Robot Cleaner

Abstract

To provide a robotic cleaner for autonomously cleaning a cleaning surface.SOLUTION: The cleaner may include an agitation module configured to directly agitate a forward edge of a cleaning pad. According to another aspect, the cleaning pad may have a rigid strip at a leading edge thereof for slidably engaging a channel with a wet cleaning module in order to removably couple the cleaning pad to the wet cleaning module. According to another aspect, the cleaner may include wheels having a gapless tread configuration.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Application No. 62 / 857,535, filed June 5, 2019, the teachings of which are incorporated herein in their entirety.

[0002] The present disclosure relates generally to robotic cleaners. [Background technology]

[0003] The following is not an admission that what is described below is part of the prior art or common general knowledge of those skilled in the art.

[0004] Surface cleaning devices can be used to clean a variety of surfaces. Some surface cleaning devices include a rotary agitator (e.g., a brush roll). One example of a surface cleaning device includes a vacuum cleaner, which may include a rotary agitator and a vacuum source. Non-limiting examples of vacuum cleaners include robotic vacuum cleaners, robotic sweepers, multi-surface robotic cleaners, wet / dry robotic cleaners, upright vacuum cleaners, canister vacuum cleaners, stick vacuum cleaners, and central vacuum systems. Other types of surface cleaning devices include powered brooms that include a rotary agitator (e.g., a brush roll) to collect debris, robotic mops, and other robotic cleaners that do not include a vacuum source.

[0005] Within the field of robotic and autonomous cleaning devices, there are form factors and features that have been developed to meet a range of cleaning needs. However, certain cleaning applications remain challenging.

[0006] Cleaning wet floors at home traditionally involves manual labor, generally with a tool consisting of a wet mop or sponge attached to the end of a handle. The mop or sponge is used to apply a cleaning fluid to the surface of the floor. The cleaning fluid is applied and the tool is used to agitate the surface of the floor by scrubbing. The components of the cleaning fluid and the agitation of the scrubbing help to suspend the dirt or contaminants on the surface in the cleaning fluid. The dirt is then removed from the surface of the floor, generally by allowing the mop or sponge to absorb the cleaning fluid, as the tool removes the cleaning fluid, thus removing the dirt or dirt. Water may be used as a cleaning fluid to wet clean floors, but it is often more effective to use a cleaning fluid that is a mixture of water and a soap or detergent that reacts with the contaminants to emulsify them in the water. The cleaning fluid may further include other components, such as solvents, fragrances, disinfectants, drying agents, abrasive particles, etc., to increase the effectiveness of the cleaning process or improve the end result, such as the appearance of the floor.

[0007] As mentioned above, a sponge or mop can be used as a scrubbing element to scrub floor surfaces, especially those having stubborn dirt and particulate matter. The scrubbing action serves to agitate the cleaning fluid for mixing with the contaminants as well as apply frictional forces to loosen the contaminants from the floor surface. The agitation enhances the dissolving and emulsifying action of the cleaning fluid, and the frictional forces serve to break the bonds between the surface and the contaminants.

[0008] Dry debris can be removed prior to cleaning the wet floor with a vacuum or dry mop. This minimizes contamination of the cleaning fluids and cleaning tools used during wet floor cleaning. However, this additional step adds time and effort to the cleaning process.

[0009] Traditional manual methods are laborious and time consuming, and there is a need in the art for a product that automates both steps of cleaning wet floors in the home. Summary of the Invention

[0010] Robots and methods consistent with the present disclosure overcome the aforementioned problems by providing an autonomous robot capable of vacuuming and wet cleaning floors, particularly for household use. An autonomous cleaning robot consistent with the present disclosure includes a chassis and a transport drive system configured to autonomously transport cleaning elements onto a target surface. The robot is supported on the target surface by wheels in rolling contact with the target surface, and the robot includes control and drive elements configured to orient the robot to generally traverse the target surface in a forward direction defined by a forward-rear axis. The robot is further defined by a transverse axis perpendicular to the forward-rear axis. The robot includes a drive controlled by a controller and powered by one or more motors for performing autonomous movement on the target surface.

[0011] In some embodiments, the cleaning robot includes at least two separate cleaning modules. The cleaning modules may operate separately or in concert. In some embodiments, the modular cleaning robot includes a first cleaning module configured to collect dry debris from a target surface and includes a second cleaning module configured to perform wet cleaning by applying a cleaning fluid to a cleaning pad and scrubbing the target surface using the cleaning pad. The surface cleaning robot may also include at least two containers or compartments carried by it that may store debris collected by the first cleaning module and store cleaning fluid used by the second cleaning module.

[0012] The robot chassis may also carry a wet cleaning module including a cleaning element positioned to apply a cleaning fluid onto a cleaning pad. The wet cleaning module may be configured to apply the cleaning pad to a target surface and may further include an element for scrubbing the target surface with the cleaning pad.

[0013] In some embodiments, the cleaning robot also includes a wet cleaning module attached to the chassis and a liquid applicator configured to spread the cleaning fluid evenly on the cleaning pad, which configuration causes the liquid applicator to apply the cleaning fluid onto the cleaning pad using at least one pump while conveying the chassis in a forward direction. In some embodiments, the robot includes a scrubbing element configured to agitate the cleaning pad, which agitation of the cleaning pad causes the cleaning pad to scrub a target surface as the chassis is conveyed in a forward direction. In some embodiments, the scrubbing element configured to agitate the cleaning pad and the at least one pump configured to apply the cleaning fluid onto the cleaning pad are powered using a single wet cleaning module motor. The wet cleaning module connected to the chassis interfaces with a gear train coupled to a drive shaft of the wet cleaning module motor. The gear train is attached to a cam that agitates the cleaning pad assembly within the wet cleaning module.

[0014] In some embodiments, one or more peristaltic pumps pump the cleaning fluid onto the cleaning pad. The pumps may be in a wet cleaning module. Each of the one or more pumps may include at least one check valve configured to receive the cleaning fluid from a cleaning fluid reservoir and apply said cleaning fluid onto the cleaning pad. Umbrella or duckbill valves disposed at one or more tube openings may cooperate to allow fluid to pass through the tubes in only one direction. A mechanical actuator attached to the cleaning pad assembly may engage one or more flexible tubes associated with the one or more pumps. The mechanical actuator may compress the one or more flexible tubes. As the actuator moves, the portion of the one or more flexible tubes under compression is pinched closed, thereby forcing the cleaning fluid to move through the one or more flexible tubes and onto the cleaning pad.

[0015] In some embodiments, agitation of the cleaning pad assembly occurs perpendicular to the front-rear axis by movement of the pad along the horizontal plane of the cleaning robot. In another embodiment, the cleaning pad assembly moves along a vertical axis during the cleaning mode. In another embodiment, the cleaning pad assembly moves in an elliptical or circular motion such that the cleaning pad moves in a helical path along the surface being cleaned. In one embodiment, the cleaning pad assembly moves using a pendulum motion such that one side of the pad is driven towards the floor and the other side is lifted off the floor during the cleaning mode.

[0016] In some embodiments of the above aspects, the cleaning pad is attached to the wet cleaning module using an attachment mechanism. The attachment mechanism may be specifically attached to a portion of the wet cleaning module configured as a cleaning pad assembly. Such attachment mechanism may be configured to allow a user to release the cleaning pad without touching the soiled surface. In an embodiment, the cleaning pad is attached to the cleaning pad assembly using a front portion that slides into a channel configured to receive a sliding portion. In another embodiment, the cleaning pad includes a folded pocket configuration that slides over a portion of the cleaning pad assembly, said pocket being formed from the same material as the cleaning pad in other embodiments. The pocket may be partially formed using a rigid material. In some embodiments, the cleaning pad is attached to the cleaning pad assembly using elastic connectors, grommets, hooks, t-slots, and / or hook-and-loop fasteners, or combinations thereof. In various embodiments, the sides and / or rear of the cleaning pad may be stretched over the cleaning pad assembly using elastic or bungee attachment parts. In some embodiments, the rear of the cleaning pad is formed into the pocket so that it is pulled onto the cleaning pad assembly. In some embodiments, the rear of the cleaning pad may be molded or shaped to form an interference fit with the cleaning pad assembly. Other embodiments may include snaps, hook-and-loop fasteners, and / or magnets to secure the cleaning pad onto the cleaning pad assembly.

[0017] In some embodiments, the robot includes a dry waste storage container, compartment, or tank mounted to the chassis and positioned to receive debris therein. Some embodiments of the autonomous robot include a cleaning fluid storage container, compartment, bag, or tank mounted to the chassis and configured to store a supply of cleaning fluid therein and deliver the cleaning fluid to the liquid applicator using at least one pump assembly. In some embodiments, the water and / or cleaning fluid includes water mixed with any one of a soap, a solvent, a fragrance, a disinfectant, an emulsifier, a desiccant, and an abrasive particle.

[0018] In some embodiments, the dry waste container is user removable from the chassis and configured to be emptied by the user. In other embodiments, the dry waste container is not user removable from the chassis and configured to be emptied by the user. In some embodiments, the cleaning fluid reservoir is mounted to the chassis and configured to store a supply of cleaning fluid therein and deliver the cleaning fluid to the liquid applicator, and in some cases, said cleaning fluid reservoir is user removable from the chassis and configured to be filled by the user. In some embodiments, said cleaning fluid reservoir is not user removable from the chassis and configured for the cleaning fluid reservoir to be filled by the user. In some embodiments, the cleaning fluid reservoir is configured such that the fluid is isolated from one or more motors, drives, and / or any other electronic components included within the robot cleaner chassis. In some embodiments, the cleaning fluid reservoir can be removed by the user laterally such that the cleaning robot remains horizontal during removal of the cleaning fluid reservoir. In some embodiments, the cleaning fluid reservoir is attached to the chassis using a locking mechanism. The attachment can be released by the user using a vertical pinching action. In some embodiments, the attachment can be released by the user using a horizontal pinching action.

[0019] Some embodiments include one or more drives mounted to the chassis for transporting the robotic cleaner onto a target surface, one or more motors mounted to the chassis for providing power to each of a plurality of power consuming subsystems mounted to the chassis, and a controller disposed within the chassis for controlling the one or more drives, the collector, and the liquid applicator to autonomously transport the robot onto the cleaning surface and autonomously clean the target surface. Some embodiments may include a plurality of sensors configured to sense a condition external to the cleaning robot, sense an internal condition of the robot, and generate sensor signals in response to sensing said conditions, a system for distributing the sensor signals to the controller, and a controller for implementing a predetermined operational mode of the robot in response to said conditions.

[0020] In some embodiments, the autonomous cleaning robot includes a user interface configured to receive input from a user, a system for distributing the input to the controller, and a controller for implementing a predetermined operational mode of the robot in response to the input. In some embodiments, the autonomous cleaning robot includes a user interface mounted to a chassis. In some embodiments, the autonomous cleaning robot includes a remote control configured to receive input from a user, the remote control configured to distribute the input to the controller, and a controller for implementing a predetermined operational mode of the robot in response to the input. In some embodiments, the robot cleaner includes a wireless component configured to communicate with a mobile application, the mobile application configured to receive input from a user, the mobile application further configured to distribute the received input to the controller, and a controller for implementing a predetermined operational mode of the robot in response to the input.

[0021] In some embodiments, the robot cleaner is configured with a circular cross-section having a vertical central axis, said front-rear axis, said transverse axis, and said vertical axis being mutually perpendicular, and the drive subsystem is configured to rotate the robot about the central vertical axis to change the orientation of the forward travel direction.

[0022] In some embodiments, the device includes a sensing element mounted to the chassis. In some embodiments, the sensing element is a humidity sensor mounted to the bottom of the chassis above the location of the cleaning pad, and further includes an opening directed toward the cleaning pad where the humidity sensor is located, and a vent fluidically connected to the interior of the chassis. The sensing element may be positioned such that it is not directly exposed to the cleaning fluid. In some embodiments, the robotic cleaning device further includes a sensing element configured to sense a condition and generate a signal in response to said condition, a controller configured to receive the electrical sensor signal, and to implement an operational mode in response to the sensing of said condition. The operational mode may include determining a flow rate of the cleaning fluid pumped by the at least one pump onto the cleaning pad.

[0023] In some embodiments, the at least one peristaltic pump pumps a flow of cleaning fluid according to an operational mode, the flow rate being determined based on information provided by the sensing element. In some embodiments, the modular cleaning apparatus also includes an autonomous transport drive subsystem, a sensor module for sensing conditions, and a power module, all supported by the chassis and controlled by the controller, to autonomously move the cleaning elements substantially across the surface according to a predetermined operational mode and in response to conditions sensed by the sensor module.

[0024] In some embodiments, the modular cleaning apparatus includes a liquid storage container carried on the chassis for storing a supply of cleaning fluid therein, and at least one peristaltic pump assembly configured with at least one first pump portion for drawing cleaning fluid from the container and delivering the cleaning fluid to at least one nozzle, (and at least one mechanical actuator for mechanically actuating the first pump portion). In some embodiments, the at least one peristaltic pump expels a flow of cleaning fluid according to an operational mode, the flow rate being determined based on information provided by the sensing element. In some operational modes, the flow rate is in a range consisting of 3.5 mL / min to 5 mL / min. In some embodiments, each pump assembly may be configured with an independent mechanical actuator. The size of the mechanical actuator may be determined by the placement of the pump assembly within the robotic cleaner (e.g., pumps located in the center may use a larger mechanical actuator, thereby providing higher flow rates for those located at the edges of the robotic cleaner).

