Battery assembly for an autonomous mobile robot

Abstract

To provide a battery assembly for an autonomous mobile robot.SOLUTION: An autonomous mobile cleaning robot includes a cavity along a bottom portion of the robot, and a drive configured to support the robot above a floor surface. The drive is configured to propel the robot along the floor surface. The robot further includes a first electrical terminal disposed in the cavity and connected to electrical circuitry of the robot, a battery assembly, and a dovetail joint. The battery assembly includes a battery housing, a battery contained within the battery housing, and a second electrical terminal mounted to the battery housing and configured to engage with the first electrical terminal. The dovetail joint includes a vertically extending projection portion and a vertically extending socket portion.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present specification relates to a battery assembly for an autonomous mobile robot. [Background technology]

[0002] Autonomous mobile robots, such as vacuum cleaning robots, move autonomously across a floor surface without the need to be connected to an external power source. For example, an autonomous mobile robot may include a rechargeable battery with an energy store that is used to power the robot during autonomous movement across a floor surface. To recharge this battery, the robot may autonomously return to a docking station after completing a mission and dock with the docking station to provide energy to the battery. Summary of the Invention [Means for solving the problem]

[0003] In one aspect, an autonomous mobile cleaning robot includes a cavity along a bottom portion of the robot and a drive configured to support the robot above a floor surface. The drive is configured to propel the robot along the floor surface. The robot further includes a first electrical terminal disposed within the cavity and connected to an electrical circuit of the robot, a battery assembly, and a dovetail joint. The battery assembly includes a battery housing, a battery housed within the battery housing, and a second electrical terminal attached to the battery housing and configured to engage the first electrical terminal. The dovetail joint includes a vertically extending protruding portion and a vertically extending socket portion. One of the protruding portion and the socket portion is disposed along a wall defining the cavity, and the other of the protruding portion and the socket portion is disposed on the battery housing. The protruding portion is slidable within the socket portion to releasably engage the battery housing and the cavity with each other and prevent relative horizontal movement of the first electrical terminal and the second electrical terminal such that the first electrical terminal and the second electrical terminal are aligned with each other in a mating configuration.

[0004] In another aspect, a battery assembly removably engageable with an autonomous mobile cleaning robot includes a battery housing, a battery unit housed within the battery housing, and electrical contacts attached to the battery housing. The battery assembly electrical contacts are engageable with electrical contacts of the robot. The battery assembly further includes a first portion of a dovetail joint disposed on the battery housing. The first portion of the dovetail joint is slidable along a second portion of the dovetail joint of the robot to removably engage the battery housing with the robot to prevent relative horizontal movement of the electrical contacts of the robot and the electrical contacts of the battery assembly.

[0005] In some implementations, the socket portion includes a first vertically extending socket member protruding from a side portion of the battery housing and a second vertically extending socket member protruding from the side portion of the battery housing, and a second electrical terminal can be positioned between the first and second socket members.

[0006] In some implementations, the vertically extending protruding portion is disposed along a wall defining a cavity of the robot, and the vertically extending socket portion is disposed on the battery housing.

[0007] In some implementations, the protruding portion and the socket portion are tapered along an axis along which the protruding portion and the socket portion are slidable relative to one another. The protruding portion can be vertically tapered away from the first electrical terminal, and the socket portion can be vertically tapered away from the second electrical terminal. In some implementations, the taper angle of the protruding portion relative to the vertical axis and the taper angle of the socket portion relative to the vertical axis are between 0.5 and 5 degrees.

[0008] In some implementations, the protruding portion is connected to a corresponding first Vertical a first engaging area configured to engage the first engaging area; Verticala first direction-extending engagement area and a second direction-extending engagement area of ​​the protruding portion; Vertical a second engaging area coupled to the Vertical and a second engaging area. Vertical The direction-extending engagement area engages with a corresponding second Vertical The first engaging area may be configured to engage with the first engaging area. Vertical direction-extending engagement area and a second Vertical The directionally extending engagement area may form an angle between 30 and 60 degrees.

[0009] In some implementations, the protruding portion includes a first vertically extending protruding member and a second vertically extending protruding member spaced from the first protruding member. The robot may further include a deflectable arm disposed on the robot housing between the first protruding member and the second protruding member. The deflectable arm may be configured to engage the battery to prevent relative vertical movement of the robot housing and the battery housing.

[0010] In some implementations, the socket portion can extend along substantially the entire height of the battery housing.

[0011] In some implementations, the maximum socket width of the socket portion is between 20 and 80% of the overall width of the battery housing.

