. In this specification, the term “or” is used to indicate non-exclusivity, i.e., unless otherwise noted, “A or B” includes “A but not B,” “B but not A,” and “A and B.” In this specification, the terms “including” and “in which” are used as plain English translations of the terms “comprising” and “wherein,” respectively. Furthermore, in the appended claims, the terms “including” and “equipped with” are open-ended, i.e., a system, device, article, composition, formulation, or process comprising elements other than those enumerated after such terms in a claim is still considered to be within the scope of that claim. Furthermore, in the attached claims, terms such as “first,” “second,” and “third” are used merely as labels and are not intended to impose numerical requirements on those subjects.

[0138] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more embodiments thereof) may be used in combination with each other. For example, a person skilled in the art may use other embodiments after considering the above description. The abstract chapter is provided in accordance with Section 1.72(b) of Title 37 of the Code of Federal Rules so that readers may quickly confirm the nature of this technical disclosure. This abstract is presented with the understanding that it is not to be used to interpret or limit the claims or their meaning. Also, in the detailed description chapter above, various features may be grouped together to simplify the disclosure. This should not be interpreted as meaning that any unclaimed disclosed feature is essential to any claim. Rather, the inventive subject matter may reside in fewer parts than all the features of a particular disclosed embodiment combined. Accordingly, the appended claims are incorporated herein as examples or embodiments in the detailed description chapter, and each claim exists as an independent embodiment in itself, and it is assumed that such embodiments may be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the appended claims, together with the entire scope of equivalents protected by such claims. [Explanation of symbols]

[0139] 40 Environment 42 rooms Room 42a Room 42b Room 42c Room 42d Room 42e 44 beds 46 tables 48 Island 50 Floor surface 50a floor surface 50b floor surface 50c floor surface 50d floor surface 50e floor surface 52 Rugs, floor coverings 54 Behavior control zone 60 users 75 Garbage 100 Mobile Cleaning Robots 102 Main Unit 104 Mopping System 106 Arm 106a Arm 106b Arm 108 Pad Assembly, Cleaning Pad Assembly 109 Bumper 111 Controller 113 Extractor, cleaning head, cleaning assembly 114 Cleaning Roller 114a Cleaning roller 114b Cleaning roller 115 Actuators, motors 116 Motors, Actuators 116a Motor, Actuator 116b Motors, Actuators 117 Dispenser 118 drive wheels 118a Drive wheels 118b Drive wheels 120 casters, caster wheels 122 Side Brush Assembly 124 Vacuum Assembly, Vacuum System 126 memory 128 sensors 130 Cleaning Bin 132 tanks 134 Pumps 135 Garbage Port 136 Suction duct 138 Airflow 139 Bump Sensor 140 Image Capture Devices 142 Mopping Pad 144 Dirt Sensor 145 filters 1498 Driver 1600 Mobile Cleaning Robot 1602 Main Unit 1608 Mopping Assembly 1622 Notch 1641 Pad Tray 1642 Mopping Pad 1698 Driver 1800 Mobile Cleaning Robot 1802 Main Unit 1808 Mopping Assembly 1824 Pad Drive System 1826 Actuator 1828 Arm 1830 cover 1832 Cover Drive System 1833 Arm 1834 slots 1841 Pad Tray 1842 Mopping Pad 2000 Machine 2002 Hardware Processor 2004 Main Memory 2006 Static Memory 2008 Mass storage devices, storage devices 2010 Display Unit 2012 Alphanumeric Input Devices 2014 User Interface (UI) Navigation Devices 2016 Sensor 2018 Signal Generation Devices 2020 Network Interface Devices 2022 Machine-readable media 2024 Instructions 2026 Communication Networks 2028 Output Controller 2030 Interlink, bus

Claims

1. It is a mobile cleaning robot, The main unit and A drive system connected to the main body, which is capable of operating to move the mobile cleaning robot within the floor surface of the environment, A mopping pad assembly connected to the main body, configured to hold a mopping pad capable of gripping the floor surface, A scrubbing system connected to the main body in front of the mopping pad assembly, the scrubbing system being capable of gripping and scrubbing the floor surface A mobile cleaning robot equipped with [a specific feature / ability].

