Mobile cleaning robot with mopping cover

Abstract

A mobile cleaning robot can include a body, a vacuuming system, a mopping pad, and a cover, rhe body can be movable about a floor surface of an environment. The vacuuming system can be connected to the body and can be configured to extract debris from the floor surface. The mopping pad can be rotatably connected to the body and can be configured to move with respect to the body and the floor surface between a mopping position and a stored position. The mopping pad can be configured to engage the floor surface in the mopping position. The mopping pad can be configured to be separated from the floor surface in the stored position. The cover can be connected to the body and can be moveable with respect to the body and the mopping pad between a covered position and an uncovered position.

Description

MOBILE CLEANING ROBOT WITH MOPPING COVER RELATED APPLICATIONS

[0001] This application claims the benefit of priority to U.S. Provisional Patent Application Serial No. 63 / 755,382, filed February 7, 2025, the content of which is incorporated herein by reference in its entirety.BACKGROUND

[0002] Autonomous mobile robots include autonomous mobile cleaning robots that can autonomously perform cleaning tasks within an environment, such as a home. An autonomous cleaning robot can navigate across a floor surface and avoid obstacles while vacuuming the floor surface and operating rotatable members carried by the robot to ingest debris from the floor surface. As the robot moves across the floor surface, the robot can rotate the rotatable members, which can engage the debris and guide the debris toward a vacuum airflow generated by the robot. The rotatable members and the vacuum airflow can thereby cooperate to allow the robot to ingest debris. Certain mobile cleaning robots can also include mopping components that can be used to perform dry mopping or wet mopping routines.BRIEF DESCRIPTION OF THE DRAWINGS

[0003] In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.

[0004] FIG. 1 illustrates a plan view of a mobile cleaning robot in an environment.

[0005] FIG. 2 illustrates a bottom view of a mobile cleaning robot.

[0006] FIG. 3 illustrates a top isometric view of a mobile cleaning robot.

[0007] FIG. 4 illustrates a side cross-sectional view of a mobile cleaning robot.

[0008] FIG. 5 illustrates a diagram illustrating an example of a communication network in which a mobile cleaning robot operates and data transmission in the network.

[0009] FIG. 6 illustrates an isometric view of a mobile cleaning robot.

[0010] FIG. 7 illustrates an isometric view of a mobile cleaning robot.

[0011] FIG. 8 illustrates a cross-sectional view of a portion of a mobile cleaning robot.

[0012] FIG. 9 illustrates a cross-sectional view of a portion of a mobile cleaning robot.

[0013] FIG. 10A illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.

[0014] FIG. 10B illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.

[0015] FIG. 10C illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.

[0016] FIG. 11 illustrates a cross-sectional isometric view of a portion of a mobile cleaning robot.

[0017] FIG. 12 illustrates a cross-sectional isometric view of a portion of a mobile cleaning robot.

[0018] FIG. 13 illustrates a cross-sectional isometric view of a portion of a mobile cleaning robot.

[0019] FIG. 14 illustrates a cross-sectional isometric view of a portion of a mobile cleaning robot.

[0020] FIG. 15 illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.

[0021] FIG. 16 illustrates a cross-sectional isometric view of a portion of a mobile cleaning robot.

[0022] FIG. 17A illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.

[0023] FIG. 17B illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.

[0024] FIG. 17C illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.

[0025] FIG. 17D illustrates a schematic view of a cross-section of a portion of a mobile cleaning robot.DETAILED DESCRIPTIONOverview

[0026] Autonomous mobile cleaning robots can be useful to automatically or autonomously clean a portion, such as a room or rooms, of an environment by extracting debris off a surface of the room or rooms. In addition to vacuuming systems for extracting debris, some robots can include mopping systems that can perform mopping operations to clean hard surfaces. However, such two-in-one systems can struggle to clean fibrous surfaces, such as carpeting, where mopping is not required and where clearance between the mopping pad and the floor surface can prohibit travel of the robots onto fibrous surfaces, such as high pile carpeting. Use of mopping systems on carpeting can also lead to unwanted soiling of carpeting. Further, some mopping systems require users to manually adjust one or more mopping features between functions.

[0027] This disclosure helps to address these issues by providing a mobile cleaning robot including a mopping or cleaning system having a roller cover that moves to cover the mopping pad roller when it is desired to vacuum carpeting and avoid interaction between the carpet fibers and the wetted mopping pad or roller. The system that actuates the cover can also move the roller to a position away from the flooring surface to further help reduce contact between the mopping pad or roller and the carpeting.

[0028] The above discussion is intended to provide an overview of subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The description below is included to provide further information about the present patent application.Robot Overview

[0029] FIG. 1 illustrates a plan view of a mobile cleaning robot 100 in an environment 40. The environment 40 can be a dwelling, such as a home or an apartment, and can include rooms 42a-42e. Obstacles, such as a bed 44, a table 46, and an island 48 can be located in the rooms 42 of the environment. Each of the rooms 42a-42e can have a floor surface 50a-50e, respectively. Some rooms, such asthe room 42d, can include a rug, such as a rug 52. The floor surfaces 50 can be of one or more types such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high)-pile carpet, stone, or the like.

[0030] The mobile cleaning robot 100 can be operated, such as by a user 60, to autonomously clean the environment 40 in a room-by-room fashion. In some examples, the robot 100 can clean the floor surface 50a of one room, such as the room 42a, before moving to the next room, such as the room 42d, to clean the surface of the room 42d. Different rooms can have different types of floor surfaces. For example, the room 42e (which can be a kitchen) can have a hard floor surface, such as wood or ceramic tile, and the room 42a (which can be a bedroom) can have a carpet surface, such as a medium pile carpet. Other rooms, such as the room 42d (which can be a dining room) can include multiple surfaces where the rug 52 is located within the room 42d. The robot 100 can be configured to navigate over various floor types through one or more components such as a suspension. The suspension of the robot can also allow the robot 100 to navigate over obstacles, such as thresholds between rooms or over rugs, such as the rug 52.

[0031] Also during cleaning or traveling operations, the robot 100 can use data collected from various sensors (such as optical sensors) and calculations (such as odometry and obstacle detection) to develop a map of the environment 40. Once the map is created, the user 60 can define rooms or zones (such as the rooms 42) within the map. The map can be presentable to the user 60 on a user interface, such as a mobile device, where the user 60 can direct or change cleaning preferences, for example.