[0012] In some implementations, the robot includes a deflectable arm disposed on the robot housing. The deflectable arm can be configured to engage with an engagement area on a bottom portion of the battery housing to prevent relative vertical movement of the robot and the battery housing. The second electrical terminal can be disposed on a top portion of the battery housing.

[0013] In some implementations, the deflectable arm extends along a vertical plane that passes through a center of the dovetail joint. The engagement area can be located below the second electrical terminal such that the deflectable arm maintains engagement between the first electrical terminal and the second electrical terminal when engaged with the engagement area.

[0014] In some implementations, the first electrical terminal comprises a first blade-type connector and the second electrical terminal comprises a second blade-type connector, and the first electrical terminal can be configured to contact the second electrical terminal in a horizontal direction.

[0015] The aforementioned advantages may include, but are not limited to, those described below and elsewhere herein. A user can easily align and lock the battery assembly to a cavity on the bottom portion of the robot, thereby locking the battery assembly to the body of the robot. For example, by maintaining horizontal alignment between the battery assembly and the body of the robot, the dovetail joint allows the user to only be concerned with vertically inserting the battery assembly into the cavity. The user can insert the battery without having to horizontally reposition the battery assembly relative to the cavity, particularly to align the battery assembly's electrical terminals with the robot's electrical terminals.

[0016] An additional alignment mechanism on the robot, such as a deflectable arm, screw, or other attachment device, vertically aligns the electrical terminals after the battery assembly is inserted into the cavity. This additional alignment mechanism can also serve as a locking mechanism to automatically lock the battery assembly into the cavity when the battery assembly is inserted into the cavity and after the battery has moved a predetermined distance into the cavity. As a result, a user does not need to operate a separate locking mechanism to lock the battery assembly into the cavity. Furthermore, this locking mechanism can be easily operated by a user to release the battery assembly from the cavity so that the user can replace it with a new battery assembly.

[0017] The details of one or more implementations of the subject matter described herein are set forth in the accompanying drawings and the description below. Other possible features, aspects, and advantages will become apparent from the description, drawings, and claims. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a bottom perspective view of the autonomous mobile robot with the battery assembly disconnected from the robot cavity. [Figure 2A] FIG. 1 is a bottom perspective view of the autonomous mobile robot with the battery assembly coupled to the robot cavity. [Figure 2B] FIG. 2 is a bottom view of the robot of FIG. 1. [Figure 2C] FIG. 2 is a side view of the robot of FIG. 1. [Figure 3A] FIG. 2 is a top perspective view of the battery assembly of FIG. 1. [Figure 3B] FIG. 2 is a top view of the battery assembly of FIG. 1. [Figure 3C] FIG. 2 is a bottom view of the battery assembly of FIG. 1. [Figure 3D] FIG. 2 is a side view of the battery assembly of FIG. 1. [Figure 4] FIG. 2 is a top perspective view of a cavity of the robot of FIG. 1. [Figure 5A] FIG. 10 is a top perspective view of another example of a battery assembly for an autonomous mobile robot. [Figure 5B] FIG. 10 is a top view of another example of a battery assembly for an autonomous mobile robot. [Figure 6A] FIG. 1 is a perspective view of another example of an autonomous mobile robot having a battery assembly. [Figure 6B] 6B is a top view of an example of an autonomous mobile robot having the battery assembly of FIG. 6A. DETAILED DESCRIPTION OF THE INVENTION

[0019] Like reference numbers and designations in the various drawings refer to like elements.

[0020] 1 , an autonomous mobile robot 100 includes a battery assembly 102 that is removable from a cavity 104 on a bottom portion 106 of the robot 100. The battery assembly 102 includes a battery 108 that is electrically connected to an electrical circuit 110 of the robot 100 when the battery assembly 102 is inserted into the cavity 104. Specifically, electrical terminals 112 disposed within the cavity 104 are electrically connected to the battery 108 such that the battery 108 can provide power to the electrical circuit 110, thereby powering various systems of the robot 100. The robot 100 draws energy from the battery 108, allowing the robot 100 to move about a horizontal floor surface without being electrically connected to, and therefore tethered to, an external energy source via hardwires (e.g., electrical cables). As described herein, the robot 100 includes an alignment mechanism that ensures proper alignment between the electrical terminals (not shown) of the battery assembly 102 and the electrical terminals 112 of the electrical circuit 110 .