[0025] According to one embodiment of the present disclosure, a robotic cleaning device or robot cleaner is disclosed, in which a portion of the bottom chassis of the robotic cleaning device is formed from a floating sole plate. Said floating sole plate may move along a drop axis. The drop axis extends transversely to a target surface on which the robotic cleaning device is moving. The floating sole plate may move by vertical translation, i.e., by maintaining a plane generally parallel to the target surface while moving up and down along two or more pins.

[0026] In some embodiments, the surface treatment robot includes a robot body, at least two drive members for driving and orienting the robot body forward, a dispensed fluid compartment for holding fluid dispensed by the robot, and a motorized agitator for driving at least one cleaning pad to scrub a target surface positioned substantially perpendicular to the forward movement of the robot body with the aid of the dispensed fluid and said cleaning pad scrubbing an area behind the suction conduit.

[0027] An exemplary robot according to the present disclosure has a cleaning pad with a leading edge of the aforementioned cleaning pad of about 31-34 centimeters (cm) and a mass of about 3 kilograms (kg). In some embodiments, rear caster wheels may be used to improve the robot cleaner's ability to exceed thresholds during cleaning and control the engagement of the cleaning pad with the target surface. Pressure applied to the cleaning pad may be distributed across the cleaning pad or concentrated along the leading edge of the cleaning pad to improve cleaning while limiting the amount of drag caused by the engagement of the cleaning pad with the floor. In some embodiments, the cleaning pad may have a leading edge of about 10-40 cm wide and the robot may have a mass of less than about 10 kg such that an average drag force between the cleaning pad 121 and the floor may be generated during cleaning of up to about 40% of the weight of the robot cleaner. This robot size allows the robot to be large enough to operate around a home and obstacles therein, and this weight allows the cleaning pad to engage floor surfaces, improving cleaning efficiency, while being light enough for a single user to move the robot around the home.

[0028] In some embodiments, the cleaning pad is constructed from a reusable microfiber material. In alternative embodiments, the cleaning pad is constructed from a disposable material.

[0029] Some embodiments of the robot of the present disclosure relate to a surface treatment robot that uses one or more sensors to determine the type of surface it is moving over. The one or more sensors may be any suitable sensor operable to detect a physical condition or phenomenon and provide corresponding data to a controller that directs the behavior of the surface treatment robot, such as movement, cleaning activation, and / or escape behavior. In some embodiments, an algorithm that controls the behavior of the surface treatment robot is selected based on the determination of the surface type. Some embodiments include a method for detecting a floor using an ultrasonic sensor. Such a floor sensor includes an ultrasonic sensor that transmits an ultrasonic signal to a floor surface and receives an ultrasonic signal reflected from the floor surface. The sensor allows for determining the floor type, such as carpet, hardwood, or tile, based on the reflective condition of the floor.

[0030] In some embodiments, the method for detecting floor type includes an acoustic sensor, such as a microphone, capable of detecting ambient noise. As the surface treating robot traverses the target surface, noise from the surrounding area can be detected using the acoustic sensor. The volume and quality of the noise can vary based on the quality of the floor surface, such that the acoustic sensor can determine the floor type, such as carpet, hardwood, or tile, based on the reflective conditions of the floor. In some embodiments, the noise generated by the surface treating robot during movement is used by the acoustic sensor to determine the floor type. In some embodiments, the method for detecting floor type includes an optical sensor, such as an emitter that emits light, and a detector that can detect the reflected light. The reflective characteristics of the floor surface can be used to determine the carpet, hardwood, or tile based floor type.

[0031] In some embodiments, the dry debris cleaning module may utilize one or more side brush assemblies disposed on the chassis of the robot cleaner and configured to move along the target surface such that debris is forced into the path of the dry debris cleaning module. The suction conduit may be disposed on the underside of the robot chassis and positioned substantially perpendicular to the front-to-back axis to aspirate debris in the path of the dry debris cleaning module as the robot traverses the target surface. In some embodiments, the dry debris cleaning system is disposed forward of the wet cleaning system.

[0032] In some embodiments, the disclosure relates to a wheel or a robot having wheels, where the wheel material comprises sponge rubber having a density of 40 pounds per cubic foot. In some embodiments, the wheel has a tread pattern pressed into the sponge rubber during molding. The tread pattern may include chevron or modified chevron indentations. In some embodiments, a split chevron pattern is used in the wheel tread. The depth and shape of the indentations allow the robotic cleaning device to move across carpets or other household flooring while allowing for improved traction on wet floors. In particular, the selection of the tread pattern allows the robotic cleaning device to operate while using a cleaning pad that increases drag on the device. In some embodiments, the material used may be determined based on the mass of the robot carrying the cleaning fluid, and / or any chemicals contained therein, as well as the properties of the cleaning fluid when on the floor surface. In some embodiments, the disclosure includes wheels made of, for example, neoprene and chloroprene, and other closed cell rubber sponge materials. Wheels made of polyvinyl chloride (PVC) and acrylonitrile-butadiene (ABS) (with or without other extractables, hydrocarbons, carbon black, and ash) may also be used.

[0033] Some embodiments of the robot of the present disclosure include one or more air outlets disposed on the chassis of the robot cleaner and configured to direct debris into the path of the dry debris cleaning module. The suction conduit is disposed on the underside of the robot chassis and positioned substantially perpendicular to the front-to-back axis to aspirate debris in the path of the dry debris cleaning module as the robot traverses the target surface. In some embodiments, the dry debris cleaning system is disposed forward of the wet cleaning system.

[0034] In some embodiments of a robot according to the present disclosure, a robotic cleaning device is provided having an air outlet configured to exhaust air from the suction motor such that the air does not agitate debris. In some embodiments, the robotic cleaner includes at least one exhaust duct that directs air above the robot chassis.

[0035] In some embodiments, the modular cleaning apparatus includes a suction conduit that includes any suitable combination of rigid conduits, flexible conduits, chambers, and other features that may cooperate to direct the flow of air through the modular cleaning apparatus. Optionally, one or more filters or filtration members, e.g., HEPA filters, may be configured such that air moving through the suction conduit passes through one or more filters before the one or more air outlets. The one or more air outlets may be configured to fluidly connect to one or more air jet assemblies. Air exhausted from the one or more clean air outlets and / or the one or more fan outlets may be directed through one or more air jet assemblies. The one or more air jet assemblies may include one or more nozzles and / or vents to direct the air jets, and the one or more nozzles and / or vents are components of the one or more air jet assemblies.

[0036] In some embodiments consistent with the present disclosure, a robotic cleaning device is provided having an air exhaust outlet configured to move air to dry cleaning fluid deposited by the robotic cleaner during a wet cleaning mode.

[0037] A robotic cleaner consistent with this disclosure may embody any one or more of the features described herein, and the features may be used in any specific combination or subcombination. [Brief description of the drawings]

[0038] These and other feature advantages will be better understood by reading the following detailed description in conjunction with the following drawings.

[0039] [Figure 1] FIG. 1A illustrates a top isometric view of a robotic cleaner consistent with an embodiment of the present disclosure.

[0040] FIG. 1B is a schematic isometric view of the robot cleaner shown in FIG.

[0041] [Figure 2-1] FIG. 2A is a top view of the robot cleaner shown in FIG.

[0042] [Figure 2-2] FIG. 2B is a schematic top view of the robot cleaner shown in FIG.

[0043] [Diagram 3] FIG. 3 is a bottom view of the robot cleaner shown in FIG.

[0044] [Figure 4] 4A and 4B are schematic diagrams of a cleaning pad and caster wheels for a robotic cleaner consistent with embodiments of the present disclosure.

[0045] [Diagram 5] 5A and 5B show schematic perspective views of a liquid reservoir of a robotic cleaner consistent with an embodiment of the present disclosure.

[0046] [Figure 6] 6A-D show an attachment mechanism for connecting a wet cleaning module to a multi-surface cleaner consistent with embodiments of the present disclosure.

[0047] [Figure 7-1] 7A-C illustrate a process for a user to fill a cleaning fluid tank for a wet cleaning module and reinstall the wet cleaning module into a multi-surface cleaner consistent with embodiments of the present disclosure.

[0048] [Figure 7-2] 7D-7E show a wet cleaning module attached to a multi-surface cleaner, consistent with embodiments of the present disclosure.

[0049] 7F-7G show the multi-surface cleaner shown in FIGS. 7B-7C without the wet cleaning module installed.

[0050] [Figure 8] FIG. 8 is a schematic isometric view of a wet cleaning module of a robotic cleaner consistent with an embodiment of the present disclosure.

[0051] [Figure 9] FIG. 9 is a schematic top view of the wet cleaning module shown in FIG.

[0052] [Figure 10] FIG. 10A is a schematic front view of the wet cleaning module shown in FIG.

[0053] FIG. 10B is a schematic rear view of the wet cleaning module shown in FIG.

[0054] [Figure 11] FIG. 11A is a schematic left side view of the wet cleaning module shown in FIG.

[0055] FIG. 11B is a schematic right side view of the wet cleaning module shown in FIG.

[0056] [Figure 12] FIG. 12 is a schematic exploded view of the wet cleaning module shown in FIG.

[0057] [Figure 13] FIG. 13 is a schematic diagram of a motor and gear train coupled to a cleaning pad plate consistent with an embodiment of the present disclosure.

[0058] [Figure 14] FIG. 14 is a schematic diagram of an agitated cleaning plate and peristaltic pump assembly consistent with an embodiment of the present disclosure.

[0059] [Figure 15] FIG. 15A is an enlarged view of the agitated cleaning plate and peristaltic pump assembly shown in FIG.

[0060] FIG. 15B is an enlarged view of the peristaltic pump assembly shown in FIG. 15A.

[0061] [Figure 16] 16 is a perspective view of a schematic diagram of the motor and gear train coupled to the cleaning pad plate shown in FIG.

[0062] [Figure 17] FIG. 17A is a schematic bottom view of a cleaning pad plate of a robotic cleaner, consistent with an embodiment of the present disclosure.

[0063] FIG. 17B is a schematic bottom view of a cleaning pad of a robotic cleaner, consistent with an embodiment of the present disclosure.

[0064] [Figure 18] FIG. 18A is a schematic isometric view of a cleaning pad plate of a robotic cleaner consistent with an embodiment of the present disclosure.

[0065] FIG. 18B is a schematic isometric view of a cleaning pad of a robotic cleaner consistent with an embodiment of the present disclosure.

[0066] [Figure 19-1] FIG. 19A illustrates a sensor configured to detect conditions during operation of a robotic cleaner, consistent with an embodiment of the present disclosure.

[0067] [Figure 19-2] FIG. 19B is a schematic diagram of a robotic cleaner including the sensor shown in FIG. 19A, consistent with an embodiment of the present disclosure.

[0068] [Figure 19-3] FIG. 19C is a flow chart illustrating the use of the sensor shown in FIG. 19A.

[0069] [Figure 20] 20A-20B are side views of a cleaning pad plate and cleaning pad consistent with an embodiment of the present disclosure.

[0070] FIG. 20C is an isometric view of a cleaning pad attached to a wet cleaning module, consistent with an embodiment of the present disclosure.

[0071] [Figure 21] 21A-21D show an attachment mechanism for securing a cleaning pad to a wet cleaning module consistent with embodiments of the present disclosure.

[0072] [Figure 22]22A-22B show an attachment mechanism for securing a cleaning pad to a wet cleaning module consistent with an embodiment of the present disclosure.

[0073] [Figure 23] 23A-23C show an attachment mechanism for securing a cleaning pad to a wet cleaning module consistent with embodiments of the present disclosure.

[0074] [Figure 24] 24A-24D show an attachment mechanism for securing a cleaning pad to a wet cleaning module consistent with embodiments of the present disclosure.

[0075] [Figure 25-1] FIG. 25A is a schematic diagram of a wheel assembly of a robotic cleaner consistent with an embodiment of the present disclosure.

[0076] [Figure 25-2] 25B-25K are schematic diagrams of wheels of a robotic cleaner consistent with embodiments of the present disclosure. [Figure 25-3] Same as above. [Figure 25-4] Same as above. [Figure 25-5] Same as above.

[0077] [Figure 26] FIG. 26 is a schematic isometric view of a brush roll assembly of a robotic cleaner consistent with an embodiment of the present disclosure.

[0078] [Figure 27] FIG. 27A is a schematic top view of the brush roll assembly shown in FIG.

[0079] FIG. 27B is a schematic bottom view of the brush roll assembly shown in FIG.

[0080] [Figure 28]FIG. 28A is a schematic right side view of the brush roll assembly shown in FIG.

[0081] FIG. 28B is a schematic left side view of the brush roll assembly shown in FIG.

[0082] [Figure 29] FIG. 29A is a schematic front view of the brush roll assembly shown in FIG.

[0083] FIG. 29B is a schematic rear view of the brush roll assembly shown in FIG.

[0084] [Diagram 30] FIG. 30A is a schematic isometric view of the brush roll assembly shown in FIG. 26 positioned within a chassis for a robotic cleaner.

[0085] FIG. 30B is a schematic side view of the brush roll assembly shown in FIG. 26 positioned within a chassis for a robotic cleaner.

[0086] [Diagram 31] FIG. 31 illustrates a robot cleaner chassis having a robot cleaner subsystem attached thereto, such as the brush roll assembly shown in FIG. 26, consistent with an embodiment of the present disclosure.

[0087] [Diagram 32] 32A-32B are schematic diagrams of an exemplary duct system that may be used with a robotic cleaner consistent with embodiments of the present disclosure.