[0032] Also, during operation, the robot 100 can detect surface types within each of the rooms 42, which can be stored in the robot or another device. The robot 100 can update the map (or data related thereto) such as to include or account for surface types of the floor surfaces 50a-50e of each of the respective rooms 42 of the environment. In some examples, the map can be updated to show the different surface types such as within each of the rooms 42.Components of the Robot

[0033] FIG. 2 illustrates a bottom view of the mobile cleaning robot 100. FIG. 3 illustrates a bottom view of the mobile cleaning robot 100. FIG. 4 illustrates a cross-section view across indicators 4-4 of FIG. 2 of the mobile cleaning robot 100. FIG. 4 also shows orientation indicators Bottom, Top, Front, and Rear. FIGS. 2-4 are discussed together below.

[0034] The cleaning robot 100 can be a mobile cleaning robot that can autonomously traverse the floor surface 50 while ingesting the debris 75 from different parts of the floor surface 50. As depicted in FIGS. 2A and 3, the robot 100 can include a body 200 movable across the floor surface 50. The body 200 can include multiple connected structures to which movable components of the cleaning robot 100 can be mounted. The connected structures can include an outer housing to cover internal components of the cleaning robot 100, a chassis to which drive wheels 210a and 210b and the cleaning rollers 205a and 205b (of a cleaning assembly or extractor 206) are mounted, and a bumper 138 mounted to the outer housing.

[0035] As shown in FIG. 2, the body 200 can include a front portion 202a and a rear portion 202b that can form a non-circular shape, such as a rounded polygon (e.g., rounded rectangle or rounded square). As shown in FIG. 2, the robot 100 can include a drive system including actuators 208a and 208b, e.g., motors, operable with drive wheels 210a and 210b. The actuators 208a and 208b can be mounted in the body 200 and can be operably connected to the drive wheels 210a and 210b, which are rotatably mounted to the body 200. The drive wheels 210a and 210b can support the body 200 above the floor surface 50. The actuators 208a and 208b, when driven, can rotate the drive wheels 210a and 210b to enable the robot 100 to move across the floor surface 50.

[0036] The controller (or processor) 212 can be located within the housing 200 and can be a programable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programable logic controller (PLC), or the like. In other examples the controller 212 can be any computing device, such as a handheld computer, for example, a smart phone, a tablet, a laptop, a desktop computer, or any other computing device including a processor and communication capabilities. The memory 213 can be one or more types of memory, such as volatile or non-volatile memory, read-only memory (ROM), random-access memory (RAM), magnetic disk storage media, optical storage media, flash-memory devices, and other storage devices and media. The memory 213 can be located within the housing 200 and can be connected to the controller 212 and accessible by the controller 212.

[0037] The controller 212 can operate the actuators 208a and 208b to autonomously navigate the robot 100 about the floor surface 50 during a cleaning operation. The actuators 208a and 208b are operable to drive the robot 100 in a forward drive direction, in a backwards direction, and to turn the robot 100. The robot 100 can include a caster wheel 211 (or alternatively skids) that supports the body 200 above the floor surface 50. The caster 211 can support the front portion 202a of the body 200 above the floor surface 50, and the drive wheels 210a and 210b support a middle and rear portion 202b of the body 200 above the floor surface 50.

[0038] As shown in FIG. 4, a vacuum assembly 118 can be located within the body 200 of the robot 100, e.g., in the middle of the body 200. The controller 212 can operate the vacuum assembly 118 to generate an airflow that flows through the air gap near the cleaning rollers 205a and 205b, through the body 200, and out of the body 200. The vacuum assembly 118 can include, for example, an impeller that generates the airflow when rotated. The airflow and the cleaning rollers 205a and 205b, when rotated, cooperate to ingest debris 75 into the robot 100, such as into a discharge 218 of the extractor 205, where the discharge 218 can be a tube, duct, or the like. A debris bin 216 can be mounted in the body 200 and connected to the discharge 218. The debris bin 216 can be configured to receive and contain the debris 75 ingested by the robot 100. A filter 145 (that can be located at least partially within the debris bin 216) can separate the debris 75 from the airflow before the airflow 120 enters the vacuum assembly 118 and is exhausted out of the body 200. In this regard, the debris 75 is captured in both the debris bin 216 and the filter before the airflow 120 is exhausted from the body 200. Debris 75 captured in the debris bin 216 can also be evacuated through a debris port 135.

[0039] The cleaning rollers 205a and 205b can operably connected to actuators 214a and 214b, e.g., motors, respectively. The cleaning head 205 and the cleaning rollers 205a and 205 b can positioned forward of the debris bin 216. The cleaning rollers 205a and 205b can be mounted to a housing 124 of the cleaning head 205 and mounted, e.g., indirectly or directly, to the body 200 of the robot 100. For example, the cleaning rollers 205a and 205b can be mounted to an underside of the body 200 so that the cleaning rollers 205a and 205b engage debris 75 on the floor surface 50 during the cleaning operation when the underside faces the floor surface 50.

[0040] The housing 124 of the cleaning head 205 can be mounted to the body 200 of the robot 100. In this way, the cleaning rollers 205a and 205b can also mounted to the body 200 of the robot 100, e.g., indirectly mounted to the body 200 through the housing 124. The cleaning head 205 can also be a removable assembly of the robot 100 where the housing 124 with the cleaning rollers 205a and 205b mounted therein is removably mounted to the body 200 of the robot 100. The housing 124 and the cleaning rollers 205a and 205b can be removable from the body 200 as a unit so that the cleaning head 205 is easily interchangeable with a replacement cleaning head.

[0041] The control system can further include a sensor system with one or more electrical sensors. The sensor system, as described herein, can generate a signal indicative of a current location of the robot 100, and can generate signals indicative of locations of the robot 100 as the robot 100 travels along the floor surface 50.

[0042] Cliff sensors 134 (shown in FIG. 2) can be located along a bottom portion of the housing 200. Each of the cliff sensors 134 can be an optical sensor that can be configured to detect a presence or absence of an object below the optical sensor, such as the floor surface 50. The cliff sensors 134 can be connected to the controller 212. A bumper 138 can be removably secured to the body 200 and can be movable relative to body 200 while mounted thereto. In some examples, the bumper 138 form part of the body 200. The bump sensors 139a and 139b (the bump sensors 139) can be connected to the body 200 and engageable or configured to interact with the bumper 138. The bump sensors 139 can include break beam sensors, capacitive sensors, switches, or other sensors that can detect contact between the robot 100, i.e., the bumper 138, and objects in the environment 40. The bump sensors 139 can be in communication with the controller 212.