[0021] 2A , the alignment mechanism aligns the battery assembly 102 horizontally and vertically relative to the body 114 of the robot 100. The body 114 of the robot 100 may define the structural exterior of the robot 100. In some examples, the body 114 includes a chassis, cover, bottom plate, and bumper assembly. A first alignment mechanism includes a dovetail joint 200 that connects the battery assembly 102 to the body 114 of the robot 100. The dovetail joint 200 horizontally aligns the battery assembly 102 relative to the cavity 104. A second alignment mechanism includes a deflectable arm 300 and a corresponding engagement member 302 (shown in FIG. 1 ). When engaged with each other, the deflectable arm 300 and the engagement member 302 vertically align the battery assembly 102 relative to the cavity 104. The combination of these alignment mechanisms ensures that the electrical terminals 112 of the robot 100 are aligned with the electrical terminals of the battery assembly 102 .

[0022] 2B, the robot 100 further includes drive wheels 116 and caster wheels 118. The drive wheels 116 are positioned on the lateral axis LA of the robot 100, and the caster wheels 118 are positioned on the front-to-back axis FA of the robot 100. The drive wheels 116 are driven to propel the robot 100 across a floor surface. The drive wheels 116 and caster wheels 118 cooperate to support the robot 100 above a floor surface.

[0023] In some implementations, the robot 100 corresponds to an autonomous robotic vacuum cleaner that includes a roller 120, a vacuum assembly 122 (hidden from the drawings), and a debris bin 124. The roller 120 rotates to pick up debris from a floor surface, and the vacuum assembly 122 generates an airflow to draw the debris into the interior of the robot 100. Specifically, the vacuum assembly 122 draws the debris into the debris bin 124. The roller 120 extends along a lateral axis LA and through a front-to-back axis FA. The robot 100 includes side brushes 126 that are offset from both the lateral axis LA and the front-to-back axis FA. The side brushes 126 are centered on a substantially vertical axis that forms an angle of, for example, between 80 and 90 degrees with the floor surface to sweep debris on the floor surface into the path of the roller 120 as the robot 100 moves along the floor surface.

[0024] The robot 100 includes an electrical system with an internal controller 130 (hidden from view) that controls the systems of the robot 100. For example, the electrical system includes electric motors for driving the drive wheels 116, electric motors for driving the rollers 120, electric motors for driving the side brushes 126, the vacuum assembly 122, and various sensors of the robot 100. When electrically connected to the electrical system, the battery 108 provides power to the electrical system and its subsystems.

[0025] 2C, electrical terminals 132 of the battery 108 are connectable to electrical terminals 112 of the robot's electrical system so that the battery 108 can provide power to the electrical system. The electrical terminals 112 are disposed within the cavity 104 along a top portion 134 of the cavity 104, and the electrical terminals 132 are positioned along a top portion 135 of the battery assembly 102.

[0026] 2C , electrical terminals 112, 132 are blade-type connectors, each including a set of conductive blades. Electrical terminal 112 contacts electrical terminal 132 in a horizontal orientation. For example, electrical terminal 112 includes conductive blade 136 having a vertically extending wide surface 138 configured to contact a corresponding vertically extending wide surface 140 of conductive blade 142 of electrical terminal 132. Blade 136 of electrical terminal 112 and blade 142 of electrical terminal 132 are oriented such that their wide surfaces 138, 140 face a surface, such as the side, front, or rear, of robot 100.

[0027] The vertically extending wide surface 138 slides vertically relative to the vertically extending wide surface 140. The vertically extending wide surface 138 contacts the vertically extending wide surface 140 in the horizontal direction when the electrical terminal 112 is inserted into the electrical terminal 132. During insertion of the battery assembly 102 into the cavity 104, the electrical terminal 132 of the battery 108 only contacts the electrical terminal 112 of the robot's electrical system when the battery assembly 102 moves along 90% to 100% of the height H1 of the cavity 104. This ensures that electrical contact occurs only when the battery assembly 102 is fully positioned within the cavity 104.

[0028] The robot 100 and battery assembly 102 may include alignment features to align the blade 136 and the blade 142 with respect to one another to ensure proper contact between the blade 136 and the blade 142 so that the electrical system of the robot 100 can draw energy from the battery 108.

[0029] 3A, battery assembly 102 (shown in FIG. 1) includes a battery housing 144 in which battery 108 (also shown in FIG. 1) is disposed. Electrical terminals 132 are attached to battery housing 144 and positioned to engage electrical terminals 112 of the robot's electrical system when battery assembly 102 is inserted into cavity 104 (shown in FIG. 1).

[0030] 2A , the dovetail joint 200 facilitates horizontal alignment of the electrical terminal 112 and the electrical terminal 132. One portion of the dovetail joint 200 is disposed on the bottom portion 106 of the robot 100, and another portion of the dovetail joint 200 is disposed on the battery housing 144. When these portions of the dovetail joint 200 are engaged with each other, the dovetail joint 200 prevents horizontal relative movement between the bottom portion 106 of the robot 100 and the battery housing 144.