2. A mobile cleaning robot according to claim 1, further comprising a linkage system connected to the scrubbing system and the main body, the linkage system configured to enable movement of the scrubbing system relative to the main body.

3. The mobile cleaning robot according to claim 2, further comprising a linkage motor connected to the linkage system, the linkage motor being operable to move the scrubbing system relative to the main body.

4. The scrubbing system comprises a scrubbing head capable of gripping the floor surface, as described in any one of claims 1 to 3, for the mobile cleaning robot.

5. The mobile cleaning robot according to claim 4, wherein the scrubbing system comprises a scrubbing motor that is operable to move the scrubbing head to scrub the floor surface.

6. The mobile cleaning robot according to claim 5, wherein the scrubbing head comprises a plurality of brushes, and the scrubbing motor is operable to rotate each of the plurality of brushes.

7. The mobile cleaning robot according to claim 5, wherein the scrubbing head comprises a pair of brushes, and the scrubbing motor is operable to move each of the pair of brushes in translation relative to the main body.

8. The mobile cleaning robot according to claim 5, wherein the scrubbing head comprises a roller, and the scrubbing motor is operable to rotate the roller to scrub the floor surface.

9. The mobile cleaning robot according to claim 5, wherein the scrubbing head comprises a belt supporting a plurality of brush bristles, the belt being rotatable to move the plurality of brush bristles to scrub the floor surface.

10. The mobile cleaning robot according to claim 9, wherein the belt rotates about a substantially vertical axis of the main body.

11. The mobile cleaning robot according to claim 9, wherein the belt rotates about a substantially horizontal axis of the main body.

12. The mobile cleaning robot according to claim 5, wherein the scrubbing head comprises one or more flexures connected to the scrubbing head to bias the scrubbing head to a neutral position.

13. A mobile cleaning robot according to any one of claims 1 to 12, further comprising a vacuum system capable of operating to suck up debris from the floor surface.

14. The mobile cleaning robot according to claim 13, wherein the vacuum system comprises a cleaning head capable of grasping the floor surface and operating to suck up debris from the floor surface, and a blower capable of operating to generate an airflow that flows through the cleaning head into the main body in order to suck up debris.

15. It is a mobile cleaning robot, The main unit and A drive system connected to the main body, which is capable of operating to move the mobile cleaning robot within the floor surface of the environment, A mopping pad connected to the main body, the mopping pad capable of gripping the floor surface, A pad drive system connected to the mopping pad and the main body, the pad drive system being capable of moving the mopping pad relative to the main body between a cleaning position and a storage position, A cover connected to the main body, the cover being movable relative to the main body between a first position and a second position, A cover drive system connected to the main body and the cover, the cover drive system being operable to move the cover between the first position and the second position. A mobile cleaning robot equipped with [a specific feature / ability].

16. The mobile cleaning robot according to claim 15, wherein when the cover is in the second position, the mopping pad is movable between the cleaning position and the storage position, and when the cover is in the first position, the mopping pad is restricted from moving between the cleaning position and the storage position.

17. The mobile cleaning robot according to claim 16, wherein the pad drive system is operable to move the mopping pad in a direction perpendicular to the main body.

18. The mobile cleaning robot according to claim 17, wherein the cover drive system is operable to move the cover horizontally relative to the main body.

19. It is a mobile cleaning robot, The main unit and A drive system connected to the main body, which is capable of operating to move the mobile cleaning robot within the floor surface of the environment, A mopping pad assembly connected to the main body, comprising a mopping pad capable of gripping the floor surface, A pad drive system connected to the mopping pad, the pad drive system being operable to move the mopping pad to scrub the floor surface, A mobile cleaning robot equipped with [a specific feature / ability].

20. The mobile cleaning robot according to claim 19, wherein the pad drive system comprises a motor capable of moving the mopping pad to scrub the floor surface.

21. The mobile cleaning robot according to claim 20, wherein the pad drive system comprises an eccentric driver connected to the motor, the eccentric driver connected to the mopping pad assembly, and the eccentric driver is configured to move the mopping pad eccentrically when operated to rotate by the motor.

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