[0043] An image capture device 140 can be a camera connected to the body 200 and can extend through the bumper 138 of the robot 100, such as through an opening 143 of the bumper 138. The image capture device 140 can be a camera, such as a front-facing camera, configured to generate a signal based on imagery of the environment 40 of the robot 100 as the robot 100 moves about the floor surface 50. The image capture device 140 can transmit the signal to the controller 212 for use for navigation and cleaning routines.

[0044] Obstacle following sensors 141 (shown in FIG. 3) can include an optical sensor facing outward from the bumper 138 and that can be configured to detect thepresence or the absence of an object adjacent to a side of the body 200. The obstacle following sensor 141 can emit an optical beam horizontally in a direction perpendicular (or nearly perpendicular) to the forward drive direction of the robot 100. The optical emitter can emit an optical beam outward from the robot 100, e.g., outward in a horizontal direction, and the optical detector detects a reflection of the optical beam that reflects off an object near the robot 100. The robot 100, e.g., using the controller 212, can determine a time of flight of the optical beam and thereby determine a distance between the optical detector and the object, and hence a distance between the robot 100 and the object.

[0045] A side brush 142 can be connected to an underside of the robot 100 and can be connected to a motor 144 operable to rotate the side brush 142 with respect to the body 200 of the robot 100. The side brush 142 can be configured to engage debris to move the debris toward the cleaning assembly 206 or away from edges of the environment 40. The motor 144 configured to drive the side brush 142 can be in communication with the controller 212. The brush 142 can rotate about a nonhorizontal axis, e.g., an axis forming an angle between 75 degrees and 90 degrees with the floor surface 50. The non-horizontal axis, for example, can form an angle between 75 degrees and 90 degrees with the longitudinal axes 126a and 126b of the rollers 205a and 205b.

[0046] The brush 142 can be a side brush laterally offset from a center of the robot 100 such that the brush 142 can extend beyond an outer perimeter of the body 200 of the robot 100. Similarly, the brush 142 can also be forwardly offset of a center of the robot 100 such that the brush 142 also extends beyond the bumper 138. Optionally, the robot 100 can include multiple side brushes, such as one located on each side of the body 200, such as in line with drive wheels 210a and 210b, respectively.

[0047] The robot 100 can also include a mopping system 228. The mopping system 228 can include a cleaning pad 230 connected to the bottom portion of the body 202 (or connected to a moving mechanism configured to move the assembly 228 between a stored position and a cleaning position), such as in a location rear of the extractor 205. The robot 100 can also include a tank 232 connected to or located at least partially within the body 202. The tank 232 can be a water tank or fluid tank configured to store water or fluid, such as cleaning fluid, for delivery to the mopping pad 230. The robot 100 can also include a pump 234 that can be connected to thecontroller 212 and can be in fluid communication with the tank 232. The controller 212 can be configured to operate the pump 234 to deliver fluid to the mopping pad 230 during mopping operations. The cleaning pad assembly 228 is discussed in further detail below.Operation of the Robot

[0048] In operation of some examples, the robot 100 can be propelled in a forward drive direction or a rearward drive direction. The robot 100 can also be propelled such that the robot 100 turns in place or turns while moving in the forward drive direction or the rearward drive direction.

[0049] When the controller 212 causes the robot 100 to perform a mission, the controller 212 can operate the motors 208 to drive the drive wheels 210 and propel the robot 100 along the floor surface 50. In addition, the controller 212 can operate the motors 214 to cause the rollers 205a and 205b to rotate, can operate the motor 144 to cause the brush 142 to rotate, and can operate the motor of the vacuum system 118 to generate airflow. The controller 212 can execute software stored on the memory 213 to cause the robot 100 to perform various navigational and cleaning behaviors by operating the various motors of the robot 100.

[0050] The various sensors of the robot 100 can be used to help the robot navigate and clean within the environment 40, For example, the cliff sensors 134 can detect obstacles such as drop-offs and cliffs below portions of the robot 100 where the cliff sensors 134 are disposed. The cliff sensors 134 can transmit signals to the controller 212 so that the controller 212 can redirect the robot 100 based on signals from the cliff sensors 134.

[0051] In some examples, a bump sensor 139a can be used to detect movement of the bumper 138 along a fore-aft axis of the robot 100. A bump sensor 139b can also be used to detect movement of the bumper 138 along one or more sides of the robot 100. The bump sensors 139 can transmit signals to the controller 212 so that the controller 212 can redirect the robot 100 based on signals from the bump sensors 139.

[0052] The image capture device 140 can be configured to generate a signal based on imagery of the environment 40 of the robot 100 as the robot 100 moves about the floor surface 50. The image capture device 140 can transmit such a signal to the controller 212. The image capture device 140 can be angled in an upward direction,e.g., angled between 5 degrees and 45 degrees from the floor surface 50 about which the robot 100 navigates. The image capture device 140, when angled upward, can capture images of wall surfaces of the environment so that features corresponding to objects on the wall surfaces can be used for localization.

[0053] In some examples, the obstacle following sensors 141 can detect detectable objects, including obstacles such as furniture, walls, persons, and other objects in the environment of the robot 100. In some implementations, the sensor system can include an obstacle following sensor along a side surface, and the obstacle following sensor can detect the presence or the absence an object adjacent to the side surface. The one or more obstacle following sensors 141 can also serve as obstacle detection sensors, similar to the proximity sensors described herein.

[0054] The robot 100 can also include sensors for tracking a distance travelled by the robot 100. For example, the sensor system can include encoders associated with the motors 208 for the drive wheels 210, and the encoders can track a distance that the robot 100 has travelled. In some implementations, the sensor can include an optical sensor facing downward toward a floor surface. The optical sensor can be positioned to direct light through a bottom surface of the robot 100 toward the floor surface 50. The optical sensor can detect reflections of the light and can detect a distance travelled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.

[0055] The controller 212 can use data collected by the sensors of the sensor system to control navigational behaviors of the robot 100 during the mission. For example, the controller 212 can use the sensor data collected by obstacle detection sensors of the robot 100, (the cliff sensors 134, the bump sensors 139, and the image capture device 140) to enable the robot 100 to avoid obstacles within the environment of the robot 100 during the mission.

[0056] The sensor data can also be used by the controller 212 for simultaneous localization and mapping (SLAM) techniques in which the controller 212 extracts features of the environment represented by the sensor data and constructs a map of the floor surface 50 of the environment. The sensor data collected by the image capture device 140 can be used for techniques such as vision-based SLAM (VSLAM) in which the controller 212 extracts visual features corresponding to objects in the environment 40 and constructs the map using these visual features. As the controller212 directs the robot 100 about the floor surface 50 during the mission, the controller 212 can use SLAM techniques to determine a location of the robot 100 within the map by detecting features represented in collected sensor data and comparing the features to previously stored features. The map formed from the sensor data can indicate locations of traversable and non-traversable space within the environment. For example, locations of obstacles can be indicated on the map as non-traversable space, and locations of open floor space can be indicated on the map as traversable space.