[0031] The dovetail joint 200 includes a vertically extending protruding portion 202 (shown in FIG. 4 ) and a vertically extending socket portion 204 (shown in FIG. 3A ). Referring briefly to FIG. 4 , the protruding portion 202 is disposed within the cavity 104, such as along the wall 146 that defines the cavity 104. Referring to FIG. 3A , the socket portion 204 is disposed on the battery housing 144. The socket portion 204 is slidable relative to the protruding portion 202 such that the protruding portion 202 is inserted into the socket portion 204 to removably couple the battery housing 144 and the body 114 (shown in FIG. 4 ) of the robot 100 to one another. When the protruding portion 202 and the socket portion 204 are in an interengaged mating configuration, relative horizontal movement between the electrical terminal 112 and the electrical terminal 132 is prevented.

[0032] 3A and 3B, the socket portion 204 extends horizontally along the side portion 148 of the battery housing 144. The socket portion 204 includes a first vertically extending socket member 206a on the side portion 148 of the battery housing 144 and a second vertically extending socket member 206b on the side portion 148 of the battery housing 144. The socket 205 is positioned between the first and second socket members 206a and 206b, with the electrical terminal 132 positioned adjacent to the socket 205. In this regard, the first and second vertically extending socket members 206a and 206b are disposed on either side of the electrical terminal 132 of the battery assembly 102, e.g., the electrical terminal 132 is positioned between the socket members 206a and 206b. The top portion 135 of the battery assembly 102 includes a raised portion 152 on which the electrical terminals 132 are positioned.

[0033] The first socket member 206a and the second socket member 206b are Vertical The socket 205 includes first engagement areas 208a, 208b and second engagement areas 208c, 208d coupled to the first engagement areas 208a, 208b. Vertical The first engagement area 208a is defined by a first engagement area 208b and a second engagement area 208c. The first engagement area 208a is connected to an edge of the second engagement area 210 and extends laterally toward the first engagement area 208b. The first engagement area 208b is connected to another edge of the second engagement area 210 and extends laterally toward the first engagement area 208a. The angle between the first engagement areas 208a, 208b and the second engagement area 210 is between 30 and 60 degrees, for example, between 40 and 50 degrees, or about 45 degrees. The second engagement area 210 extends from the first engagement area 208a to the first engagement area 208b.

[0034] Referring to FIG. 3B, the maximum width W1 of the socket 205 of the socket portion 204 is between 20 and 80% of the overall width W2 of the battery housing 144, for example, between 20 and 40%, 30 and 50%, 40 and 60%, or 60 and 80% of this width W2. The width W1 is between 2 and 8 cm, for example, between 2 and 3 cm, 3 and 4 cm, 4 and 5 cm, 5 and 6 cm, 6 and 7 cm, or 7 and 8 cm. The width W2 is between 4 and 10 cm, for example, between 4 and 6 cm, 5 and 7 cm, 6 and 8 cm, 7 and 9 cm, or 8 and 10 cm. Referring to FIG. 3D, the socket portion 204 extends along a height H2 corresponding to 90 to 100% of the height H1 of the battery housing 144. The height H2 of the socket portion 204 extends along the entire height of the side portion 148.

[0035] 3A and 3C, the battery assembly 102 includes an engagement member 302 positioned between the first socket member 206a and the second socket member 206b and directly below the electrical terminals 132. The engagement member 302 is positioned below the electrical terminals 132 and on the bottom portion 151 of the battery assembly 102. For example, the engagement member 302 is located below the electrical terminals 132 and vertically aligned with the electrical terminals 132. The engagement member 302 is positioned within the socket 205 of the socket portion 204 and protrudes laterally from the second engagement surface 210 of the socket 205. The engagement member 302 includes a horizontally extending engagement area 304 (shown in FIG. 3C) that faces downward, e.g., away from the electrical terminals 132. The width W3 of the engagement area 304 is between 10 and 30% of the overall width W1 of the battery housing 144. For example, the width W3 is between 0.1 and 3 cm, such as between 0.1 and 0.5 cm, 0.5 and 1 cm, 0.5 and 2.0 cm, or 2 and 3 cm.

