Patent Grant
12082758
This specification relates to cleaning pads, in particular, for cleaning robots.
An autonomous cleaning robot can navigate across a floor surface and avoid obstacles while mopping the floor surface to remove debris and stains from the floor surface. The cleaning robot can include a cleaning pad to mop the floor surface. As the cleaning robot moves across the floor surface, the cleaning pad wipes the floor surface and collects the debris.
This document describes a pad for use with an autonomous cleaning robot. A forward portion of the pad is thinner than an aft portion of the pad. Varying thickness across a width of the pad provides several advantages. The pad is configured to collect debris evenly across a surface of the pad during cleaning operations. The configuration of the pad prevents debris hot spots on the pad where debris excessively accumulates relative to other portions of the pad. The configuration of the pad promotes even wetting of the pad during cleaning operations, rather than forward to aft wetting. The configuration of the pad allows more debris to collect on the pad than would collect on a pad of constant thickness. Debris can contact more portions of the pad during cleaning because some debris can pass beneath the forward portion of the pad and contact the aft portion of the pad. The pad does not push fluid and debris across a floor surface in front of the pad, and therefore, does not leave piles of accumulated debris on the floor surface after cleaning operations have completed. The pad is configured to collect debris from the floor surface and avoid leaving debris on the floor surface after cleaning operations. The pad does not adhere (e.g., suction) to the floor surface because the different thicknesses of the portions of the pad allow air to pass beneath portions of the pad during cleaning. Having less overall adhesion (e.g., suction) of the pad reduces resistances of moving the pad across the floor surface, reducing torque required by the robot to move the pad across the floor surface. The pad having lower adhesion helps reduce a need for an abrasive layer on an exterior surface of the pad, such as a layer of melt-blown plastic, etc. A soft, rather than abrasive, exterior surface of the pad can reduce scratching or scuffing of a floor surface by the pad. The lack of a need for an abrasive layer can reduce the cost of manufacturing the pad and allow more of the exterior surface of the pad to contact the floor surface.
In one aspect, the pad includes a core of absorbent layers for absorbing liquid through capillary action and for distributing the liquid within a cleaning pad. The pad includes a wrap layer around the core, the wrap layer comprising a fibrous layer that is flexible and absorbent, the fibrous layer configured to absorb liquid through capillary action and transfer the liquid to the core. The pad includes one or more transition regions spanning a cleaning width of the cleaning pad, the one or more transition regions dividing the cleaning pad into at least two segments. A forward positioned segment, of the at least two segments, has a lesser thickness compared to a thickness of an aft positioned segment of the at least two segments.
In one aspect, the forward positioned segment comprises a leading edge of the cleaning pad, and wherein the aft positioned segment has additional absorbent layers in the core, the aft positioned segment being positioned further from the leading edge of the cleaning pad than the forward positioned segment.
In one aspect, the pad includes a moisture-resistant material disposed between the wrap layer and the core in the aft positioned segment of the at least two segments, wherein the moisture-resistant material slows a rate of moisture transfer from the wrap layer to the core. The moisture-resistant material is disposed in a first amount in the aft positioned segment and a second amount in another segment of the cleaning pad, wherein the first amount is different than the second amount.
In one aspect, the forward positioned segment includes moisture-resistant material, and has less of the moisture-resistant material than the aft positioned segment. In one aspect, the moisture-resistant material comprises latex fibers.
In one aspect, the one or more transition regions comprise mechanical indentations. In another aspect, the one or more transition regions comprise an ultrasonic weld. In one aspect, the core comprises an airlaid padding.
In one aspect, the forward positioned segment extends approximately 20-30% of a length of the cleaning pad from a leading edge of the cleaning pad. The forward positioned segment extends approximately 30-40% of a length of the cleaning pad from a leading edge of the cleaning pad.
In one aspect, the pad includes a debris-adhering substance that coats an exterior of the wrap layer. The forward positioned segment is approximately half as thick as the aft positioned segment, and wherein the forward positioned segment is half a length of the aft positioned segment.
In one aspect, the pad includes a backing layer adhered to a top surface of the fibrous layer. The backing layer is configured to attach to a mobile robot. In one aspect, the backing layer includes cutouts to engage corresponding features of a pad holder on the mobile robot. The cutouts have an asymmetric pattern on the backing layer to allow the backing layer to engage with the pad holder of the mobile robot.