[0057] The sensor data collected by any of the sensors can be stored in the memory 213. In addition, other data generated for the SLAM techniques, including mapping data forming the map, can be stored in the memory 213. These data produced during the mission can include persistent data that are produced during the mission and that are usable during further missions. In addition to storing the software for causing the robot 100 to perform its behaviors, the memory 213 can store data resulting from processing of the sensor data for access by the controller 212. For example, the map can be a map that is usable and updateable by the controller 212 of the robot 100 from one mission to another mission to navigate the robot 100 about the floor surface 50.

[0058] The persistent data, including the persistent map, helps to enable the robot 100 to efficiently clean the floor surface 50. For example, the map enables the controller 212 to direct the robot 100 toward open floor space and to avoid non-traversable space. In addition, for subsequent missions, the controller 212 can use the map to optimize paths taken during the missions to help plan navigation of the robot 100 through the environment 40.Network Examples

[0059] FIG. 5 is a diagram showing a communication network 500 that enables networking between the mobile robot 100 and one or more other devices, a docking station 501 (or any of the docking stations discussed herein), a mobile device 504 (including a controller), a cloud computing system 506 (including a controller), or another autonomous robot separate from the mobile robot 100. Using the communication network 500, the robot 100, the mobile device 504, the docking station 501, and the cloud computing system 506 can communicate with one another to transmit and receive data from one another. In some examples, the robot 100, thedocking station 501, or both the robot 100 and the docking station 501 can communicate with the mobile device 504 through the cloud computing system 506. Alternatively, or additionally, the robot 100, the docking station 501, or both the robot 100 and the docking station 501 can communicate directly with the mobile device 504. Various types and combinations of wireless networks (e.g., Bluetooth, radio frequency, optical based, etc.) and network architectures (e.g., wi-fi or mesh networks) can be employed by the communication network 500.

[0060] In some examples, the mobile device 504 can be a remote device that can be linked to the cloud computing system 506 and can enable a user to provide inputs. The mobile device 504 can include user input elements such as, for example, one or more of a touchscreen display, buttons, a microphone, a mouse, a keyboard, or other devices that respond to inputs provided by the user. The mobile device 504 can also include immersive media (e.g., virtual reality or augmented reality) with which the user can interact to provide input. The mobile device 504, in these examples, can be a virtual reality headset or a head-mounted display.

[0061] The user can provide inputs corresponding to commands for the mobile robot 100. In such cases, the mobile device 504 can transmit a signal to the cloud computing system 506 to cause the cloud computing system 506 to transmit a command signal to the mobile robot 100. In some implementations, the mobile device 504 can present augmented reality images. In some implementations, the mobile device 504 can be a smart phone, a laptop computer, a tablet computing device, or other mobile device.

[0062] In some examples, the communication network 500 can include additional nodes. For example, nodes of the communication network 500 can include additional robots. Also, nodes of the communication network 500 can include network- connected devices that can generate information about the environment 40. Such a network-connected device can include one or more sensors, such as an acoustic sensor, an image capture system, or other sensor generating signals, to detect characteristics of the environment 40 from which features can be extracted. Network- connected devices can also include home cameras, smart sensors, or the like.

[0063] In the communication network 500, the wireless links can utilize various communication schemes, protocols, etc., such as, for example, Bluetooth classes, Wi¬ Fi, Bluetooth-low-energy, also known as BLE, 802.15.4, Worldwide Interoperabilityfor Microwave Access (WiMAX), an infrared channel, satellite band, or the like. In some examples, wireless links can include any cellular network standards used to communicate among mobile devices, including, but not limited to, standards that qualify as 1G, 2G, 3G, 4G, 5G, or the like. The network standards, if utilized, qualify as, for example, one or more generations of mobile telecommunication standards by fulfilling a specification or standards such as the specifications maintained byInternational Telecommunication Union. For example, the 4G standards can correspond to the International Mobile Telecommunications Advanced (IMT-Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standards can use various channel access methods, e.g., FDMA, TDMA, CDMA, or SDMA.Mopping System Examples

[0064] FIG. 6 illustrates an isometric view of the mobile cleaning robot 100. FIG.7 illustrates an isometric view of the mobile cleaning robot 100. FIG. 8 illustrates a cross-sectional view of a portion of the mobile cleaning robot 100. FIG. 9 illustrates a cross-sectional view of a portion of the mobile cleaning robot 100. FIGS. 6 and 7 also show orientation indicators Front and Rear. FIGS. 6-9 are discussed together below. FIGS, 6 and 8 show a cover of the robot 100 in an uncovered position or configuration and FIGS. 7 and 9 show the cover in a covered position or configuration.

[0065] The robot 100 of FIGS. 6-9 can be consistent with the robot 100 discussed above. FIGS. 6-9 show that the mopping system 228 can include a cover 236. The cover 236 can be connected to the body 202 of the robot 100 and can be movable with respect to the body 202 such as through an actuator and a gear 238 connected to a body 240 of the cover 236 (discussed in further detail below). As shown in FIGS. 6 and 8, the cover 236 can be moved with respect to the body 202 and the mopping pad 230 to an uncovered position to at least partially expose the mopping pad 230, such as for mopping operations.

[0066] FIGS. 6-9 also show that the mopping pad 230 can be rotatably connected to the body 202 and the mopping pad 230 can be configured to move with respect to the body 202 and the floor surface 50 between a mopping position (shown in FIGS. 6and 8) and a stored position (shown in FIGS. 7 and 9). The mopping pad 230 can be configured to engage the floor surface 50 in the mopping position, and the mopping pad 230 can be configured to be separated from the floor surface 50 in the stored position.

[0067] As shown in FIGS. 7 and 9, the cover 236 can be connected to the body 202 and can be moveable with respect to the body 202 and the mopping pad 230. The cover 236 can be moved with respect to the body 202 and the mopping pad 230 to a covered position at least partially below the mopping pad 230, such as between the mopping pad 230 and a flooring surface, which can help protect the mopping pad 230 for contacting the flooring surface such as fibers of carpeting during vacuuming operations.

[0068] In the deployed position, the cover 236 can cover a bottom portion of the wet mopping pad 230, such that the cover 236 can mechanically block or limit contact between the wet mopping pad 230 and the floor surface 50. In the stowed position, the mopping pad 230 can move to the side of the mopping pad 230 (and optionally partially or entirely above the mopping pad 230), providing access for the mopping pad 230 to contact the floor surface 50. Additionally, as the cover 236 rotates from the stowed to the deployed position, the mopping pad 230 can move upwards, such as can be due to the rotation mechanism discussed below.