[0088] [Diagram 33] 33A-33B show an example embodiment of a vent that may be used with a robotic cleaner consistent with embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0089] Although one or more of the above features may be implemented in any type of robotic cleaner, an exemplary embodiment is described as a robotic cleaner including one or more of the above features. One exemplary embodiment of the robotic cleaner includes a generally circular housing with a displaceable front bumper, a pair of drive wheels on the sides of the housing, a first non-driven caster wheel at the front of the housing, a second non-driven caster wheel at the rear of the housing, at least one main rotating brush roll, a vacuum suction system, a rechargeable battery, a removable dust container, a wet cleaning module including a liquid applicator configured to apply cleaning fluid to a cleaning pad using one or more pumps, and an agitation module for agitating the cleaning pad to scrub surfaces. The exemplary embodiment of the robotic cleaner may also have various sensors around the housing, including collision sensors, obstacle detection sensors, sidewall sensors, acoustic sensors, and cliff sensors. A power switch may be located on the side of the housing, and a control button may be located on the top of the housing to initiate certain operations (e.g., autonomous cleaning, spot cleaning, and docking). The robot cleaner further includes hardware and software for receiving sensor inputs and controlling operation according to various algorithms or modes of operation. The robot cleaner may also be provided with a charging base and a remote control. The robot cleaner may also include one or more Hall effect sensors to detect a docking station and / or to detect a magnetic strip that provides a virtual wall to restrict the movement of the robot cleaner.

[0090] As used herein, the terms "above" and "below" are used in reference to the orientation of the cleaning apparatus over the surface being cleaned, and the terms "front" and "rear" are used in reference to the direction in which the cleaning apparatus moves over the surface being cleaned during normal cleaning operations (i.e., back-to-front). As used herein, the term "leading" refers to a position in front of at least another component, but not necessarily in front of all other components.

[0091] 1A-3, a robotic cleaner 100 is shown and described, consistent with an embodiment of the present disclosure. Although a particular embodiment of a robotic cleaner is shown and described herein, the concepts of the present disclosure may be applied to other types of robotic cleaners. The robotic cleaner 100 includes a housing, or chassis 102, having a front side 112, and a rear side 114, left and right sides 116a, 116b, an upper side (or top surface) 118, and a lower side or back side (or bottom surface) 125. A bumper 103 is movably coupled to the housing 102 around a substantial portion of the forward portion of the housing 110. The top 118 of the housing 102 may include a user interface 150 (e.g., buttons) for initiating certain operations, such as autonomous cleaning, spot cleaning, and docking, as well as indicators (e.g., LEDs) for indicating operations, battery charge levels, errors, and other information.

[0092] As shown, the robotic cleaner 100 includes a vacuum device including a suction conduit 155, a dust cup 144, and a suction motor 142. The suction conduit 155 is disposed at the bottom of the chassis 120 and is fluidly coupled to the dust cup 144 and the suction motor 142 in opposing relation to the cleaning surface. The suction motor 142 draws debris into the suction conduit 155 and deposits it in the dust cup 144 for later disposal. An air exhaust port 143 is fluidly coupled to the suction motor 142. In various embodiments, the air exhaust port 143 can be configured to direct debris to prevent undesirable agitation of debris or to allow cleaning fluid to dry out, as discussed in more detail below.

[0093] As also shown, the robotic cleaner 100 includes a plurality of drive wheels 130 coupled to the chassis 102, a front caster wheel 107 coupled to the chassis 102 at the front of the chassis 102, and a rear caster wheel 187 coupled to the chassis 102 at the rear of the chassis 102. The wheels 130 are independently rotatable about associated axes of rotation and are coupled to respective drive motors contained within driven wheel assemblies 141. As such, each wheel 130 may be generally described as independently driven. The robotic cleaner 100 may be autonomously oriented or controlled to clean or maneuver on a target surface by drive signals from a controller 139 disposed on a control board 140. The drive signals may operate the robotic cleaner, for example, by adjusting the rotational speed of one of the plurality of wheels 130 relative to another of the plurality of wheels 130.

[0094] The displaceable bumper 103 may be disposed along a portion of a perimeter defined by the housing 102 of the robot cleaner 100. The displaceable bumper 103 is configured to transition between a non-operated position and an activated position, for example, in response to engagement of an obstacle. The displaceable bumper 103 may be configured to be movable along a first axis extending generally parallel to the top surface of the housing 118. In this manner, the displaceable bumper 103 displaces in response to engaging (e.g., contacting) at least a portion of an obstacle disposed on and extending from the surface to be cleaned. Additionally or alternatively, the displaceable bumper 103 may be configured to be movable along a second axis extending laterally (e.g., perpendicularly) to the first axis. In this manner, the displaceable bumper 103 displaces in response to engaging (e.g., contacting) at least a portion of an obstacle spaced from the surface to be cleaned. Thus, the robot cleaner 100 may avoid being trapped between the obstacle and the surface to be cleaned.

[0095] A user interface 150 may be provided to allow a user to control the robotic cleaner 100. For example, the user interface 150 may include one or more push buttons 154 that correspond to one or more features of the robotic cleaner 100. Liquid ingress protection may be provided on the user interface 150 to prevent or otherwise mitigate the effects of liquid inadvertently spilled on the housing 102 of the robotic cleaner 100.

[0096] The robotic cleaner 100 includes a rotary agitator 105 (e.g., a main brush roll) within a brush roll assembly 159. The rotary agitator 105 rotates about a substantially horizontal axis to direct debris toward the suction conduit 155. The rotary agitator 105 is at least partially disposed within the suction conduit 155. The rotary agitator 105 may be coupled to a motor 151, such as an AC or DC electric motor, to impart rotation, for example, by one or more drive belts, gears, or other drive mechanisms. The robotic cleaner also includes one or more driven rotating side brushes coupled to the motor to sweep debris toward the rotary agitator 105. Additionally or alternatively, the robotic cleaner may also include one or more air jet assemblies configured to sweep debris toward the rotary agitator 105.

[0097] The rotary agitator 105 may have bristles, fabric, or other cleaning elements, or any combination thereof, around the outside of the agitator 105. The rotary agitator 105 may include a strip of bristles in combination with a strip of rubber or elastomeric material, for example. The rotary agitator 105 may also be removable from the housing 102 and brush roll assembly 159 to allow the rotary agitator 105 to be more easily cleaned, to allow a user to change the size of the rotary agitator 105, to change the type of bristles on the rotary agitator 105, and / or to remove the rotary agitator 105 entirely depending on the intended use. The robotic cleaner 100 may further include a bristle strip (not shown) along the underside 125 of the housing 102 and a portion of the suction conduit 155. The bristle strip may include bristles having a sufficient length to at least partially contact the surface to be cleaned. The bristle strip may also be curved toward the suction conduit 155, for example.

[0098] The robot cleaner 100 also includes several different types of sensors. One or more forward obstacle sensors 108, such as infrared sensors, ultrasonic sensors, cameras, and / or time-of-flight sensors, may be coupled to or integrated with the bumper 103 and may detect the proximity of an obstacle in front of the bumper 103. One or more floor type detection sensors 148, 188 (e.g., acoustic sensors, ultrasonic sensors, and / or optical sensors) may be used to detect the characteristics of the floor surface on which the robot cleaner 100 travels and / or changes in the characteristics of the floor surface on which the robot cleaner 100 travels. In some embodiments, the forward obstacle sensor 108 or other sensors are mounted on the housing 102 of the robot cleaner 100. The forward obstacle sensor 108 located on the housing 102 is visible through the bumper 103 using a hole or window.

[0099] The one or more sensors 148, 188 may be any suitable sensor operable to detect a physical condition or phenomenon and provide corresponding data to the controller 139 which directs the operation of the robotic cleaner 100, such as movement, cleaning mode, suction motor strength, and / or escape behavior, for example, using algorithms stored in memory on the control board 140. In some embodiments, an algorithm controlling the operation of the robotic cleaner 100 is selected based on a determination of the surface type by the floor-type detection sensors 148, 188. In other embodiments, an algorithm controlling the operation of the robotic cleaner 100 is selected based on an identification of a change in surface type by the floor-type detection sensors 148, 188.

[0100] In some embodiments, the acoustic sensor 148 allows for determining a floor type, such as carpet, hardwood, and / or tile, based on the reflective conditions of the floor. The acoustic sensor 148 may be configured to identify a change between a first floor type and a second floor type during operation of the robotic cleaner 100. As the robotic cleaner 100 traverses a target surface, the acoustic sensor 148 may be used to detect noise from the surrounding area. The magnitude and / or quality of that noise may change based on the quality of the floor surface such that the acoustic sensor 148 may determine a floor type, such as carpet, hardwood, and / or tile, based on the reflective conditions of the floor or the transition from a first type to a second type of floor covering. In some embodiments, noise generated by the robotic cleaner during movement is used by the acoustic sensor 148 to determine the floor type. This noise may be caused by the multiple wheels 130 traveling over the surface and / or the operation of the suction motor 142. The acoustic sensor 148 may be located in a recessed chamber in the robotic cleaner chassis 102. In some embodiments, the concave chamber may be cylindrical so that the location of the ambient noise source detected by the acoustic sensor 142 may be more easily identified.

[0101] Some embodiments include a method for detecting a floor using an ultrasonic sensor 188. The ultrasonic sensor 188 transmits an ultrasonic signal toward a floor surface and receives an ultrasonic signal reflected from the floor surface. The sensor 188 allows for determining a floor type, such as carpet, hardwood, and / or tile, based on the reflective condition of the floor. The ultrasonic sensor 188 may be configured to identify a change between a first floor type and a second floor type during operation of the robotic cleaner 100.

[0102] An exemplary embodiment of the robot cleaner 100 includes at least one ultrasonic sensor 188 and at least one acoustic sensor 148. The at least one ultrasonic sensor 188 and the at least one acoustic sensor 148 may operate together to determine a floor surface and / or a change in the floor surface. That is, the at least one ultrasonic sensor 188 may transmit an ultrasonic signal toward the floor surface. The at least one ultrasonic sensor 188 and the at least one acoustic sensor 148 may receive a reflected signal and use the signal to determine a floor type and / or a change in the floor type. In some embodiments, the at least one ultrasonic sensor 188 may be configured to operate based on a signal received by the at least one acoustic sensor 148. That is, if the at least one acoustic sensor 148 determines a change in the floor surface, the at least one ultrasonic sensor 188 may be configured to emit an ultrasonic signal based on the determination.

[0103] The robot cleaner 100 includes a wet cleaning module 149 that is removably mounted to the robot cleaner chassis 102. In the illustrated example, the wet cleaning module is positioned rearward of the vacuum, rotary agitator, and the axis of rotation of the wheels. The wet cleaning module 149 includes a cleaning fluid tank 145 and a stopper 146 for the cleaning fluid tank 145. The cleaning fluid tank 145 is configured as a reservoir for receiving cleaning fluid and extends upwardly from the tank base 120.

[0104] The wet cleaning module further includes a wet cleaning pad 121 operably coupled to the bottom of the tank base 120, for example, directly or via a cleaning pad plate (e.g., plate 210 shown in FIG. 12). In some embodiments, a rigid slider 123 on a leading edge 124 of the cleaning pad 121 is slidably received within the wet cleaning module, for example, within a channel formed in the tank base or cleaning pad plate, for removably coupling the leading edge 124 of the cleaning pad 121 to the wet cleaning module. An end of the slider 123 may extend beyond an end surface of the leading edge 124 of the cleaning pad 121 and be exposed at a side of the housing 102 (side 116b in the illustrated example) to allow a user to grasp the slider 123 and remove the cleaning pad 121 from the wet cleaning module. In some embodiments, the rigid slider may extend beyond the end surface of the leading edge 124 of the cleaning pad and / or outward from the channel at least about 1 cm, and in some embodiments, the slider may extend only along a portion of the leading edge 124 of the cleaning pad 121. The rear of the wet cleaning pad 121 may be coupled to the plate using a hook-and-loop fastener (not shown) and includes a tab 122 that allows a user to couple the wet cleaning pad 121 and separate it from the hook-and-loop fastener by pulling upwards or downwards on the tab 122.

[0105] As the robotic cleaner moves across the floor, a suction conduit 155 connected to the suction motor 142 collects dry debris from the floor while a liquid applicator of the wet cleaning module 149 applies cleaning fluid onto the cleaning pad 121. The liquid applicator may be provided in a variety of configurations. In some embodiments, the liquid applicator applies cleaning fluid onto the cleaning pad 121 at one or more pump outlet locations 189 (hidden lines) and an agitator module agitates the cleaning pad 121 to scrub the floor. The wet cleaning module motor 147 powers one or more pumps of the liquid applicator configured to apply cleaning fluid onto the cleaning pad 121 and an agitator module to agitate the cleaning pad 121 during cleaning.

[0106] The non-driven rear caster wheels 187 support the wet cleaning module 149. The rear caster wheels 187 can be used to improve the robot cleaner's ability to exceed thresholds during cleaning and to control the engagement of the cleaning pad 121 with the target surface. The rear caster wheels 187 can be shifted along a vertical axis so that the cleaning pad 121 carried by the robot cleaner 100 sits closer to or further from the surface it moves over. When the rear caster wheels 187 rotate on a higher axis relative to the bottom of the robot cleaner 125, the cleaning pad 121 has greater engagement with the floor. This can increase cleaning efficiency. However, increased mechanical engagement with the floor can also result in increased friction from the cleaning pad 121 as it moves over the surface to be cleaned. The increased friction can decrease the speed of the robot cleaner 100. Thus, the rear caster wheels 187 are adjusted so that the pressure caused by the weight of the robot cleaner 100 is balanced between the cleaning efficiency and maneuverability of the robot cleaner 100.