[0036] 4, the protruding portion 202 is disposed along the wall 146 of the cavity 104. The protruding portion 202 includes a first vertically extending protruding member 212 and a second vertically extending protruding member 214 spaced apart from the first protruding member 212. The first protruding member 212 is Verticala first engagement area 216a and a second engagement area 216b connected to the first engagement area 216a; Vertical and a first extending engagement area 218a. Vertical a first engagement area 216b and a second engagement area 216c connected to the first engagement area 216b; Vertical and a forward-extending engagement area 218b. The first engagement area 216a extends laterally from an edge of the second engagement area 218a toward the first engagement area 216b, forming an acute angle with the second engagement area 218a. The first engagement area 216b extends laterally from an edge of the second engagement area 218b toward the first engagement area 216a, forming an acute angle with the second engagement area 218b. The respective angles between the first engagement area 216a, 216b and the second engagement area 218a, 218b are between 30 and 60 degrees, for example, between 40 and 50 degrees, or about 45 degrees.

[0037] The first and second protruding members 212, 214 are positioned within the cavity 104 on either side of the electrical terminal 112, e.g., the electrical terminal 112 is located between the first and second protruding members 212, 214. The electrical terminal 112 extends through the opening 156 along the top portion 134 of the cavity 104.

[0038] The protruding portion 202 (FIGS. 3A and 3B) and the socket portion 204 (FIG. 4) are tapered along a vertical axis, such as a sliding axis along which the protruding portion 202 and the socket portion 204 can slide relative to one another. The protruding portion 202 tapers vertically in a direction away from the electrical terminal 112 of the electrical system, and the socket portion 204 tapers vertically in a direction away from the electrical terminal 132 of the battery assembly 102. In this regard, both the protruding portion 202 and the socket portion 204 taper in a direction away from the top portion 134 of the cavity 104. The taper angle of the protruding portion 202 and the socket portion 204 relative to the vertical axis is between 0.5 and 5 degrees, for example, between 0.5 and 1 degree, between 1 and 2 degrees, between 2 and 3 degrees, between 3 and 4 degrees, or between 4 and 5 degrees.

[0039] The deflectable arm 300, positioned within the cavity 104, is positioned between the first protruding member 212 and the second protruding member 214. A proximal end portion 306 of the deflectable arm 300 is attached to the wall 146, e.g., attached to the top portion 134 of the cavity 104. The deflectable arm 300 extends vertically away from the top portion 134 of the cavity 104 and terminates at a distal end portion 308 positioned within the cavity 104. For example, the deflectable arm 300 extends along a vertical plane passing through the center of the dovetail joint 200, e.g., a vertical plane passing through the anterior-posterior axis FA. The distal end portion 308 includes an engagement area 310 facing upward, e.g., facing toward the electrical terminal 112, and an angled area 312 facing downward, e.g., facing away from the electrical terminal 112. The inclined area 312 is connected to the engagement area 310. The engagement area 310 is substantially horizontal, and the inclined area 312 is inclined relative to the engagement area 310. The inclined area 312 and the engagement area 310 form an angle between 30 and 60 degrees.

[0040] The battery assembly 102 is inserted into the cavity 104, for example manually by a user, to engage the battery assembly 102 with the body 114 of the robot 100. As described herein, the socket portion 204 and the protruding portion 202 engage with each other, and the deflectable arm 300 and the engaging member 302 engage with each other, thereby coupling the body 114 of the robot 100 to the battery assembly 102 and maintaining electrical contact between the electrical terminals 132 of the battery assembly 102 and the electrical terminals 112 of the robot electrical system.

[0041] 1 and 2A, to insert the battery assembly 102 into the cavity 104, the deflectable arm 300 is deflected from a neutral position to a deflected position such that the battery assembly 102 may move over the deflectable arm 300 and into the cavity 104. In particular, the battery housing 144 contacts the angled area 312 (shown in FIG. 4), thereby exerting a force on the deflectable arm 300, deflecting the deflectable arm 300 away from the battery assembly 102 as the battery assembly 102 is inserted into the cavity 104.

[0042] 3A, 3B, and 4, when the battery assembly 102 is inserted into the cavity 104, the side portion 148 of the battery housing 144 abuts the deflectable arm 300, preventing the deflectable arm 300 from returning to its neutral position during insertion. When a portion of the socket portion 204 engages a portion of the protruding portion 202, horizontal relative movement between the battery assembly 102 and the body 114 of the robot 100 is prevented, allowing only vertical relative movement. The first engagement areas 208a, 208b abut against the first engagement areas 216a, 216b, and the second engagement area 210 abuts against the second engagement areas 218a, 218b, preventing horizontal relative movement between the battery assembly 102 and the cavity 104. This abutment may ensure that the battery assembly 102 is inserted into the cavity 104 in a substantially vertical direction. Once the socket portion 204 and the protruding portion 202 are engaged with each other, the protruding members 212, 214 are inserted into the socket 205. As the battery assembly 102 is further inserted into the cavity 104, the first engagement areas 208a, 208b of the socket portion 204 slide along the first engagement areas 216a, 216b of the protruding portion 202, and the second engagement area 210 slides along the second engagement areas 218a, 218b.