[0069] FIGS. 8 and 9 also show that the robot 100 can include a scraper 242 that can be pivotably connected to the body 202, such as via one or more pivot pins 244. The scraper 242 can include an arm 248 that can be engageable with the mopping pad 230, such as to extract liquid from the mopping pad 230. The scraper 242 can be movable with respect to the body 202 and the mopping pad between an engaged position, as shown in FIG. 8, and a disengaged position, as shown in FIG. 9, where the arm 248 is engaged with the mopping pad 230 when the scraper is in the engaged position. The robot 100 can also include one or more biasing elements 246 connected to the body 202 and can be engaged with the scraper 242 to bias the scraper toward the engaged position.

[0070] FIG. 10A illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 100. FIG. 10B illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 100. FIG. 10C illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 100. FIGS. 10A-10C arediscussed together below. The robot 100 of FIGS. 10A-10C can be consistent with the robot 100 discussed above. FIGS. 10A-10C help to show how the scraper 242 operates.

[0071] In operation of some examples, as shown in FIG. 10 A, when the mopping pad 230 is in the deployed position, as the mopping pad 230 rotates, it can engage the arm 248, which can compress the mopping pad 230 and as a result, water or fluid can be squeezed out of the mopping pad 230. The water that is squeezed out of the mopping pad 230 can travel over the scraper 242 and into a gray water storage tank 250, where the fluid or liquid can be stored or retained. During this process, clean water (or other liquid or fluid) can be deposited on top of the mopping pad 230 (as discussed further below) while the roller is deployed. The clean water or fluid can flush debris out of the mopping pad 230, which can then travel over the scraper, and make its way into the gray water storage tank 250. This can help to replenish the mopping pad 230 with clean water before re-engaging with the floor surface 50. The gray water storage tank 250 can also act as a collection area where fluid can be pumped to another tank (such that it is fully contained in the case where the robot’s orientation is changed, such as when a user picks up the robot).

[0072] Clean water can also be deposited on top of the mopping pad 230 when the roller is stowed and the roller cover is deployed, as shown in FIG. 10C, such as to provide additional cleaning of the mopping pad 230 while the robot 100 is performing a dry mission or while the robot 100 is docked. When the robot 100 is docked, clean water can be supplied by the dock and gray water can be removed by the dock.

[0073] FIG. 10B shows the cover 236 moving from the uncovered position to a covered position, as shown in FIG. 10C, In the covered or deployed position, the cover 236 can be located underneath the roller 230, which can help prevent or limit the roller 230 from contacting the floor surface 50. Also, in FIG. 10A, a large portion of a downforce of the robot 100 can be applied to the mopping pad 230 for cleaning performance; however, in FIG. 10B, the downforce can be applied to the cover 236 to allow the fibers of the mopping pad 230 to uncompress so that relatively larger debris can be collected by the mopping pad 230 as the robot 100 moves backwards. Though forward movement of the robot 100 can be performed in the configuration of FIG, 10B, it is preferred for the robot 100 to move backwards for improved extraction of large debris using the mopping pad 230.

[0074] FIGS. 10A-10C also show that the mopping pad 230 can be driven to counterrotate relative to a direction of normal travel (forward). That is, the mopping pad 230 can rotate clock-wise from the perspective of FIGS. 10A-10C when the robot 100 is moving in the forward direction, which can help improve cleaning performance of the mopping pad 230. The mopping pad 230 can be driven to rotate by a motor, as discussed in further detail below.

[0075] FIG. 11 illustrates a cross-sectional isometric view of a portion of the mobile cleaning robot 100. FIG. 12 illustrates a cross-sectional isometric view of a portion of the mobile cleaning robot 100. FIGS. 11 and 12 are discussed together below. The robot 100 of FIGS. 11 and 12 can be consistent with the robot 100 discussed above. FIGS. 11 and 12 show additional details of the robot 100.

[0076] For example, FIGS. 11 and 12 shows that the robot 100 can include an actuator 252 connected to a mount 254 that can be connected to the body 202. The actuator 252 can be engaged with the cover 236 to move the cover 236 between the covered position and the uncovered position. The actuator 252 can be an electric motor (e g., a direct current or alternating current motor) configured to generate a rotational output at a shaft. The shaft of the actuator 252 can be connected to a drive gear 256 and an intermediate gear 258, which can be an idler gear or a sizing gear. The intermediate gear 258 or the drive gear 256 can be connected to or can interface with the gear 238 of the cover 236 such as to allow the actuator 252 to drive the gear 238 to move the cover 236 between the covered position and the uncovered position.

[0077] The gear 238 can be connected to the body 240 such that the gear 238 is spaced away from the mopping pad 230 to limit engagement between the mopping pad 230 and the gear 238 and to limit engagement between the gear 238 and the scraper 242. The gear 238 can be engaged with the intermediate gear 258 in a rack and pinion arrangement such that the gear 238 can act as a rack and the intermediate gear 258 can be a pinion where the gear 238 can be sized to have a travel length to move the cover 236 between a fully covered position where the mopping pad 230 does not engage (or is limited in engagement with) the floor surface 50 and between the fully uncovered position where the mopping pad 230 is able to engage the floor surface 50 and is unencumbered by the cover 236.

[0078] FIG. 12 also shows that the tank 232 and the pump 234 can be located at or near the mopping pad 230 and the cover 236. The tank 232 can be located near a wall260 that can be part of the tank 232 or can be a header fluidically connected to the tank 232. The wall 260 can include one or more ports 262 that can be openings extending at least partially therethrough and that can be configured (e.g., sized or shaped) to deliver fluid from the tank 232 to the mopping pad 230. The wall 260 can include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, or the like ports. The ports 262 can be or can include valves or nozzles and can be configured to drip or discharge water or fluid (pressurized or unpressurized) onto the mopping pad 230.

[0079] In some examples, the one or more ports 262 can be located between the body 240 of the cover 236 when the cover 236 is in its stored location and between the arm 248 of the scraper 242 such that the one or more ports 262 can drop or apply fluid to the mopping pad 230 between the cover 236 and the arm 248 when the cover is in either the covered position or the uncovered position and when the scraper is engaged or disengaged. In other words, the one or more ports 262 can be located such that the cover 236 and the scraper 242 do not interfere with wetting of the mopping pad 230. Also, the one or more ports 262 can distribute fluid to the mopping pad 230 ahead of the scraper 242 with respect to a direction of rotation of the mopping pad 230 to allow the scraper 242 to extract the water and debris from the mopping pad 230 and into the gray water storage tank 250.