[0107] The pressure applied to the cleaning pad 121 may be distributed across the surface area of ​​the cleaning pad 121 that engages the surface to be cleaned, or in alternative embodiments, the pressure applied to the cleaning pad 121 may be concentrated along the leading edge 124 of the cleaning pad 121. The concentration of pressure along the leading edge 124 of the cleaning pad 121 may be configured to limit the amount of drag caused by the engagement of the cleaning pad 121 with the floor while providing improved cleaning resulting from increased mechanical engagement with the floor to be cleaned. In some embodiments, the cleaning pad may have a leading edge with a width of about 31-34 cm and the robot cleaner may have a mass of about 3 kg. In some embodiments, the cleaning pad may have a leading edge with a width of about 10-40 cm and the robot may have a mass of less than about 10 kg and an average drag force between the cleaning pad 121 and the cleaning surface may be generated during cleaning of up to about 40% of the weight of the robot cleaner. The robot size allows the robot to be large enough to operate around the home and obstacles therein, and the weight allows the cleaning pad to engage the cleaning surface, improving cleaning efficiency, while being light enough for a single user to move the robot around the home.

[0108] Here in Figures 4A and 4B, the rear caster wheel 187 may be located in an unrestricted position on the robot cleaner chassis. An opening 191A or notch 191B may be located in the cleaning pad 121 to accommodate the rear caster wheel 187. Engagement with the surface of the cleaning pad 121 is maneuverability controlled in part by the caster wheel 187. To provide improved balance and maneuverability, the caster wheel 187 may be located along the centerline of the front-rear axis. In Figure 4A, the rear caster wheel 187 may be located so as to be enclosed within the boundary of the cleaning pad 121. The opening 191A or notch of the caster wheel 187 may be located within the boundary of the cleaning pad 121 anywhere on the front-rear axis. The width of the boundary of the cleaning pad 121 of 191A surrounding the rear caster wheel 187 does not have to be equal. That is, the rear caster wheels 187 may be located more toward the front or rear of the robot cleaner while being surrounded 191A by the cleaning pad 121. In the embodiment of FIG. 4B, the rear caster wheels 187 may be partially surrounded 191B by the cleaning pad 121. In such an embodiment, the rear caster wheels 187 may be disposed within notches or cutouts 191B in the periphery of the cleaning pad 121.

[0109] 4A and 4B, the space occupied by the rear caster wheels 187 is depicted as a rectangle with rounded corners 191A, 191B. However, alternative embodiments of the cleaning pad 121 that can accommodate the caster wheels 187 are envisioned. Such designs include circular, square, oval, or irregular shapes designed to accommodate the rear caster wheels 187.

[0110] 5A and 5B show different configurations that may be used to construct the wet cleaning module 290. The wet cleaning module 290 includes cleaning fluid storage containers or cleaning fluid tanks 293A, 293B extending upward from a tank base 292. The tanks 293A, 293B may be integrally formed with the tank base 292 or may be separate components attached to the tank base 292. The cleaning fluid tanks 293A, 293B may be configured to hold a volume of cleaning fluid. In an exemplary embodiment, the volume of cleaning fluid may be about 200-300 mL. The cleaning fluid may be water or a mixture of water and a soap or detergent that may further include other components such as solvents, fragrances, disinfectants, desiccants, abrasive particles, etc. to increase the efficiency of the cleaning process or improve the end result, such as the appearance of the floor. The mixture may be provided in a concentrated state and configured to function within the wet cleaning module 290.

[0111] The wet cleaning module 290 is attached to the robotic cleaning apparatus. In some embodiments, such as the illustrated embodiment, the wet cleaning module is coupled to the chassis behind the vacuum. The robotic cleaning apparatus embodiments may include vacuum components such that the cleaning fluid tanks 293A, 293B are located in front of and behind the dust cup or dry debris storage container. FIG. 5A shows the cleaning fluid tank 293A configured to sit behind the dust cup. FIG. 5B shows the cleaning fluid tank 293B located to the left of the dust cup. In both embodiments, the cleaning fluid tanks 293A, 293B are constructed to allow a user to grab the wet cleaning module 290 and remove it from the robotic cleaning apparatus.

[0112] 6A-6D show examples of mounting mechanisms configured to couple the wet cleaning module 1290 to a robot cleaner housing. The wet cleaning module 1290 includes a latch 1294 that can be attached to the robot cleaner chassis to pivot when engaged by a user. The latch 1294 can be configured to mechanically engage a cleaning fluid tank 1293 that is part of the wet cleaning module 1290. The cleaning fluid tank 1293 can further include a recessed portion 1297 configured to allow a user to more easily engage the latch 1294. A mounting bracket 1295 including an internalized curved ramp 1298 can be configured to allow forward mounting of the wet cleaning module 1290.

[0113] Movement to remove the wet cleaning module 1290 may consist of releasing the latch 1294 and pulling or sliding the wet cleaning module 1290 away from the robotic cleaning apparatus without displacing or removing other parts of the robotic cleaning apparatus. The wet cleaning module 1290 may be removed by the user pulling the module horizontally such that the robotic cleaning apparatus remains in a horizontal position on the floor or otherwise during removal of the wet cleaning module. Additionally, the cleaning fluid tank 1293 remains horizontal such that any cleaning fluid does not spill out of the wet cleaning module 1290 during removal. The cleaning fluid tank 1293, tank base 1292, and transition section 1296 between the tank 1293 and tank base 1292 are shaped such that the contour of the wet cleaning module 1290 fits within the rounded chassis contour of the robotic cleaning apparatus.

[0114] 7A-C illustrate a process for a user to fill a cleaning fluid tank 702 for a wet cleaning module 704 and reinstall the wet cleaning module 704 in a robot cleaner housing 706 consistent with embodiments of the present disclosure. In some embodiments, the tank portion 702 of the wet cleaning module 704 may have a cover 708 pivotally attached to its rear portion. The cover 708 may include a downwardly extending latch 710 for engaging a catch 712 on the front wall of the tank to latch the cover in a closed position. To fill the tank 702, a user may lift the latch 710 and pivot the cover 708 to an open position shown in FIG. 7B to open the tank. A user may then fill the tank portion 702 with cleaning fluid, such as water, for example, and couple the wet cleaning module 704 to the robot cleaner housing 706 by pivoting the cover 710 to a closed position and sliding the module 704 into the wet module mounting location 714 of the housing 706, as shown in FIG. 7C. In many embodiments, the wet cleaning module may be removed using a single step, allowing the user to use only one hand.

[0115] As shown in Figures 7D-7G, in some embodiments, a pivoting chassis cover 716 may be configured to fit over the wet cleaning module mounting location 714 when the wet cleaning module 704 is installed and when the wet cleaning module is not present, such that the external chassis forms a circular structure. Figures 7D-7E show the wet cleaning module 704 mounted to the chassis 706, consistent with an embodiment of the present disclosure. Figures 7D-7E show the chassis 706 shown in Figures 7F-7G without the wet cleaning module 704 installed. As shown, the cover 716 may be pivotally mounted to a central region of the chassis 706. To install or remove the wet cleaning module 704, the cover may be pivoted upward to expose the wet cleaning module 704 or the wet cleaning module location 714.

[0116] 8-12, another example of a robotic cleaner 220 is shown and described, consistent with an embodiment of the present disclosure. FIGS. 8-12 more fully illustrate an exemplary wet cleaning module 200. The robotic cleaner 220, during operation, carries one or more cleaning modules, e.g., vacuum and / or wet cleaning modules. The wet cleaning module 200 is configured to perform wet cleaning by applying a cleaning fluid onto a cleaning pad 221 and agitating the cleaning pad 221 to scrub the target surface. The wet cleaning module 200 is further configured to store a supply of cleaning fluid therein using a cleaning fluid reservoir, compartment, bag, or tank 203 and deliver the cleaning fluid to the cleaning pad 221 using a liquid applicator, which in the illustrated exemplary embodiment is configured as a pump assembly 230. The pump assembly 230 includes one or more pumps 239 configured to isolate the cleaning fluid from any electrical components contained in the robotic cleaner 220, including the wet module motor 204.

[0117] In some embodiments, a portion of the robot chassis 272 is sealed to prevent liquid ingress. In some embodiments, the sealing includes gluing a plastic film to the top cover of the robot cleaner 220. The gap between the plastic film and the top cover may be sealed using a foam adhesive or a felt seal. In other embodiments of the robot cleaner, the method of preventing liquid ingress includes applying an overmold between the exterior of the robot cleaner 220 and the PCBA. An overmold formed from an elastomeric material may be used. An additional part, such as a portion of the robot cleaner chassis 272, may be used to clamp the elastomeric material to the interior of the robot cleaner 220 to form a seal that prevents any liquid from entering the PCBA.

[0118] 8-12 show examples of attachment mechanisms configured to couple the wet cleaning module 200 to the robot cleaner chassis 220. In the illustrated example, the wet cleaning module 200 may be coupled to the robot cleaner chassis and includes a latch 202 that releases when engaged by a user. The latch 202 may be located on an exterior surface of the cleaning fluid tank 203 that remains accessible to the user when the wet cleaning module is attached to the robot cleaner 220. In the illustrated embodiment, the cleaning fluid tank 203 is attached to the chassis using a locking mechanism 202 that may be released by the user using a horizontal pinching action. In an alternative configuration, the attachment may be released by the user using a vertical pinching action.

[0119] The wet cleaning module 200 may further include one or more brackets or fasteners 211 configured to enable forward mounting and attachment of the wet cleaning module 200 to the robotic cleaner 220. As shown in Figures 10A and 10B, a rear mounting point 252 on the cleaning fluid tank 203 provides an attachment point for the cleaning pad 221.

[0120] The wet cleaning module 200 may be removed by a user pulling the wet cleaning module 200 horizontally out from the rear of the robot cleaner 220 such that the robot cleaner 220 remains horizontal to a horizontal surface during removal of the wet cleaning module 200. Additionally, the cleaning fluid tank 203 remains horizontal such that any cleaning fluid does not flow out of the wet cleaning module 200 during removal. The cleaning fluid tank 203 is shaped such that the contour of the wet cleaning module 200 fits within the rounded chassis contour of the robotic cleaning device. As discussed above and in FIGS. 7A-7G, in some embodiments, the pivoting chassis cover 716 may be configured to fit over the mounting location of the wet cleaning module 200 such that the wet cleaning module 200 is mounted and in the absence of the wet cleaning module 200 the external chassis forms a circular structure.

[0121] The wet cleaning module 200 further includes the above-mentioned liquid applicator configured as a pump assembly 230. Portions of the pump assembly 230 may be secured to the tank base 235 or the cleaning pad plate 210. The pump assembly 230 may include at least one peristaltic pump 239, which may be a linear peristaltic pump. The at least one peristaltic pump 239 includes a tube 234, an actuator 231, an actuator anvil 232, and one or more valves 237.

[0122] As shown in Figure 9, the at least one peristaltic pump includes a chamber 234 for receiving and expelling cleaning fluid and an actuator 231 for compressing the chamber 234 to pump fluid through the chamber 234. The chamber has a first end with a first opening 1234, a second end with a second opening 3234, and a length of resilient tubing 2234 extending between the first opening 1234 and the second opening 3234. A one-way valve 237 disposed in the opening cooperates to allow fluid to pass through the chamber 234 in only one axial direction. The throttle mechanism includes a substantially rigid anvil 232 and a substantially rigid displaceable actuator 231. The tubular material 2234 is mounted with one surface positioned against the anvil 232 and the actuator 231 is aligned to alternately push the tubular material 2234 against the anvil 232, pump fluid out of the chamber 234, and release the tubular material 2234 from the anvil 232 and draw fluid into the chamber 234.

[0123] The actuator 231 may be mounted to a tank base 235 of the wet cleaning module 200, and the tubular fluid pump 239 may further include a motor 204 mounted to the tank base 235 for moving the actuator 231 relative to the chamber 234 of the pump 239. For example, the motor 204 may urge the actuator 231 toward and away from the chamber 234 along a path of motion that defines a linear axis. Alternatively, the motor 204 may operate to rotate a shaft, defining an axis of rotation, in which case the motor rotates the actuator 231 about the axis of rotation defined by the motor 204.

[0124] The pump 239 further includes a length of flexible tubing or hose 2234 having a one-way inlet valve (not shown) and a one-way outlet valve 237 at the inlet of the hose that is connected to a water reservoir. The flexible tubing or hose 2234 may be mounted on the wet cleaning pad plate 210. The inlet and outlet valves 237 may include umbrella valves, duckbill valves, or another type of check valves configured to control the flow of cleaning fluid through the pump 239.

[0125] In some embodiments, the at least one peristaltic pump 239 delivers a flow of cleaning fluid according to an operational mode, and the flow rate is determined based on information provided by the sensing element 240. In some embodiments, the sensing element 240 is a humidity sensor 340 elevated above the location of the cleaning pad 221 and further includes an opening directed toward the cleaning pad 221 where the humidity sensor is located. In some operational modes, the flow rate is 3.5 mL / min. In some operational modes, the flow rate is about 5 mL / min. During the cleaning operation, the flow rate may vary, including in the range of approximately 0.0 mL / min to 5 mL / min. In some embodiments, each of the at least one pump 239 may be configured with an independent mechanical actuator 231. The size of the mechanical actuator 231 may vary based on the placement of the pump 239 within the robot cleaner 220 (e.g., a centrally located pump 239 may use a larger mechanical actuator 231, thereby providing a higher flow rate than one located at the edge of the robot cleaner 220).

[0126] 12 shows an exploded view of the wet cleaning module 200 shown in FIG. 8. The cleaning fluid tank 203 extends upwardly from the tank base 235. As described above, the pump actuator is secured to the tank base 235. The portion of the pump system that delivers the fluid 239 is attached to the cleaning pad plate 210. The wet cleaning module 200 is configured to isolate the cleaning fluid from any electrical components contained in the robotic cleaner 220, such as the wet module motor 204.