[0043] After the battery assembly 102 has moved through the entire height of the cavity 104, the battery assembly 102 and the wall 146 defining the cavity 104 are mated with one another. The top portion 135 of the battery assembly 102 abuts the top portion 134 of the cavity 104, and the raised portion 152 of the battery assembly 102 mates with the opening 156 in the top portion 134 of the cavity 104. The abutment between the top portion 135 of the battery assembly 102 and the top portion 134 of the cavity 104 prevents the battery assembly 102 from moving vertically away from the engagement area 304 (shown in FIG. 3C ). Once the battery assembly 102 and the cavity 104 are mated with one another, the battery housing 144 no longer abuts the deflectable arm 300. As a result, the deflectable arm 300 returns to its neutral position. In the neutral position, the deflectable arm 300 abuts the engagement area 304 of the battery assembly 102 to prevent vertical movement of the battery assembly 102 away from the cavity 104. The deflectable arm 300 and the top portion 134 of the cavity 104 cooperate to restrain the battery assembly 102 from moving vertically relative to the cavity 104.

[0044] When the battery assembly 102 and the cavity 104 are mated together, the dovetail joint 200 remains engaged, i.e., the protruding portion 202 and the socket portion 204 are engaged with each other, thereby preventing relative horizontal movement between the battery assembly 102 and the cavity 104. When the battery assembly 102 and the cavity 104 are mated together, the protruding portion 202 and the socket portion 204 are engaged with each other along the entire height of the protruding portion 202 and the entire height of the socket portion 204.

[0045] The deflectable arm 300 and the dovetail joint 200 cooperate to secure the battery assembly 102 to the body 114 of the robot 100, thereby preventing relative movement of the battery assembly 102 with respect to the body 114. This prevents relative movement between the electrical terminals 132 and 112, thereby securely engaging the electrical terminals 132 of the robot electrical system with the electrical terminals 112 of the robot electrical system and ensuring that the battery 108 remains electrically connected to the robot electrical system for delivering power to the robot electrical system.

[0046] The battery assembly 102 can also be removed from the cavity 104. A user can remove the battery assembly 102 by manually manipulating the deflectable arm 300, such as the distal end portion 308 of the deflectable arm 300. Specifically, when the deflectable arm 300 is deflected from the neutral position to the deflected position, the engagement area 310 of the deflectable arm 300 disengages from the engagement area 304 of the battery assembly 102, as the battery assembly 102 is no longer vertically constrained by the deflectable arm 300. Due to the tapered shape of the socket portion 204 and the protruding portion 202, the socket portion 204 and the protruding portion 202 tend to move vertically when the deflectable arm 300 disengages from the engagement member 302 of the battery assembly 102. Once the deflectable arm 300 is disengaged, a user can manually remove the battery assembly 102 from the cavity 104.

[0047] Although several implementations have been described, it will be understood that various modifications may be made.

[0048] In some implementations, a battery cover (not shown) is placed over the cavity 104 to cover the battery assembly 102 when the battery assembly 102 is mated with the cavity 104. For example, screws are used to attach the battery assembly 102 to the bottom portion 106.

[0049] In some implementations, the battery assembly 102 is substantially symmetrical about the longitudinal axis FA when the protruding portion 202 and the socket portion 204 are engaged with each other. When the protruding portion 202 and the socket portion 204 are engaged with each other, the battery assembly 102 is centered about the longitudinal axis FA. Also, the cavity 104 is centered about the longitudinal axis FA. Other configurations are also possible. For example, in some implementations, the cavity 104 and the battery assembly 102 are offset or rotated about the longitudinal axis FA. As a result, the longitudinal axis FA does not extend through the center of the dovetail joint 200 in some implementations.

[0050] 3A-3D, the socket portion 204, which includes the socket 205 and socket members 206a, 206b, extends across the entire width W1 of the battery assembly 102. Alternatively, with reference to FIGS. 5A and 5B, the battery assembly 500 includes a socket portion 502 that extends across only a portion of the entire width W4 of the battery assembly 500. For example, the socket portion 502 extends across 30-70% of the width W4 of the battery assembly 500.