[0080] FIGS. 12 also shows that the robot 100 can include a shaft 231 that can be connected to the mopping pad 230 and can serve as a rotational axis A2 for the mopping pad 230 such that the mopping pad 230 can rotate with respect to the cover 236, as discussed in further detail below. The robot 100 can also include a motor 233 which can be an electric motor (e.g., a direct current or alternating current motor) connected to the mopping pad 230 and configured to rotate the mopping pad 230 with respect to the body 202.

[0081] FIG. 13 illustrates a cross-sectional isometric view of a portion of the mobile cleaning robot 100. FIG. 14 illustrates a cross-sectional isometric view of a portion of the mobile cleaning robot 100. FIGS. 13 and 14 are discussed together below. The robot 100 of FIGS. 13 and 14 can be consistent with the robot 100 discussed above. FIGS. 13 and 14 show additional details of the robot 100.

[0082] For example, in the first position, as illustrated FIG. 13, the cover 236 can be in the stowed or uncovered position, such as to the side of the mopping pad 230 or roller. Upon actuation or operation of the actuator 252, the drive gear 256 or theintermediate gear 258 can engage teeth 264 of the gear 238 and can cause the gear 238 to rotate about a shaft 266 connected to the cover 236, which can be a rotation of axis Al for the cover 236. The rotation of the cover 236 can be approximately ninety degrees and upon completion of the rotation the gear 238, the body 240 of the cover 236 can be in a position, as shown in FIG. 14, such that the body 240 is located partially or entirely underneath the cover 236 or the roller. When the body 240 of the cover 236 is below the mopping pad 230, the cover 236 can help prevent the mopping pad 230 from contacting the floor and additionally can collect any dripping water that falls from the mopping pad 230. The mopping pad 230 can also reabsorb the collected water or fluid. Also, in the stowed position, fluid can be dispensed onto the mopping pad 230 and the cover 236 can be rotated such as to engage the scraper 242 to clean the mopping pad 230 in the stored position, as discussed in further detail below.

[0083] Additionally, FIGS. 13 and 14 show a connection portion 267 where the mopping pad 230 connects to the cover 236, which can define the rotational center A2 (about the shaft 231) of the mopping pad 230. Because the roller rotation axis A2 can be displaced from the cover rotation axis Al, the mopping pad 230 can translate upward as the gear 238 rotates the cover 236 from the position shown in FIG. 13 (the uncovered position) to the position shown in FIG. 14 (the covered position). In other words, the axis Al of the cover 236 and the axis A2 of the mopping pad 230 can be eccentric, which can cause the mopping pad 230 to lift off the floor surface 50 when the mopping pad 230 rotates to cover the mopping pad 230.

[0084] In some examples, the angle of rotation of the cover 236 can be different than 90 degrees. In such examples where the rotation angle can be different than 90 degrees, the rotation angle can be chosen such that in a first position when the roller cover is retracted (or in the uncovered position), the mopping pad 230 can be sufficiently exposed to engage with the floor, and in a second position when the cover 236 is deployed, the cover 236 sufficiently covers the mopping pad 230 to protect the carpet. In an intermediate position, such as for a spill pick up mode, the rotation angle can be chosen such that a tip of the cover 236 engages with the floor 50 while at the same time, the mopping pad 230 maintains slight contact with the floor surface 50.

[0085] FIG. 15 illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 100. The robot 100 of FIG. 15 can be consistent with the robot100 discussed above. FIG. 15 more clearly illustrates how the mopping pad 230 is connected to the body 202.

[0086] As shown in FIG. 15, the cover 236 (or the body 240 thereof) can include a projection 268 which can be a bearing, shaft, or the like. The projection 268 can extend laterally outward from a lateral portion of the body 240 and can be insertable, inserted in, or located at least partially within an opening 270 of the body 202. The projection 268 and the opening 270 can form a bearing to allow the cover 236 to move with respect to the body 202, such as to define the axis of rotation Al for rotation of the mopping pad 230 and the cover 236 with respect to the body 202.

[0087] As also shown in FIG. 15, a core 272 of the mopping pad 230 can be connected to the shaft 231 and the shaft 231 can be located at least partially within an opening 274 of the cover 236 (or the body 240 thereof) such as to define a bearing between the mopping pad 230 and the cover 236 such as to define the axis A2 of rotation for the mopping pad 230 with respect to the cover 236 and the body 202.

[0088] FIG. 15 also shows that the mopping pad 230 can include an outer layer 276, which can be a pliable layer connected to the core 272. The outer layer 276 can be compressible (or more compressible than the core 272) such that the outer layer 276 can be configured to absorb fluid or debris. The outer layer 276 can be made of a fibrous material such that the outer layer 276 can have or can form a nap for absorbing material. The compressible nap or fibers also creates an area contact with the floor for improved cleaning (as opposed to line or small area contact).

[0089] FIG, 16 illustrates a cross-sectional isometric view of a portion of the mobile cleaning robot 100. The robot 100 of FIG. 16 can be consistent with the robot 100 discussed above. FIG. 16 more clearly illustrates how the mopping pad 230 is connected to the body 202. For example, FIG. 16 shows that the cover 236 can be connected to a mounting plate 278 that is connected to a motor mount 280 where the motor mount 280 can include one or more electronic components for the electric motor 233 that can be connected to the shaft 231 and configured to drive the mopping pad 230 to rotate with respect to the body 202. The motor 233 can be connected to the mounting plate 278.

[0090] FIG, 16 also shows that the robot 100 can include a clip 282 that is connected to the body 240 and is releasably securable to a latch 284 of the mounting plate 278 to releasably secure the cover 236 and the mopping pad 230 to the motormount 280 and the body 202. This can allow the mopping pad 230 and the cover 236 to be removed from the body 202 for replacement or cleaning of the mopping pad 230 or the cover 236.

[0091] FIG. 17A illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 1700. FIG. 17B illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 1700. FIG. 17C illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 1700. FIG. 17D illustrates a schematic view of a cross-section of a portion of the mobile cleaning robot 1700. FIGS. 17A-17D are discussed together below. The mobile cleaning robot 1700 can be similar to the robot 100 discussed above. Any of the robots discussed above or below can include the features of the mobile cleaning robot 1700,

[0092] The mobile cleaning robot 1700 can include a body 1702 (which can be similar to the body 202), a mopping pad 1730 (which can be similar to the mopping pad 230), a scraper 1742 (which can be similar to the scraper 242), and cover 1736 (which can be similar to the cover 236). The cover 1736 can include a body 1740 and a tip 1786 connected to a distal or end portion of the body 1740. The tip 1786 can be connected to a leading edge of the body 1740 and can be configured to flex when the tip 1786 engages the floor surface 50, such as when the cover 1736 moves from the uncovered position (of FIG. 17A) to the covered position (of FIG. 17C). The tip 1786 can be made of rubber, polymer, elastomer, or any flexible material configured to limit or reduce marking of the floor surface 50 or wear of the cover 1736.