[0127] 13-16 illustrate wet cleaning modules 700, 800 consistent with embodiments of the present disclosure. Specifically, FIGS. 13-17 illustrate the use of a wet cleaning module motor 704, 804 used to power a pump assembly 830 and provide agitation to a cleaning pad plate 710, 810. FIG. 13 is a schematic diagram of a wet cleaning module motor 704 and an agitation module configured to impart agitation to a cleaning pad for scrubbing a floor surface. The agitation module may be provided in a variety of configurations. In the illustrated exemplary embodiment, the agitation module includes a coupling 728, a collar 708, and a lateral cam mechanism 771.

[0128] The gear train 705 is coupled to a motor to drive a drive shaft 710. The drive shaft 719 rotates about a fixed axis (shown by arrow 761) driven by the wet cleaning module motor 704. The drive shaft 719 is attached to a coupling 728 that mechanically interfaces with a collar 708 that is attached to a lateral cam mechanism 771. The lateral cam mechanism 771 translates the rotational motion of the motor 704 and drive shaft 719 into linear motion coupled to the cleaning pad plate 710 to agitate the cleaning pad plate 710. The agitation illustrated by arrow 760 provides a scrubbing action as the robotic cleaner moves across the surface it is cleaning.

[0129] Non-limiting alternative embodiments contemplated include agitating the cleaning pad along a vertical axis during cleaning mode, agitating the cleaning pad in an elliptical or circular motion so that the cleaning pad moves in a helical path along the surface being cleaned, and / or agitating the cleaning pad in a pendulum pattern so that one side of the pad is driven toward the floor and the opposite side is lifted off the floor in cleaning mode.

[0130] 14-16, the wet cleaning module motor 804 is further configured to power a liquid applicator configured as a pump assembly 830 that provides cleaning fluid from a cleaning fluid tank 845 to a cleaning pad (not shown) and an agitation module. FIGS. 14-16 are schematic diagrams of a gear train 805 coupled to the wet cleaning module motor 804 and a cleaning pad plate 810 through an agitation module including a coupling 828, a collar 808, and a lateral cam mechanism 871. A drive shaft 819 rotates about a fixed axis (as indicated by arrow 861) that is powered by the wet cleaning module motor 804. The drive shaft 819 is attached to a coupling 828 that mechanically interfaces with a collar 808 that is attached to a lateral cam mechanism 871 that, in the particular embodiment shown, has a travel amplitude of approximately 1 / 8 inch. Travel amplitudes of 1 / 16 inch to 1 / 4 inch may be used in various embodiments of the present disclosure. The lateral cam mechanism 871 agitates the cleaning pad plate 810. The agitation illustrated by arrow 860 provides a scrubbing action as the robotic cleaner moves across the surface being cleaned. A lateral cam mechanism 871 further actuates the pump assembly 830. The agitator's lateral motion 860 is mechanically coupled to a pump actuator 831. The pump actuator has a pivot point 838 and is capable of rotating about pivot point 838, indicated by arrow 862, to compress a tube 834 that carries cleaning fluid to the actuator anvil 832.

[0131] The chamber has an inlet opening 839 with a first one-way valve 887 and a second one-way valve 837 to allow fluid to pass through the tube 834 in only one axial direction. The pump actuator 831 is aligned to alternately urge the tubing 834 against the anvil 832 to pump fluid out of the tube 834 and release the tubing 834 from the anvil 832 and draw fluid into 834 through the inlet opening 839. A filter may be located within the cleaning fluid tank 845 to remove debris from the cleaning fluid before it passes through the inlet opening 839.

[0132] The robotic cleaner operates in a wet cleaning mode by agitating the cleaning pad across the target surface when the robotic cleaner is stationary and as the robotic cleaner moves over the cleaning surface. In some embodiments, the cleaning pad is attached to the robotic cleaner using a cleaning pad plate. During the cleaning operation, cleaning fluid is pumped to the cleaning pad. FIGS. 17A-18B show an embodiment of a cleaning pad plate 310 and a cleaning pad 321 consistent with an embodiment of the present disclosure. The wet cleaning module 300 shown in FIG. 18A is attached to the robotic cleaner using one or more locking mechanisms 302 and / or brackets or fasteners 311. A pump assembly 330 is used to apply the cleaning fluid onto the cleaning pad 321. One or more outlet valves 337 coupled to the one or more pumps 330 pump the cleaning fluid through one or more cleaning fluid outlet points 316. One or more points 315 on the cleaning pad 321 are configured to allow the cleaning fluid to be distributed throughout the cleaning pad surface. In some embodiments, the tube is coupled to one or more outlet valves 337 to direct the cleaning fluid onto the cleaning pad 321. The caster wheels 387 are positioned such that the cleaning pad 321 does not interfere with the movement of the caster wheels 387 during the cleaning operation.

[0133] Agitation of the cleaning pad 321 is generated by the wet cleaning module motor 304 driving at least one lateral cam of the agitation module. At least one cam fixation point 318 couples the linear motion of the at least one lateral cam to the cleaning pad 321. The cleaning pad 321 may be attached to the cleaning pad plate 310 using one or more fasteners 317. Additional fastening mechanisms are described in further detail below.

[0134] The cleaning pad 321 has a leading edge 324 at a forward portion of the cleaning pad 321 and a trailing or rearward portion 326. In the illustrated embodiment, the cleaning pad is generally D-shaped, with the leading edge 324 of the cleaning pad being at a location rearward of the axis of rotation of the wheel 130. In some embodiments, the cleaning pad has a maximum length defined by the length of the leading edge of 10-40 cm, and a maximum width that is less than about 60% of the maximum width.

[0135] In some embodiments, agitation is provided at a front portion or leading edge 324 of the cleaning pad 321. In some embodiments, agitation may be provided by, for example, providing a cam fixation point 318 to couple the linear motion of an agitation module, e.g., at least one lateral cam, directly to the cleaning pad 321 at the front portion of the cleaning pad without directly coupling the agitation module to the rear of the cleaning pad. In some embodiments, for example, the cam fixation point 318 may be located within 5 cm of the leading edge 324 of the cleaning pad 321. In other embodiments, the cam fixation point 318 may be provided within 2.5 cm of the leading edge 324 of the cleaning pad 321. No other cam fixation point may be provided to couple the cleaning pad 321 to the plate 310 rearward of the leading edge cam fixation point.

[0136] The rear of the cleaning pad is indirectly connected to the agitation module, for example, in some embodiments, by the cleaning pad being a single component with the rear continuing to the front portion. This agitates the entire cleaning pad 321, but providing agitation directly to the leading edge 324 of the cleaning pad provides many advantages over providing agitation directly along the length of the cleaning pad 321 and cleaning plate 310. By using lateral cams located on the leading edge of the cleaning pad 321, the leading portion of the cleaning pad 321 engages debris before the remainder of the cleaning pad has passed through it. Providing agitation directly to the leading portion of the cleaning pad allows the agitation to loosen any debris while at the same time allowing the trailing portion of the cleaning pad to pick up any loosened debris.

[0137] By providing agitation at the leading edge 324 of the cleaning pad 321, the distribution of the cleaning fluid can be more easily controlled. The trailing edge of the cleaning pad 321 is still agitated by the agitation provided at the leading edge of the cleaning pad, but is less mobile than the leading edge. One or more outlet valves 337 may be located at the trailing portion of the cleaning pad 321. The pump assembly 330 would direct the cleaning fluid to a relatively stable surface, rather than the agitation pad plate. This allows for more controlled distribution of the cleaning fluid to specific locations, such as one or more points 315 on the cleaning pad 321, that are configured to distribute the cleaning fluid throughout the cleaning pad surface.

[0138] Additionally, in some embodiments, the use of a leading edge agitator instead of agitating the entire length of the cleaning plate 310 allows for a larger cleaning tank 303. The cleaning tank 303 holds the cleaning fluid that is applied to the cleaning pad 321. In many embodiments, the size of the cleaning tank 303 determines the overall area that can be cleaned by the robotic cleaner during its operation. Localizing the agitation mechanism to the leading edge of the cleaning pad 321 allows the cleaning tank 303 to extend further toward the cleaning pad. In some embodiments, the lower surface of the cleaning tank 303 may form at least a portion of the surface of the cleaning plate 310.

[0139] Additionally, the leading edge agitator may reduce the amount of chassis surface for the robotic cleaner to be actively moved laterally. If the navigation system uses a gyroscope or IMU, a large agitation area may impede navigation of the robotic cleaner during operation. The leading edge agitator may also allow for reduced mechanical stress on the agitation mechanism because the total force applied by the mechanism is in-line and centered on the wet cleaning module motor 304.

[0140] In some embodiments, the cleaning pad 321 is constructed from a microfiber material. The cleaning pad 321 may be formed such that the material withstands extremes of water and temperature sufficient for the cleaning pad 321 to be washed in a washing machine or dishwasher. The microfiber material may include one or more weave patterns. These weave patterns may include loop fabric, waffle weave, cut loop, coral fleece, microfiber suede, double pile, pearl towel, and / or twist pile.

[0141] In another embodiment, the cleaning pad 321 is constructed from a disposable material. The cleaning pad 321 may be formed of any suitable material and may be made of a single layer or multiple layers. In some embodiments, the cleaning pad 321 includes multiple layers, such as a multi-functional strip, a face layer, and one or more absorbent layers. The face layer and one or more absorbent layers may be made of various nonwoven materials, woven materials, and / or plastics, or any other suitable materials. The face layer may be made of a hydrophobic material. The hydrophobic material may be arranged such that the weight of the unit exerts pressure on the layer to allow liquid to permeate the layer from the floor, but the material may be arranged such that the acquired liquid can be retained within the sheet. The face layer may include a texture, such as an embossed three-dimensional pattern, to aid in the capture of debris from the floor. The face layer may include PET spunlace into which water flow is entrained. In another embodiment, the one or more absorbent layers may be configured to absorb moisture from the face layer. The one or more absorbent layers may be formed of a thermally bonded airlaid. The first absorbent layer may be formed of two components in appropriate proportions to increase mechanical stability and reduce wet collapse. The second absorbent layer may have a higher density airlaid than the first absorbent layer to promote liquid transfer. The high density airlaid reduces compaction and provides mechanical structure to hold liquid. The multi-functional strips may be formed of hydrophilic meltblown polypropylene in some embodiments. By using hydrophilic materials, the sheet may provide a more uniform wipe and reduce streaking. The strips may help break up soils in some embodiments.

[0142] In some embodiments, the robotic cleaner includes a sensing element 340 attached to the wet cleaning module configured to provide an output to the controller 139 to represent the saturation level of the cleaning pad and / or the amount of cleaning fluid in the cleaning module tank. In some embodiments, the sensing element 340 is a humidity sensor 340 elevated above the position of the cleaning pad 321 and further includes an opening 341 oriented towards the cleaning pad 321 where the humidity sensor is located.

[0143] An exemplary embodiment of such a sensor is shown in FIG. 19A, where a sensor assembly 1900 is configured to detect conditions during operation of the robot cleaner. The sensor assembly 1900 includes a humidity sensor 1940 elevated above the cleaning pad 1921. The sensor assembly 1900 further includes an opening 1941 directed toward the cleaning pad 1921 and an air vent 1943 connected to the interior space of the wet cleaning module. The humidity sensor 1940 is positioned such that it is not directly exposed to the cleaning fluid used during the cleaning operation. Air 1949 moving through the sensor assembly 1900 allows the humidity sensor 1940 to detect the amount of moisture in the air circulating near the cleaning pad 1921. Other systems within the robot cleaner can direct the air 1949 moving through the sensor assembly 1900. In particular, the humidity sensor 1940 detects the humidity level in the surrounding air. The scattered air around the humidity sensor 1940 may prevent detection of changes in the saturation level of the cleaning pad 1921. Therefore, air 1949 moving through the sensor assembly 1900 should actively move from the cleaning pad 1921 towards the humidity sensor 1940. This active air flow allows for dynamic detection of the current humidity level of the cleaning path 1921.

[0144] Specifically, a portion of the air moving through the suction motor may follow a path constructed within the robot cleaner chassis that directs the air underneath the robot cleaner chassis and towards the sensor assembly 1900. Alternatively, exhaust air exiting the air outlet may be configured to exhaust air from the suction motor underneath the robot cleaner chassis and towards the sensor assembly 1900. In some embodiments, the chassis of the robot cleaner may be shaped such that forward movement of the robot cleaner creates an airflow underneath the robot cleaner chassis and towards the sensor assembly 1900. The shaping may consist of a scoop or chimney shaping as part of the robot cleaner chassis that directs the air path.

[0145] The humidity sensor 1940 generates a signal in response to detecting the humidity level to a controller. The controller may use the signal to determine moisture saturation of the cleaning pad 1921 based on the humidity of the air above the cleaning pad 1921. The controller configured to receive the signal may be further configured to implement an operational mode in response to the determined moisture saturation of the cleaning pad 1921. The operational mode may include determining or altering a flow rate of cleaning fluid pumped onto the cleaning pad by the at least one pump.

[0146] In some embodiments, the at least one pump pumps out a flow of cleaning fluid according to an operating mode. The flow may be determined by the controller based on the signal information provided by the humidity detector 1940. The controller controlling the robotic cleaning device may further adjust the autonomous transport drive subsystem according to a predetermined operating mode and in response to the conditions sensed by the humidity detector 1940. Such adjustments may include speed, agitation, type of agitation, and / or direction of travel. That is, the robotic cleaner may slow down, stop, speed up, or increase agitation in response to the conditions sensed by the humidity detector 1940. As shown in FIG. 19B, the humidity detector 1940 may be located at the bottom of the robot chassis 1914 in the sensor assembly 1900. The humidity detector 1940 is located in a sealed box in a location that may be at least 10 mm away from any heat source in the robotic cleaner in some embodiments. In some embodiments, the humidity sensor is less than 40 mm in total vertical distance from the floor. The path that the air takes from the wet cleaning pad 1922 toward the humidity detector 1940 is controlled to provide consistent results. The diameter of the air path can be 2-4 mm, but may be larger to increase the total airflow through the sensor assembly 1900.