[0051] Although the engagement between the deflectable arm 300 and the engagement member 302 has been described as preventing relative vertical movement between the body 114 and the battery assembly 102, in some implementations, the battery assembly 102 and the robot 100 can include other types of alignment mechanisms that prevent relative vertical movement. For example, with reference to FIG. 6A , the battery assembly 602 and the body 604 of the robot 600 can include openings 606, 608. The opening 608 can be threaded to be engageable with a screw 614 (shown in FIG. 6B ). After the dovetail joint 610 (e.g., having features similar to the dovetail joint 200 described herein) is engaged and the battery assembly 602 is fully inserted into the cavity 612 of the robot 600, the openings 606 and 608 are aligned with one another. When the openings 606, 608 are aligned with one another, the screw 614 can be inserted through the opening 606 and then threaded into the opening 606 to secure the battery assembly 602 to the body 604. When the screw 614 is engaged with the openings 606, 608, it prevents relative vertical movement of the battery assembly 602 and the body 604.

[0052] Although the protruding portion 202 is described as being disposed on the bottom portion 106 of the robot 100 and the socket portion 204 is described as being disposed on the battery housing 144, in some implementations, the protruding portion 202 is disposed on the battery housing 144 and the socket portion 204 is disposed on the bottom portion of the robot 100.

[0053] Accordingly, other implementations are within the scope of the following claims. [Explanation of symbols]

[0054] 100 Autonomous Mobile Robot 102 Battery Assembly 104 Cavity 106 Bottom part 108 Battery 110 Electrical Circuits 112 Electrical terminal 114 Main Unit 116 Drive wheels 118 Caster Wheel 120 Laura 122 Vacuum Assembly 124 Debris Bin 126 Side Brush 130 Controller 132 Electrical terminals 134 Top part 135 Top part 136 Conductive Blade 138 Vertical Extending Wide Surface 140 vertically extending wide surface 142 Conductive Blade 144 Battery Housing 146 Wall 148 Lateral part 151 Bottom part 152 Raised area 156 Aperture 200 Dovetail joint 202 Vertically extending protrusion 204 Vertically extending socket portion 205 socket 206a first vertically extending socket member 206b second vertically extending socket member 208 first engagement area 208a First Vertical Directionally extending engagement area 208b First Vertical Directionally extending engagement area 210 Second Vertical Directionally extending engagement area 212 first vertically extending protruding member 214 second vertically extending protruding member 216a First Vertical Directionally extending engagement area 216b First Vertical Directionally extending engagement area 218a Second Vertical Directionally extending engagement area 218b Second Vertical Directionally extending engagement area 300 deflectable arm 302 Engagement member 304 Horizontally extending engagement area 304 Engagement Area 306 Proximal end portion 308 Distal end portion 310 Engagement Area 312 Slope Area 500 Battery Assembly 502 Socket part 600 robots 602 Battery Assembly 604 Main Unit 606 Aperture 608 Aperture 610 Dovetail joint 612 Cavity 614 Screw H1 Height H2 height W1 Maximum width, full width W2 Overall width W3 width W4 Overall width

Claims

1. An autonomous mobile cleaning robot, a hollow portion at a bottom portion of the autonomous mobile cleaning robot; a drive device configured to support the autonomously mobile cleaning robot above a floor surface, the drive device configured to propel the autonomously mobile cleaning robot along the floor surface; a first electrical terminal disposed within the cavity and connected to an electrical circuit of the autonomous mobile cleaning robot; a battery assembly removably engageable with the autonomous mobile cleaning robot, Battery housing, a battery housed within the battery housing; and a second electrical terminal attached to the battery housing and configured to engage the first electrical terminal; a battery assembly comprising: a dovetail joint including a vertically extending protruding portion and a vertically extending socket portion, one of the protruding portion and the socket portion disposed along a wall defining the cavity, the other of the protruding portion and the socket portion disposed on the battery housing, the protruding portion slidable within the socket portion to releasably engage the battery housing and the cavity and prevent relative horizontal movement of the first electrical terminal and the second electrical terminal such that the first electrical terminal and the second electrical terminal are aligned with each other in a mating configuration; Equipped with A battery assembly removably engageable with the autonomous mobile cleaning robot is inserted into the cavity, the cavity being located at a bottom portion of the autonomous mobile cleaning robot.

2. The socket portion is a first vertically extending socket member projecting from a side portion of the battery housing; a second vertically extending socket member projecting from the side portion of the battery housing; Equipped with The robot of claim 1 , wherein the second electrical terminal is positioned between the first vertically-extending socket member and the second vertically-extending socket member.

3. 2. The robot of claim 1, wherein the vertically extending protrusion portion is disposed along the wall portion defining the cavity portion of the autonomous mobile cleaning robot, and the vertically extending socket portion is disposed on the battery housing.