[0093] The cover 1736 can also include a roller 1788 (shown more clearly in FIG.17D). The roller 1788 can be a wheel, roller, bearing, or the like connected to the body 1740 and rotatable with respect to the body 1740. The roller 1788 can be engageable with the floor surface 50 when the cover 1736 moves between the covered position (e.g., of FIG. 17A) and the uncovered position (e.g., of FIG. 17C), which can help reduce friction between the cover 1736 and the floor surface 50, helping to reduce marking on the floor surface 50 and helping to reduce wear of the cover 1736 from engagement with the flooring surface 50.

[0094] FIGS. 17B and 17D also show that the cover 1736 can be used in spill pickup mode. In this configuration, the cover 1736 can be deployed such that the tip 1786 engages the flooring surface 50 and the mopping pad 1730 is lifted to reduce pressure of the mopping pad 1730 on the flooring surface 50. This can allow debris tobe collected by the mopping pad 1730 and deposited into the gray water tank (e.g., the gray water tank 250). In the position of the mopping pad 230 shown in FIG. 17B a majority of the total downforce can be carried by the roller 1788 (such as 90 percent, e.g., 70, 80, or 90 percent) with the remaining downforce split between the roller 1730 and the tip 1786.

[0095] Uncompressing the nap of the mopping pad 1730 (such as by lifting it off the floor) can do two things. First, it can help maximize absorbency oof the mopping pad mopping pad 1730, which can allow larger volumes of liquid to be picked up from the floor and conveyed up to the scraper 1742 where the liquid can then be removed into the grey-water tank. Second, it can provide space for larger debris to pass under the roller 1730 and become sandwiched between the mopping pad 1730 and the cover 1736. Combining these two benefits allows the mobile cleaning robot 1700 to pick up mixed spills that contain both liquid and solids (such as a spilled bowl of milk and cereal). After the main spill is picked up, the robot mobile cleaning robot 1700 can then proceed with normal mopping of the area for the final clean-up.

[0096] Also, when the cover 1736 is in the covered position, as shown in FIG. 17C, the mopping pad 1730 can be washed in the covered or stowed position. When the mopping pad 1730 is covered by the cover 1736, water or fluid can be dispensed onto the mopping pad 1730 which can be driven to rotate clockwise (from the perspective of FIG. 17C). This process can cause the mopping pad 1730 to absorb fluid or water and the scraper 1742 can engage the wetted mopping pad 1730 and squeeze fluid or debris out of the mopping pad 1730, which can travel over the scraper 1742 and into the gray water bin. The mopping pad 1730 can continue rotating and the cover 1736 can limit fluid from dripping onto the flooring surface 50. In this way, the mopping pad 1730 can be continually rinsed and scraped until some time has passed or until the controller 212 determines that the mopping pad 1730 is clean.NOTES AND EXAMPLES

[0097] The following, non-limiting examples, detail certain aspects of the present subject matter to solve the challenges and provide the benefits discussed herein, among others.

[0098] Example 1 is a mobile cleaning robot comprising: a body movable about a floor surface of an environment; a vacuuming system connected to the body and configured to extract debris from the floor surface; a mopping pad rotatably connected to the body and configured to move with respect to the body and the floor surface between a mopping position and a stored position, the mopping pad configured to engage the floor surface in the mopping position, and the mopping pad configured to be separated from the floor surface in the stored position; and a cover connected to the body and moveable with respect to the body and the mopping pad between a covered position and an uncovered position, the mopping pad located between the floor surface and the mopping pad in the covered position.

[0099] In Example 2, the subject matter of Example 1 optionally includes a scraper engageable with the mopping pad to extract liquid from the mopping pad.

[0100] In Example 3, the subject matter of Example 2 optionally includes wherein the scraper is hingeably connected to the body and movable with respect to the body and the mopping pad between an engaged position and a disengaged position, the scraper engaged with the mopping pad when the scraper is in the engaged position.

[0101] In Example 4, the subject matter of Example 3 optionally includes one or more biasing elements connected to the body and engaged with the scraper to bias the scraper toward the engaged position.

[0102] In Example 5, the subject matter of any one or more of Examples 1-4 optionally include an actuator connected to the body and engaged with the cover to move the cover between the covered position and the uncovered position.

[0103] In Example 6, the subject matter of Example 5 optionally includes wherein the cover is connected to the mopping pad to cause the mopping pad to move between the mopping position and the stored position when the cover is moved between the covered position and the uncovered position.

[0104] In Example 7, the subject matter of Example 6 optionally includes a gear connected to the cover and engaged with the actuator to allow the actuator to move the cover between the covered position and the uncovered position.

[0105] In Example 8, the subject matter of any one or more of Examples 1-7 optionally include wherein the cover includes: a body configured to at least partially cover the mopping pad when the cover is in the stored position; and a tip connected toa leading edge of the body, the tip configured to flex when the tip engages the floor surface as the cover moves from the uncovered position to the covered position.

[0106] In Example 9, the subject matter of Example 8 optionally includes a roller connected to the cover and engageable with the floor surface when the cover moves between the covered position and the uncovered position.

[0107] In Example 10, the subject matter of any one or more of Examples 8-9 optionally include the vacuuming system comprising: an extractor engageable with the floor surface to extract debris therefrom; and a blower operable to generate an air stream to move through the extractor and to a debris bin.

[0108] Example 11 is a mobile cleaning robot comprising: a body movable about a floor surface of an environment; a vacuuming system connected to the body and configured to extract debris from the floor surface; a mopping pad rotatably connected to the body and configured to move with respect to the body and the floor surface between a mopping position and a stored position, the mopping pad configured to engage the floor surface in the mopping position, and the mopping pad configured to be separated from the floor surface in the stored position; a scraper engageable with the mopping pad to extract liquid from the mopping pad; and a cover connected to the body and moveable with respect to the body and the mopping pad between a covered position and an uncovered position, the mopping pad located between the floor surface and the mopping pad in the covered position.