[0147] The placement of the air entry point should be located near where the cleaning fluid is applied to the wet cleaning pad 1922 or near the attachment point that connects the wet cleaning pad 1922 to the robot cleaner. The location where the cleaning fluid is applied to the wet cleaning pad 1922 allows for more accurate monitoring of the cleaning fluid level in the water tank, while a point away from the cleaning fluid application point may not reflect humidity reduction as quickly. Placing the air entry point near the attachment point that connects the wet cleaning pad 1922 to the robot cleaner improves the reliability of humidity detection. The attachment point reduces the gap between the wet cleaning pad 1922 and the air entry point, which ensures that airflow can flow through the wet cleaning pad 1922.

[0148] Some embodiments include active airflow along the sealed air path. In such embodiments, air moves unidirectionally from the wet cleaning pad 1922 to the humidity detector 1940 and then exhausts into the robot chassis. Reducing air leakage from the air path using a gasket or flexible seal improves the results obtained from the humidity detector 1940. Additionally, active airflow from the pad allows dynamic sensing of the condition of the wet cleaning pad 1922 during operation. The deliberate movement of air through the sealed air path ensures that the overall humidity level reflects the humidity level at the air inlet.

[0149] In some embodiments, the cleaning pad plate 1922 may be located above the cleaning pad 1921. The sensor assembly 1900 further includes an air path between the humidity detector 1940 and the wet cleaning pad 122. The air path includes an opening 1941 directed toward the cleaning pad plate 1922 and an air vent 1943 connected to the interior space of the wet cleaning module. The cleaning pad plate 1922 may include an opening 1923 directed toward the cleaning pad 1921. Air may pass through the cleaning pad plate toward the sensor assembly 1900.

[0150] In some embodiments, a portion of the cleaning fluid tank 1915 is located above the cleaning pad plate 1922. The sensor assembly 1900 further includes an air path between the humidity detector 1940 and the wet cleaning pad 122. This air path includes an opening 1941 directed toward the cleaning fluid tank 1915 and an air vent 1925 connected to the interior space of the wet cleaning module. The passage through the cleaning fluid tank 1915 can be a physical tube that is separate from the cleaning fluid and is part of the physical structure of the cleaning fluid tank. That is, a channel or passage may be incorporated into the cleaning fluid tank such that the channel mates with a corresponding passage that allows air passage through the external chassis of the robot cleaner to the humidity detector 1940. The cleaning fluid tank 1915, and more specifically, the air passage or air channel, can include an opening 1923 directed toward the cleaning pad plate 1922. Air passes through the cleaning pad plate and the cleaning fluid tank toward the sensor assembly 1900.

[0151] To prevent air leakage into or out of the system, at least one gasket or seal may be included between the bottom of the robot chassis 1914 and other components connected to the sensor assembly 1900. A soft gasket or seal secured to the cleaning fluid tank 1914 at the interface 1944 between the cleaning fluid tank 1914 and the bottom of the robot chassis 1914 prevents air from escaping the air path directed to the sensor assembly 1900. The soft gasket or seal may be secured to either the cleaning fluid tank 1914 or the cleaning pad plate 1922 at the interface 1929 between the two components.

[0152] Air may be exhausted through vent 1943 into the chassis of the robotic cleaner. In some embodiments, vent 1943 is fluidly connected to a suction motor. In such embodiments, the suction generated by the suction motor serves to direct air away from the wet cleaning pad 1922 and through the sensor assembly 1900 to create an active airflow.

[0153] The humidity sensor 1940 may further be configured to provide the controller with information regarding the availability of cleaning fluid in the cleaning fluid tank. FIG. 19C is a flow chart illustrating one exemplary method consistent with the present disclosure, in which the humidity detector 1940 may determine whether cleaning fluid is pumped from the cleaning fluid tank onto the cleaning pad. In the illustrated example method, the robotic cleaner initiates a cleaning operation 1990, including a wet cleaning mode. During the cleaning process, the humidity detector is used to determine an initial humidity level 1991. The humidity sensor transmits this information to the controller, which determines the saturation of the cleaning pad based on the detected initial humidity level. Different levels of cleaning pad saturation may be desired for different cleaning modes. Based on the initial humidity level 1991 and the desired saturation, the controller determines 1992 whether increased saturation of the cleaning pad is required. If increased saturation of the cleaning pad is not required 1981, the controller determines 1982 whether reduced saturation of the cleaning pad is required. If reduced saturation of the cleaning pad is not required 1985, the controller does not change 1983 the flow rate of cleaning fluid on the cleaning pad. If reduced saturation of the cleaning pad is desired 1984, the controller directs the cleaning fluid pump assembly to reduce the flow rate of cleaning fluid onto the cleaning pad 1999.

[0154] If additional saturation is desired 1986, the controller directs the cleaning fluid pump assembly to increase 1993 the flow rate of cleaning fluid on the cleaning pad. As the flow rate increases 1993, the humidity increases, indicating increasing saturation of the cleaning pad. The humidity sensor detects 1994 the new humidity level following the command to increase 1993 the flow rate of cleaning fluid. If the humidity level increases 1987 after the command, the wet cleaning operation continues 1996. If the humidity level does not increase 1988 after the command, the controller may determine that the cleaning fluid tank is empty 1998 or is otherwise obstructed.

[0155] In some embodiments, the determination that the cleaning fluid tank is empty 1998 may occur after a series of humidity level determinations. That is, a single instance of the humidity level not increasing 1988 after a command to increase the flow rate 1993 may be insufficient for the controller to determine the state of the cleaning fluid tank. A determination that the humidity level is decreasing over multiple measurements may enable the controller to make and respond to a decision regarding the cleaning fluid pumped from the cleaning fluid tank. The controller may change the behavior of the robotic cleaner 1998 based on the determination that the cleaning fluid tank is empty. In some embodiments, the robotic cleaner may maintain agitation of the cleaning pad even in the absence of cleaning fluid being pumped. In other embodiments, the robotic cleaner may enter an error state. In the error state, the robotic cleaner may stop moving, generate an audible or visual error alert, notify the mobile application, and / or otherwise communicate the error state to the user. Alternatively, the robotic cleaner may continue in a dry cleaning mode.

[0156] In some embodiments, attachment of the cleaning pad to the wet cleaning module allows for a replaceable cleaning surface or pad. In particular, during wet cleaning or mopping, the cleaning pad can become saturated with soil. A user may wish to limit contact with the cleaning pad after use during a cleaning operation. Various attachment mechanisms are consistent with the present disclosure. Figures 20A-24D are non-limiting examples of attachment mechanisms consistent with embodiments of the present disclosure.

[0157] The attachment mechanism for the leading edge of the cleaning pad that is mounted proximate the front of the robotic cleaner may be a different attachment mechanism than that used for the trailing edge of the cleaning pad. As shown in Chart 1, a permutation of different attachment mechanisms may be used to secure the cleaning pad to the wet cleaning module. [Table 1]

[0158] 20A-20C show a mechanism for attaching the cleaning pad 421 to the wet cleaning module. Specifically, the cleaning pad 421 includes a rigid slider 423 on its leading edge 424. The rigid slider 423 may be formed of the same or a different material as the cleaning pad 421 and may be integral with or separately formed and coupled to the cleaning pad 421.

[0159] In the illustrated example, the rigid slider 423 includes a body portion 427 and a rounded head portion 429. The body portion may, for example, be coupled to a leading edge 424 of the cleaning pad 421 with the leading edge 424 abutting the rounded head portion 429. A forward edge 431 of the tank base 410 includes a channel 481 shaped to receive the rounded head portion 429 of the rigid slider 423. In embodiments in which the cleaning pad 421 is attached to the tank base 410 through a cleaning pad plate, a channel for receiving the rigid slider 423 may be provided in the cleaning pad plate, for example, in the forward edge of the cleaning pad plate.

[0160] 20C, the cleaning pad 421 and rigid slider 423 are bent around the front edge 431 of the tank base 410 and the rounded head portion 429 is inserted into a correspondingly shaped channel 481 formed in the front edge 431 of the tank base 410. The channel 481 is open on one side and closed on the other such that the rigid slider 423 can only be inserted from a particular side. An elastic cord (not shown) or other attachment such as a hook-and-loop fastener can be used to attach the rear edge of the cleaning pad 421 to the wet cleaning module 435.

[0161] 21A-21D show additional mechanisms for attaching the cleaning pad 2121 to the wet cleaning module 2100. In FIG. 21A-B, the cleaning pad 2121 is configured to include a trailing edge that includes a tab with one or more snaps 2101 that mate with one or more snaps on the rear of the wet cleaning module 2100 when the wet cleaning module 2100 is secured to the robotic cleaning device 2109. The cleaning pad 2121 may further include a cross pocket 2102 that allows a user to slide the cleaning pad 2121 onto the wet cleaning module 2100.

[0162] 21C, the leading edge of the cleaning pad 2121 has two or more pockets 2107. The two or more pockets 2107 may be made of an elastic material that allows a user to stretch the cleaning pad 2121 over the wet cleaning module 2100 such that the elastic material secures the cleaning pad 2121 in place.

[0163] 21D shows an attachment feature for the rear edge of the cleaning pad 2121. The rear edge of the cleaning pad 2121 is configured to include a tab comprised of a rigid block 2103. The rigid block 2103 fits over a corresponding feature 2104 on the rear of the wet cleaning module 2100.

[0164] 22A-22B show an attachment mechanism for attaching the cleaning pad 2221 to the wet cleaning module 2200. The leading edge of the cleaning pad 2221 includes one or more grommets 2208. The one or more grommets 2208 fit over corresponding one or more posts 2218 located on the wet cleaning module 2200. The trailing edge of the cleaning pad 2221 includes tabs with one or more magnetic snaps 2219 that fit over the rear surface of the wet cleaning module 2200.

[0165] 23A-23C show an attachment mechanism for attaching the cleaning pad 2321 to the wet cleaning module 2300. The leading edge of the cleaning pad 2321 is configured with a rigid bar 2319. The rigid bar 2319 hooks into a channel 2381 along the front side of the wet cleaning module 2300. The channel 2381 may be formed using a deformable lip 2315 that allows a user to release the cleaning pad 2321 from attachment to the wet cleaning module 2300. The trailing edge of the cleaning pad 2321 is configured to include a tab with a hook-and-loop fastener 2303. The hook-and-loop fastener fits over a corresponding fastener 2304 on the rear side of the wet cleaning module 2300.

[0166] 24A-24D show an attachment mechanism for attaching the cleaning pad 2421 to the wet cleaning module 2400. A leading edge of the cleaning pad 2421 includes one or more snaps 2401. The one or more snaps 2401 fit into corresponding one or more snaps 2418 located on the wet cleaning module 2400. A trailing edge of the cleaning pad 2421 is configured to include a resilient pocket 2402 that attaches to a notch 2404 on the rear surface of the wet cleaning module 2400. In FIG. 24D, the resilient pocket can create a smooth attachment of the cleaning pad 2421 to the wet cleaning module 2400.

[0167] Additional attachment mechanisms may include, but are not limited to, using a wet cleaning module that includes a clamshell / beartrap frame that closes onto the leading edge of the cleaning pad and attaches the trailing edge to the wet cleaning module using at least one clip or other mechanism, a wet cleaning module that has a central hinge that allows the cleaning pad to stretch across its entire surface, a wet cleaning module that includes a pad holder that swings open, allowing the cleaning pad to slide into an open "door" that then closes, and a wet cleaning module that includes a retractable hook-and-loop fastener or teeth that attach to the cleaning pad and retract using a button so that the user does not have to touch to release the cleaning pad. The various attachment mechanisms shown in Figures 20A-24D and described above may be used in different permutations or combinations and are not limited to the specific combinations described herein.

[0168] As discussed above, particularly in Figures 1B and 3, the robotic cleaner 100 includes multiple wheels 130 coupled to respective drive motors contained within driven wheel assemblies 141. In traveling over dry surfaces, the robotic cleaner encounters a variety of different surfaces, such as, but not limited to, carpet, tile, hardwood, and linoleum. The wheels attached to the wheel assemblies 141 should provide sufficient traction on the various surfaces. In particular, traveling over carpeted surfaces may induce greater wheel slippage than traveling over hard surfaces.

[0169] The inclusion of a wet cleaning module introduces an even greater challenge. The robot cleaner works on dry surfaces, but should also work on wet surfaces while dragging the cleaning pad. The cleaning pad increases the friction that the wheel must overcome. The degree of additional friction can vary depending on the amount of cleaning fluid that saturates the cleaning pad and how the cleaning pad is agitated during the cleaning operation. Additionally, the materials used for the wheels and / or tires should be compatible with the cleaning fluid used during the wet cleaning operation, i.e., the cleaning fluid should not degrade or otherwise harm the wheel.

[0170] The wheels used by robot cleaners can be made of a variety of different materials. Softer materials increase the grip of the wheels on hard surfaces but can reduce performance on carpet. Softer materials wear out faster. Treads pressed into the wheels help provide additional grip so that more durable materials can be used.

[0171] Figure 25A shows an isometric view of one example of a wheel assembly 2541, which may be an example of the wheel assembly 141 of Figure 1B. As shown, the wheel assembly 2541 includes a frame 2502. The frame 2502 has a driven wheel 2508 and an arm 2510 coupled thereto. A drive motor 2512 is coupled to the arm 2510. The wheel assembly 2541 includes one or more gears 2516 configured to transfer power to the driven wheel 2508.