4. 2. The robot of claim 1, wherein the protruding portion and the socket portion are tapered along an axis along which the protruding portion and the socket portion are slidable relative to one another, the protruding portion is tapered from the first electrical terminal along the axis along which the protruding portion and the socket portion are slidable relative to one another, and the socket portion is tapered from the second electrical terminal along the axis along which the protruding portion and the socket portion are slidable relative to one another.

5. 5. The robot of claim 4, wherein a taper angle of the protruding portion relative to an axis along which the protruding portion and the socket portion can slide relative to one another and a taper angle of the socket portion relative to an axis along which the protruding portion and the socket portion can slide relative to one another are between 0.5 and 5 degrees.

6. The protruding portion is a first vertically extending engagement area configured to engage a corresponding first vertically extending engagement area of ​​the socket portion; a second vertically extending engagement area coupled to the first vertically extending engagement area of ​​the protruding portion; Equipped with the second vertically extending engagement area is configured to engage a corresponding second vertically extending engagement area of ​​the socket portion; 2. The robot of claim 1, wherein the first vertically extending engagement area of ​​the protruding portion and the second vertically extending engagement area of ​​the protruding portion form an angle between 30 and 60 degrees.

7. the protruding portion includes a first vertically extending protruding member and a second vertically extending protruding member spaced from the first vertically extending protruding member; 2. The robot of claim 1, wherein the autonomous mobile cleaning robot further comprises a deflectable arm disposed on the robot housing between the first vertically extending protruding member and the second vertically extending protruding member, the deflectable arm configured to engage the battery to prevent relative vertical movement of the robot housing and the battery housing.

8. The robot of claim 1 , wherein the socket portion extends along the entire height of the battery housing.

9. The robot according to claim 1 , wherein the maximum width of the socket of the socket portion is between 20 and 80% of the overall width of the battery housing.

10. a deflectable arm disposed on a robot housing, the deflectable arm configured to engage with an engagement area on a bottom portion of the battery housing to prevent relative vertical movement of the autonomous mobile cleaning robot and the battery housing; The robot of claim 1 , wherein the second electrical terminal is disposed on a top portion of the battery housing.

11. The robot of claim 10 , wherein the deflectable arm extends along a vertical plane passing through a center of the dovetail joint.

12. 11. The robot of claim 10, wherein the engagement area is located below the second electrical terminal such that the deflectable arm maintains engagement between the first electrical terminal and the second electrical terminal when engaged in the engagement area.

13. 2. The robot of claim 1, wherein the first electrical terminal comprises a first blade-type connector, the second electrical terminal comprises a second blade-type connector, and the first electrical terminal is configured to contact the second electrical terminal in a horizontal orientation.

14. A battery assembly removably engageable with an autonomous mobile cleaning robot according to any one of claims 1 to 13, comprising: A battery housing; a battery unit accommodated in the battery housing; a second electrical terminal attached to the battery housing, the second electrical terminal being engageable with the first electrical terminal of the autonomous mobile cleaning robot; a first portion of a dovetail joint disposed on the battery housing, the first portion of the dovetail joint including a socket portion configured to receive a protruding portion of the second portion of the dovetail joint of the autonomous mobile cleaning robot, the socket portion configured to slide along the protruding portion of the dovetail joint to removably engage the battery housing with the autonomous mobile cleaning robot in order to align the second electrical terminal of the battery housing with the first electrical terminal of the autonomous mobile cleaning robot and to prevent horizontal relative movement between the first electrical terminal of the autonomous mobile cleaning robot and the second electrical terminal of the battery assembly; A battery assembly comprising:

15. 15. The battery assembly of claim 14, wherein the socket portion is tapered along an axis along which the protruding portion and the socket portion are slidable relative to each other from the first electrical terminal of the autonomous mobile cleaning robot and the second electrical terminal of the battery assembly.

16. The socket portion is a first vertically extending socket member projecting from a side portion of the battery housing; a second vertically extending socket member projecting from the side portion of the battery housing; Equipped with 15. The battery assembly of claim 14, wherein the second electrical terminal is positioned between the first vertically extending socket member and the second vertically extending socket member.

17. The battery assembly of claim 14 , wherein the socket portion extends along the entire height of the battery housing.

18. an engagement area on a bottom portion of the battery housing configured to engage a deflectable arm on the autonomous mobile cleaning robot to prevent relative vertical movement of the autonomous mobile cleaning robot and the battery housing; 15. The battery assembly of claim 14, wherein the second electrical terminal of the battery assembly is disposed on a top portion of the battery housing.

19. 20. The battery assembly of claim 18, wherein the engagement area is located below the second electrical terminal of the battery assembly.

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