[0109] In Example 12, the subject matter of Example 11 optionally includes wherein the scraper is hingeably connected to the body and movable with respect to the body and the mopping pad between an engaged position and a disengaged position, the scraper engaged with the mopping pad when the scraper is in the engaged position.

[0110] In Example 13, the subject matter of Example 12 optionally includes one or more biasing elements connected to the body and engaged with the scraper to bias the scraper toward the engaged position.

[0111] In Example 14, the subject matter of Example 13 optionally includes a fluid distribution system including one or more openings configured to distribute fluid to the mopping pad ahead of the scraper with respect to a direction of rotation of the mopping pad.

[0112] In Example 15, the subject matter of Example 14 optionally includes an actuator connected to the body and engaged with the cover to move the cover between the covered position and the uncovered position.

[0113] In Example 16, the subject matter of Example 15 optionally includes wherein the cover is connected to the mopping pad to cause the mopping pad to move between the mopping position and the stored position when the cover is moved between the covered position and the uncovered position.

[0114] In Example 17, the subject matter of Example 16 optionally includes a gear connected to the cover and engaged with the actuator to allow the actuator to move the cover between the covered position and the uncovered position.

[0115] In Example 18, the subject matter of any one or more of Examples 11-17 optionally include wherein the cover includes: a body configured to at least partially cover the mopping pad when the cover is in the stored position; and a tip connected to a leading edge of the body, the tip configured to flex when the tip engages the floor surface as the cover moves from the uncovered position to the covered position.

[0116] In Example 19, the subject matter of Example 18 optionally includes a roller connected to the cover and engageable with the floor surface when the cover moves between the covered position and the uncovered position.

[0117] In Example 20, the subject matter of any one or more of Examples 18-19 optionally include the vacuuming system comprising: an extractor engageable with the floor surface to extract debris therefrom; and a blower operable to generate an air stream to move through the extractor and to a debris bin.

[0118] In Example 21, the apparatuses or method of any one or any combination of Examples 1 - 20 can optionally be configured such that all elements or options recited are available to use or select from.

[0119] The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof),either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.

[0120] In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.

[0121] In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0122] The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) can be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C. F. R. §1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features can be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter can lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

CLAIMS:

1. A mobile cleaning robot comprising:a body movable about a floor surface of an environment;a vacuuming system connected to the body and configured to extract debris from the floor surface;a mopping pad rotatably connected to the body and configured to move with respect to the body and the floor surface between a mopping position and a stored position, the mopping pad configured to engage the floor surface in the mopping position, and the mopping pad configured to be separated from the floor surface in the stored position; anda cover connected to the body and moveable with respect to the body and the mopping pad between a covered position and an uncovered position, the mopping pad located between the floor surface and the mopping pad in the covered position.

2. The mobile cleaning robot of claim 1, comprising:a scraper engageable with the mopping pad to extract liquid from the mopping pad.

3. The mobile cleaning robot of claim 2, wherein the scraper is hingeably connected to the body and movable with respect to the body and the mopping pad between an engaged position and a disengaged position, the scraper engaged with the mopping pad when the scraper is in the engaged position.

4. The mobile cleaning robot of claim 3, comprising:one or more biasing elements connected to the body and engaged with the scraper to bias the scraper toward the engaged position.

5. The mobile cleaning robot of claim 1, comprising:an actuator connected to the body and engaged with the cover to move the cover between the covered position and the uncovered position.

6. The mobile cleaning robot of claim 5, wherein the cover is connected to the mopping pad to cause the mopping pad to move between the mopping position and the stored position when the cover is moved between the covered position and the uncovered position.

7. The mobile cleaning robot of claim 6, comprising:a gear connected to the cover and engaged with the actuator to allow the actuator to move the cover between the covered position and the uncovered position.

8. The mobile cleaning robot of claim 1, wherein the cover includes:a body configured to at least partially cover the mopping pad when the cover is in the stored position; anda tip connected to a leading edge of the body, the tip configured to flex when the tip engages the floor surface as the cover moves from the uncovered position to the covered position.

9. The mobile cleaning robot of claim 8, comprising:a roller connected to the cover and engageable with the floor surface when the cover moves between the covered position and the uncovered position.

10. The mobile cleaning robot of claim 8, the vacuuming system comprising:an extractor engageable with the floor surface to extract debris therefrom; and a blower operable to generate an air stream to move through the extractor and to a debris bin.

11. A mobile cleaning robot comprising:a body movable about a floor surface of an environment;a vacuuming system connected to the body and configured to extract debris from the floor surface;a mopping pad rotatably connected to the body and configured to move with respect to the body and the floor surface between a mopping position and a stored position, the mopping pad configured to engage the floor surface in the mopping position, and the mopping pad configured to be separated from the floor surface in the stored position;a scraper engageable with the mopping pad to extract liquid from the mopping pad; anda cover connected to the body and moveable with respect to the body and the mopping pad between a covered position and an uncovered position, the mopping pad located between the floor surface and the mopping pad in the covered position.

12. The mobile cleaning robot of claim 11, wherein the scraper is hingeably connected to the body and movable with respect to the body and the mopping pad between an engaged position and a disengaged position, the scraper engaged with the mopping pad when the scraper is in the engaged position.

13. The mobile cleaning robot of claim 12, comprising:one or more biasing elements connected to the body and engaged with the scraper to bias the scraper toward the engaged position.

14. The mobile cleaning robot of claim 13, comprising:a fluid distribution system including one or more openings configured to distribute fluid to the mopping pad ahead of the scraper with respect to a direction of rotation of the mopping pad.

15. The mobile cleaning robot of claim 14, comprising:an actuator connected to the body and engaged with the cover to move the cover between the covered position and the uncovered position.

16. The mobile cleaning robot of claim 15, wherein the cover is connected to the mopping pad to cause the mopping pad to move between the mopping position and the stored position when the cover is moved between the covered position and the uncovered position.

17. The mobile cleaning robot of claim 16, comprising:a gear connected to the cover and engaged with the actuator to allow the actuator to move the cover between the covered position and the uncovered position.

18. The mobile cleaning robot of claim 11, wherein the cover includes:a body configured to at least partially cover the mopping pad when the cover is in the stored position; anda tip connected to a leading edge of the body, the tip configured to flex when the tip engages the floor surface as the cover moves from the uncovered position to the covered position.

19. The mobile cleaning robot of claim 18, comprising:a roller connected to the cover and engageable with the floor surface when the cover moves between the covered position and the uncovered position.

20. The mobile cleaning robot of claim 18, the vacuuming system comprising:an extractor engageable with the floor surface to extract debris therefrom; and a blower operable to generate an air stream to move through the extractor and to a debris bin.

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