[0172] 25B-25K show an exemplary embodiment of a driven wheel 2508 formed with treads 2581, 2582, 2583, 2584, 2585, 2586, 2587, 2588, 2589, 2590, respectively, consistent with embodiments of the present disclosure. The wheel treads 2581, 2582, 2583, 2584, 2585, 2586, 2587, 2588, 2589, 2590 are formed into a tread surface 2592 of the wheel, i.e., the surface that contacts the surface over which the robotic cleaner runs. The tread surface is provided between a first sidewall 2594 and a second sidewall 2596. An outer circumferential edge 2598 of the wheel defines a transition between the sidewalls 2594, 2596 and the tread surface 2592, the sidewalls extending radially inward from the outer circumferential edge 2598. In some embodiments, 40 lbs / ft 3The wheels formed from sponge rubber of density 2581 provide traction as the tread pattern is pressed into the material during molding. The tread pattern may include a chevron tread pattern 2581, a segmented chevron tread pattern 2582, a modified chevron tread pattern 2583, a gapless edge design 2584, 2585, a checkerboard tread pattern 2586, a cut diamond tread pattern 2587, a stippled tread pattern 2588, a Z-indent tread pattern 2589, or a wavy tread pattern 2590. The depth and shape of the tread formed on the wheel surface improves traction on wet floors while also allowing the robotic cleaner to move across carpets or other household floor coverings. In particular, the various chevron-based tread patterns allow the robotic cleaner to operate while using cleaning pads that increase the drag on the robotic cleaner. The tread patterns 2581, 2582, 2583, 2584, 2585, 2586, 2587, 2588, 2589, 2590 shown in Figures 25B-25K provide a gripping surface for the robotic cleaner during operation. Additionally, the recesses described disperse water and debris from under the wheel, allowing for traction under wet cleaning conditions.

[0173] A robotic cleaner having wheel treads that form a gap in the sidewall, such as gap 2599 in FIG. 25B that drives over a cord (such as, but not limited to, an audio cable, a power cord, a lantern cell, a drape pull, etc.), may capture the cord in the gap 2599 and carry the cord onto the wheel treads so that the cord wraps around the axle. This wheel wrap may prevent the robotic cleaner from operating if the cord sufficiently entangles the drive wheel.

[0174] In Figures 25E and 25F, the gap-free end treads 2584, 2585 may prevent debris from getting caught in the wheel tread. In the illustrated embodiment, the gap-free tread design does not include wheel tread features that intersect with the outer perimeter edge 2598 or sidewalls 2594, 2596 of the wheel to create gaps in which the cord may get caught. Instead, the illustrated embodiment includes divots 2593, 2595 and / or raised surfaces in the wheel tread surface 2592 that do not intersect with the outer perimeter edge 2598 and leave the outer perimeter sidewall edge 2598 in a circular shape. Because there are no gaps in the ends 2598 or sidewalls 2594, 2596 into which the cord may get pinched during travel, the cord is not carried into the chassis. However, the divots 2593 and / or raised surfaces 2595 in the wheel still allow for traction in both wet and dry environments.

[0175] A variety of gapless edge designs are possible. In the examples shown in Figures 25E and 25F, the treads 2584 and 2585 each include a repeating pattern that extends along the circumference of the wheel. The repeating pattern in Figure 25E includes a raised surface 2595-1 that extends laterally (from one sidewall to the other) across the tread surface 2592 and is followed by a number of divots 2593-1, 2593-2, 2593-3. Any number of divots 2593 and raised surfaces 2595 may be provided in the repeating pattern. In the illustrated embodiment, each of the divots 2593-1, 2593-2, 2593-3 is laterally offset across the tread surface 2592 from the divots adjacent to it. In Figure 25F, the repeating pattern includes a first divot 2593A followed by a second divot 2593B that is laterally offset from a first divot 2593B across the tread surface.

[0176] In some embodiments of wheels used in robotic cleaners, materials used to form the wheels and treads include neoprene and chloroprene, as well as other closed cell rubber sponge materials. Wheels can be made of polyvinyl chloride (PVC), thermoplastic vulcanizates (TPV), thermoplastic polyurethanes (TPU), natural rubber, nitrile butadiene rubber (NBR), styrene butadiene rubber (SBR), ethylene propylene diene terpolymer (EPDM), and acrylonitrile butadiene (ABS) with or without other extractives, hydrocarbons, carbon black, or ash. Wheel hardness can vary from 50 to 70 durometer, depending on the design and material of the tread used.

[0177] 26-31 , the robotic cleaner includes a brush roll assembly 2659 carried by the robotic cleaner 2600 within a chassis 2602 of the robotic cleaner 2600. In the illustrated embodiment, the brush roll assembly 2659 includes a housing 2654, a motor 2651, a main brush roll 2605, a front sole plate pins 2652, a rear sole plate pins 2653, a debrider comb 2655, and a rear bristle strip 2656.

[0178] In the illustrated embodiment, the brush roll assembly 2659 operates as a floating sole plate. The brush roll assembly 2659 forms a suction conduit that is fluidly coupled to the dust cup 2644 and the suction motor. The suction motor sucks debris into the suction conduit and deposits it in the dust cup 2644 for later disposal. The weight of the brush roll assembly 2659 creates a downward force and has a lowest point while suspended in the air. The surface over which the robotic cleaner 2600 travels may displace the brush roll assembly 2659 from its lowest point such that the brush roll assembly 2659 travels upward into the robotic cleaner chassis 2602. Carpet, hardwood, tile, rugs, and other floor types have different characteristics that determine the displacement of the brush roll assembly 2659. The distance between the brush roll assembly 2659 and the surface being cleaned determines the strength of the suction provided by the robotic cleaner 2600 and the interaction between the main brush roll 2605 and the surface being cleaned. The additional engagement between the main brush roll 2605 and the surface being cleaned increases agitation of the surface and can cause additional dry debris to be sucked into the dirt cup 2644.

[0179] The brush roll assembly 2659 adjusts the vertical position of the main brush roll 2605 relative to the top of the robot cleaner chassis 2602 to accommodate different floor surfaces. The sole plate pins 2652, 2653 are held using one or more shrouds 2657, which may be formed from one or more pieces and secured to the robot cleaner chassis 2602. The brush roll assembly 2659 maintains a lower plane generally parallel to the surface on which the robot cleaner 2600 is moving. During the movement of the robot cleaner 2600, the brush roll assembly 2659 moves up and down along two or more pins 2652 2653. The brush roll assembly 2659 moves vertically along the front sole plate pins 2652 and the rear sole plate pins 2653. The displacement of the brush roll assembly 2659 ranges from 9 to 11 mm on the vertical axis. The total displacement of the brush roll assembly 2659 allows the robot cleaner 2600 to operate effectively on multiple types of surfaces.

[0180] In Figs. 32A-32B, in some embodiments, exhaust air from the suction motor 607 may be routed to an air outlet 609 via at least one internal conduit 603. The suction motor 607 is fluidly coupled to an air inlet 606 within the robot cleaner. If the internal duct 603 is not present, the air may be exhausted through an exhaust port (not shown) on the robot cleaner. An exhaust outlet plug 601 may be used to redirect the flow of air from the exhaust port, through the internal conduit 603, and to the air outlet 609. The positive pressure airflow generated by the suction motor 607 is directed through the air outlet 609. One or more filters or filtering members, e.g., HEPA filters, may be configured such that the exhaust air from the suction motor 607 passes through one or more filters before the one or more air outlets 609. In some embodiments, the air outlet 609 is configured to exhaust air from the suction motor 607 such that the air does not agitate debris on the surface being cleaned. In some embodiments, the robot cleaner includes at least one air outlet 609 that directs air above the robot cleaner chassis. In some embodiments, the air outlet 609 is configured to exhaust air from the suction motor 607 such that air moving through the air outlet 609 dries cleaning fluid deposited by the robotic cleaner during the wet cleaning mode.

[0181] The air outlet 609 may be configured to couple with one or more air jet assemblies, the one or more air jet assemblies configured to force debris to a location below the robotic cleaning device. The air outlet 609 may be configured to couple with one or more air jet assemblies, the one or more air jet assemblies constructed to direct air above the robotic cleaner chassis. The one or more air jet assemblies may include one or more nozzles to direct the air jets, the one or more nozzles being components of the one or more air jet assemblies. FIGS. 33A-33B show an exemplary embodiment of an air vent that may be used as a component of an air jet assembly. The air jet assembly may be mounted to the robot cleaner such that the air jet assembly is mounted to a portion of the robot cleaner chassis 1705 perpendicular to the surface to be cleaned. Exhaust from the suction motor is routed to the air jet assembly via at least one internal conduit. The air jet assembly may include an air vent 1701 to direct airflow from the robot. Air exits vent 1701 from one or more louver vent jets 1702 and / or from secondary vent jets 1703. The placement of the air jet assemblies on the robotic cleaner chassis 1705 may be determined by the relative position of the robotic cleaner's wheel or wheels 1704. Positioning the air jet assemblies so that the air jets move air forward in the path of the robotic cleaner may reduce debris from entering the wheel assemblies.

[0182] Robotic cleaners and methods consistent with the present disclosure include various aspects that may be provided in various combinations. According to one aspect of the present disclosure, a robotic cleaner is provided that includes a chassis, a plurality of drive wheels coupled to the chassis, a controller for autonomously controlling the drive wheels to operate the robotic cleaner over a cleaning surface, a wet cleaning module connected to the chassis, the wet cleaning module including a cleaning pad for contacting the cleaning surface, and an agitation module directly coupled to a front portion of the cleaning pad and indirectly coupled to a rear portion of the cleaning pad, the agitation module configured to impart agitation to the cleaning pad.

[0183] According to another aspect of the present disclosure, there is provided a robotic cleaner including a chassis, a plurality of drive wheels coupled to the chassis, a controller for autonomously controlling the drive wheels to maneuver the robotic cleaner over a cleaning surface, and a wet cleaning module coupled to the chassis, the wet cleaning module including a cleaning pad having a rigid slider on a leading edge of the cleaning pad, the rigid slider being slidably disposed within a corresponding channel of the wet cleaning module for removably coupling the leading edge of the cleaning pad to the wet cleaning module.

[0184] According to another aspect of the present disclosure, a cleaning pad for a robotic cleaner is provided that includes a rigid slider on a leading edge of the cleaning pad. The rigid slider is configured to be slidably disposed within a corresponding channel of a wet cleaning module for removably coupling the leading edge of the cleaning pad to the wet cleaning module. A portion of the rigid slider can be positioned on the cleaning pad and extend outwardly beyond an end surface of the leading edge.

[0185] According to another aspect of the present disclosure, a robotic cleaner is provided that includes a chassis, a plurality of drive wheels coupled to the chassis, each of the drive wheels including associated first and second sidewalls with a tread surface disposed between the sidewalls, each drive wheel further including an outer periphery defining a transition between the sidewalls and the tread surface, each drive wheel further including a tread pattern of the tread surface that does not intersect the outer periphery, a controller for autonomously controlling the drive wheels to operate the robotic cleaner over a cleaning surface, and at least one cleaning module coupled to the chassis for cleaning the cleaning surface.

[0186] The method embodiments described herein may be implemented using a controller, a processor, and / or other programmable device. To that end, the methods described herein may be implemented on a tangible, non-transitory computer-readable medium that stores instructions that, when executed by one or more processors, perform the method. Thus, for example, a controller may include a storage medium that stores instructions (e.g., firmware or software) for performing the operations described herein. The storage medium may include any type of tangible medium, for example, any type of disk, such as a floppy disk, an optical disk, a compact disk read-only memory (CD-ROM), a compact disk rewriteable (CD-RW), a magneto-optical disk, etc., a semiconductor device such as a read-only memory (ROM), a random access memory (RAM), such as a dynamic RAM or a static RAM, an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic or optical card, or any type of media suitable for storing electronic instructions.

[0187] Those skilled in the art will appreciate that any block diagrams herein represent conceptual views embodying the principles of the present disclosure. Similarly, any block diagrams, flow charts, flow diagrams, state transition diagrams, pseudocodes, and the like will be understood to represent various processes substantially represented on a computer-readable medium and executed by a computer or processor. Software modules, or modules that are merely implied to be software, may be represented herein as any combination of flow chart elements or other elements that represent process steps and / or textual description performance. Such modules may be executed by hardware, as explicitly or implicitly shown.

[0188] Further, while the block flow diagrams and flowcharts depicted herein depict various operations, it should be understood that the operations need not be performed in the order depicted, and that not all of the operations depicted therein are required for other embodiments to function. Indeed, it is fully contemplated herein that in other embodiments, the operations described herein and / or other operations may be combined in a manner not specifically shown in any of the drawings but still fully consistent with the present disclosure. Accordingly, claims directed to features and / or operations not precisely shown in a single drawing are deemed to be within the scope of the present disclosure.

[0189] The functionality of the various elements shown in the figures, including any functional block described as a controller, may be provided through the use of dedicated hardware and hardware capable of executing software with appropriate software. The functionality may be provided by a single dedicated processor, by a single shared processor, or by multiple individual processors, some of which may be shared. Furthermore, the explicit use of the term "controller" should not be construed to refer only to hardware capable of executing software, but may implicitly include digital signal processor (DSP) hardware, network processors, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), read only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage. Other hardware, conventional and / or custom, may also be included.

[0190] As used herein, the term "coupled" refers to any connection, coupling, link, etc., whereby a signal carried by one system element is conveyed to the "coupled" element. Such "coupled" devices, or signals and devices, while directly connected to one another, are not necessarily directly connected, but may be separated by intermediate components or devices that may manipulate or modify such signals. Similarly, when used herein with reference to a mechanical or physical connection or coupling, the terms "connected" or "coupled" are relative terms and can include, but do not require, a direct physical connection.

[0191] Elements, components, modules, and / or portions thereof described through the figures and / or otherwise depicted in communication with, related to, and / or based on something else may be understood to be so in communication with, related to, and / or based on, in a direct and / or indirect manner, unless otherwise specified herein.

[0192] Unless otherwise stated, use of the terms "substantially" or "approximately" or "about" may be construed to include the exact relationships, conditions, configurations, orientations, and / or other characteristics, and variations thereof, as would be understood by one of ordinary skill in the art, to the extent that they do not materially affect the methods and systems of the present disclosure. Throughout this disclosure, the use of the articles "a" and / or "an" and / or "the" to modify nouns is used for convenience and may be understood to include one or more of the modified noun, unless otherwise stated. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.

[0193] Although the principles of various embodiments are described herein, it should be understood by those skilled in the art that this description is made by way of example only and is not intended to limit the scope of the present disclosure. Other embodiments are contemplated within the scope of the present disclosure in addition to the exemplary embodiments shown herein. It will be understood by those skilled in the art that a robot cleaner consistent with the present disclosure may embody any one or more of the features contained herein, and that the features may be used in any particular combination or subcombination. Modifications and substitutions by those skilled in the art are considered to be within the scope of the present disclosure. The scope of the present disclosure includes the following configuration examples. [Configuration Example 1] A robot cleaner, A chassis, a plurality of drive wheels coupled to the chassis; a controller for autonomously controlling the drive wheels to maneuver the robotic cleaner over a cleaning surface; a wet cleaning module coupled to the chassis, a cleaning pad in contact with the cleaning surface; and an agitation module directly coupled to a front portion of the cleaning pad and indirectly coupled to a rear portion of the cleaning pad, the agitation module configured to impart agitation to the cleaning pad. [Configuration Example 2] A robot cleaner as described in Configuration Example 1, wherein the agitation module is directly connected to the front portion of the cleaning pad at a position within 5 cm of the leading edge of the cleaning pad. [Configuration Example 3] A robot cleaner as described in Configuration Example 1, wherein the agitation module is directly connected to the front portion of the cleaning pad at a position within 2 cm of the leading edge of the cleaning pad. [Configuration Example 4] The robot cleaner of configuration example 1, wherein the agitation module includes at least one lateral cam configured to convert the rotational output of the motor into linear motion imparted to the cleaning pad. [Configuration Example 5] A robot cleaner as described in Configuration Example 1, wherein the cleaning pad has a rigid slider on a leading edge of the cleaning pad, the rigid slider being slidably positioned in a corresponding channel of the wet cleaning module to removably connect the leading edge of the cleaning pad to the wet cleaning module. [Configuration Example 6] A robot cleaner as described in Configuration Example 5, wherein the wet cleaning module further includes a tank for receiving a cleaning fluid, the tank extending upwardly from a tank base, and the channel being formed in a forward edge of the tank base. [Configuration Example 7] A robot cleaner as described in Configuration Example 6, wherein when the rigid slider is positioned within the channel, the cleaning pad is bent around a portion of the front edge of the tank base. [Configuration Example 8] A robot cleaner as described in Configuration Example 5, wherein a portion of the rigid slider extends outward from the channel at a side of the chassis, allowing a user to grasp the rigid slider to remove the cleaning pad from the wet cleaning module. [Configuration Example 9] A robot cleaner as described in Configuration Example 8, wherein a portion of the rigid slider extends outward from the channel at least about 1 cm at the side of the chassis. [Configuration Example 10] A robot cleaner as described in Configuration Example 5, wherein the rigid slider extends along only a portion of the leading edge of the cleaning pad. [Configuration Example 11] A robot cleaner as described in Configuration Example 5, wherein the rigid slider has a flat portion connected to the leading edge of the cleaning pad and a head portion in the front part of the rigid slider, and the leading edge of the cleaning pad abuts the head portion of the rigid slider. [Configuration Example 12] A robot cleaner as described in Configuration Example 1, wherein each of the drive wheels includes first and second sidewalls associated with a tread surface disposed between the sidewalls, each of the drive wheels further includes an outer circumferential edge defining a transition between the sidewalls and the tread surface, and each of the drive wheels further includes a tread pattern on the tread surface that does not intersect the outer circumferential edge. [Configuration Example 13] The robot cleaner described in Configuration Example 1, wherein the wet cleaning module is removably coupled to the chassis. [Configuration Example 14] The robot cleaner of configuration example 1, wherein the robot cleaner further includes a vacuum device coupled to the chassis and including a suction conduit at the bottom of the chassis, the drive wheels are independently rotatable about associated axes of rotation, and the cleaning pad is coupled to the chassis rearward of the vacuum device and rearward of the axes of rotation. [Configuration Example 15] The robot cleaner described in Configuration Example 1, wherein the wet cleaning module further includes a liquid applicator configured to apply cleaning fluid onto the cleaning pad, and a motor for driving both the liquid applicator and the agitation module. [Configuration Example 16] A robot cleaner, A chassis, a plurality of drive wheels coupled to the chassis; a controller for autonomously controlling the drive wheels to maneuver the robotic cleaner over a cleaning surface; a wet cleaning module coupled to the chassis, and a wet cleaning module including a cleaning pad having a rigid slider on a leading edge of the cleaning pad, the rigid slider being slidably disposed in a corresponding channel of the wet cleaning module to removably couple the leading edge of the cleaning pad to the wet cleaning module. [Configuration Example 17] A robot cleaner as described in Configuration Example 16, wherein the wet cleaning module further includes a tank for receiving a cleaning fluid, the tank extending upwardly from a tank base, and the channel being formed in a forward edge of the tank base. [Configuration Example 18] A robot cleaner as described in Configuration Example 17, wherein when the rigid slider is positioned within the channel, the cleaning pad is bent around a portion of the front edge of the tank base. [Configuration Example 19] A robot cleaner as described in Configuration Example 16, wherein a portion of the rigid slider extends outward from the channel at a side of the chassis, allowing a user to grasp the rigid slider to remove the cleaning pad from the wet cleaning module. [Configuration Example 20] A robot cleaner as described in Configuration Example 19, wherein a portion of the rigid slider extends at least about 1 cm outward from the channel at the side of the chassis. [Configuration Example 21] A robot cleaner as described in Configuration Example 16, wherein the rigid slider extends along only a portion of the leading edge of the cleaning pad. [Configuration Example 22] A robot cleaner as described in Configuration Example 16, wherein the rigid slider has a flat portion connected to the leading edge of the cleaning pad and a head portion in the front part of the rigid slider, and the leading edge of the cleaning pad abuts the head portion of the rigid slider. [Example 23] A robot cleaner as described in Example 16, wherein each of the drive wheels includes first and second sidewalls associated with a tread surface disposed between the sidewalls, each of the drive wheels further includes an outer circumferential edge defining a transition between the sidewalls and the tread surface, and each of the drive wheels further includes a tread pattern on the tread surface that does not intersect the outer circumferential edge. [Configuration Example 24] The robot cleaner described in Configuration Example 16, wherein the wet cleaning module is removably coupled to the chassis. [Example 25] The robot cleaner of Example 1, wherein the robot cleaner further includes a vacuum device coupled to the chassis and including a suction conduit at the bottom of the chassis, the drive wheels are independently rotatable about associated axes of rotation, and the cleaning pad is coupled to the chassis rearward of the vacuum device and rearward of the axes of rotation. [Configuration Example 26] The robot cleaner described in Configuration Example 16, wherein the wet cleaning module further includes a liquid applicator configured to apply a cleaning fluid onto the cleaning pad, an agitation module configured to agitate the cleaning pad, and a motor for driving both the liquid applicator and the agitation module. [Configuration Example 27] A robot cleaner as described in Configuration Example 16, wherein the wet cleaning module further includes a tank for receiving a cleaning fluid, the tank extending upwardly from a tank base, and the cleaning pad being connected to the bottom of the tank base. [Configuration Example 28] A cleaning pad for a robot cleaner, A cleaning pad for a robot cleaner comprising: a rigid slider at a leading edge of the cleaning pad, the rigid slider being configured to be slidably positioned within a corresponding channel of the wet cleaning module to removably connect the leading edge of the cleaning pad to the wet cleaning module, a portion of the rigid slider being positioned on the cleaning pad and extending outward beyond an end surface of the leading edge. [Configuration Example 29] A robot cleaner as described in Configuration Example 28, wherein a portion of the rigid slider is positioned to extend outwardly at least about 1 cm beyond the end surface of the leading edge. [Configuration Example 30] A robot cleaner as described in Configuration Example 28, wherein the rigid slider extends along only a portion of the leading edge of the cleaning pad. [Configuration Example 31] A robot cleaner as described in Configuration Example 28, wherein the rigid slider has a flat portion connected to the leading edge of the cleaning pad and a head portion in the front part of the rigid slider, and the leading edge of the cleaning pad abuts the head portion of the rigid slider. [Configuration Example 32] A robot cleaner, A chassis, a plurality of drive wheels coupled to the chassis, each of the drive wheels including first and second sidewalls associated with a tread surface disposed between the sidewalls, each of the drive wheels further including an outer periphery defining a transition between the sidewalls and the tread surface, each of the drive wheels further including a tread pattern on the tread surface that does not intersect the outer periphery; a controller for autonomously controlling the drive wheels to maneuver the robotic cleaner over a cleaning surface; at least one cleaning module coupled to the chassis for cleaning the cleaning surface. [Configuration Example 33] A robot cleaner as described in Configuration Example 32, wherein the tread surface includes a plurality of divots or raised features. [Configuration Example 34] A robot cleaner as described in Configuration Example 32, wherein the tread surface includes a repeating pattern of divots and raised features extending along the circumference of the drive wheel. [Example 35] A robot cleaner as described in Example 32, wherein the tread surface includes a repeating pattern extending along the circumference of the wheel, the repeating pattern including a first divot and a second divot following the first divot and laterally offset from the first divot. [Example 36] A robot cleaner as described in Example 32, wherein the tread surface includes a repeating pattern extending along the circumference of the wheel, the repeating pattern including a raised surface extending laterally across the tread surface and a plurality of divots following the raised surface. [Configuration Example 37] A robot cleaner as described in Configuration Example 36, wherein the divots are laterally offset from each other. [Configuration Example 38] A robot cleaner as described in Configuration Example 36, wherein the plurality of divots includes three divots, each divot being laterally offset from an adjacent divot across the tread surface. [Configuration Example 39] The robot cleaner described in Configuration Example 32, wherein the at least one cleaning module includes a wet cleaning module, the wet cleaning module including a cleaning pad and a liquid applicator configured to apply a cleaning fluid onto the cleaning pad.

Claims

1. A robot cleaner comprising: A chassis, a plurality of drive wheels coupled to the chassis; a motor coupled to the chassis and having a drive shaft; a controller for autonomously controlling the drive wheels to maneuver the robotic cleaner over a cleaning surface; a wet cleaning module removably coupled to the chassis; the wet cleaning module comprising: a tank for holding a cleaning fluid, the tank being fixed in position relative to the chassis when the wet cleaning module is coupled to the chassis; a cleaning pad plate movably coupled to a bottom of the tank; a cleaning pad coupled to the cleaning pad plate for contacting the cleaning surface, the cleaning pad having a rigid slider at a leading edge of the cleaning pad, the rigid slider being slidably disposed in a corresponding channel in the cleaning pad plate for removably coupling the leading edge of the cleaning pad to the wet cleaning module; an agitation module configured to generate linear motion to agitate the cleaning pad; The agitation module includes: a coupling attached to the drive shaft and adapted to rotate with the drive shaft; a collar coupled to the cleaning pad plate, extending perpendicular to the cleaning pad plate and configured to receive the coupling; Including, when the wet cleaning module is coupled to the chassis, the coupling is configured to interact with the collar such that rotation of the coupling with the drive shaft causes linear motion of the cleaning pad plate relative to the chassis. Robot cleaner.

2. 2. The robot cleaner of claim 1, wherein a portion of the rigid slider extends outward from the channel at a side of the chassis to allow a user to grasp the rigid slider to remove the cleaning pad from the wet cleaning module.

3. The robot cleaner of claim 2 , wherein a portion of the rigid slider extends outward from the channel at a side of the chassis at least about 1 cm.

4. The robotic cleaner of claim 1 , wherein the rigid slider extends along only a portion of the leading edge of the cleaning pad.

5. 2. The robot cleaner of claim 1, wherein the rigid slider has a flat portion connected to the leading edge of the cleaning pad and a head portion at a front portion of the rigid slider, the leading edge of the cleaning pad abutting the head portion of the rigid slider.

6. 2. The robot cleaner of claim 1, wherein each of the drive wheels includes an associated first sidewall and a second sidewall, the first sidewall having a first outer circumferential edge and the second sidewall having a second outer circumferential edge, and a tread surface extending axially from the first outer circumferential edge to the second outer circumferential edge, the first outer circumferential edge and the second outer circumferential edge defining a transition between the first and second sidewalls and the tread surface, and each of the drive wheels further includes a tread pattern on the tread surface that does not intersect the first and second outer circumferential edges.

7. 2. The robot cleaner of claim 1, further comprising a vacuum device coupled to the chassis and including a suction conduit at a bottom of the chassis, each of the drive wheels including an axis of rotation, the plurality of drive wheels being individually and independently rotatable about their respective axes of rotation, and the cleaning pad coupled to the cleaning pad plate rearward of the vacuum device and rearward of the axis of rotation of the drive wheels.

8. The robotic cleaner of claim 1 , wherein the wet cleaning module includes a liquid applicator configured to apply a cleaning fluid onto the cleaning pad, and the motor drives both the liquid applicator and the agitation module.

9. The robot cleaner of claim 1, wherein the tank extends upwardly from a tank base and the cleaning pad is connected to the bottom of the tank base.

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