In one aspect, the wrap layer comprises a spun-lace material.
In one aspect, the pad includes one or more additional transition regions that are approximately orthogonal to the cleaning width of the cleaning pad.
In one aspect, the pad includes a stack of absorbent layers forming a core for absorbing liquid through capillary action and for distributing the liquid within a cleaning pad. The pad includes a wrap layer around the core that includes a fibrous layer that is flexible and absorbent. The fibrous layer is configured to absorb liquid through capillary action and transfer the liquid to the core.
In one aspect, the pad includes a moisture-resistant material disposed between the wrap layer and the core, wherein the moisture-resistant material slows a rate of moisture transfer from the wrap layer to the core. In one aspect, the pad includes one or more transition regions spanning a cleaning width of the cleaning pad, the transition regions forming five segments.
In one aspect, five segments of the pad include a first segment that forms a leading edge of the cleaning pad that includes a first amount of absorbent layers in the core. In one aspect, the five segments of the pad include a second segment adjacent to the first segment and comprising more absorbent layers in the core than the first segment. In one aspect, the five segments of the pad include a third segment adjacent to the second segment and comprising more absorbent layers in the core than the first segment and an amount of the moisture-resistant material. In one aspect, the five segments of the pad include a fourth segment adjacent to and substantially identical to the third segment. In one aspect, the five segments of the pad include a fifth segment that forms an aft edge of the cleaning pad, the fifth segment comprising more absorbent layers in the core than the first segment and less moisture-resistant material than the fourth segment.
In one aspect, this document describes a robot body including a forward portion and an aft portion. The robot includes a drive system to maneuver the robot body across a floor surface and a cleaning assembly affixed to the forward portion of the robot body, the cleaning assembly comprising a pad holder. The robot includes a cleaning pad affixed to the pad holder of the cleaning assembly.
In one aspect, the cleaning pad includes a core of absorbent layers for absorbing liquid through capillary action and for distributing the liquid within a cleaning pad. In one aspect, the cleaning pad includes a wrap layer around the core, the wrap layer comprising a fibrous layer that is flexible and absorbent, the fibrous layer configured to absorb liquid through capillary action and transfer the liquid to the core. In one aspect, the cleaning pad includes one or more transition regions spanning a cleaning width of the cleaning pad, the transition regions dividing the cleaning pad into at least two segments, wherein a forward positioned segment, of the at least two segments, has a lesser thickness compared to a thickness of an aft positioned segment of the at least two segments.
In one aspect, a forward edge of the cleaning pad is aligned with a forward edge of the robot body. In one aspect, the pad holder is configured to push the cleaning pad onto the floor surface with more pressure near a center of the cleaning pad than near edges of the cleaning pad.
The details of one or more implementations of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other potential features, aspects, and advantages will become apparent from the description, the drawings, and the claims.
Like reference numbers and designations in the various drawings indicate like elements.
This document describes a cleaning pad that attaches to an autonomous cleaning robot. The pad is attached to a pad holder of the robot so that the pad contacts a floor surface as the robot navigates across the floor surface. As the robot moves the pad across the floor surface, the pad removes debris from the floor surface. The pad is shaped to trap debris underneath the pad on the pad exterior and remove the debris from the floor surface rather than push debris across the floor with a leading edge of the pad. The pad is thinner near a leading edge of the pad compared to the thickness of other portions of the pad. The pad holder of the robot is configured to push upon different portions of the pad (into the floor surface) at different pressures. For example, the pad holder can push upon a center portion of the pad with more pressure than edge portions of the pad. The pad shape and pad holder enable the pad to remove debris from the cleaning surface by allowing more of the pad surface to contact debris on the floor surface during cleaning operations of the robot relative to a pad having an approximately even thickness.
The bottom portion of the robot body 120 comprises one or more rear cliff sensors (not shown) in one or both of the two rear corners of the robot 110 and one or more forward cliff sensors located in one or both of the front corners of the robot. The cliff sensors can be mechanical drop sensors or light based proximity sensors, such as an IR (infrared) pair, a dual emitter-single receiver, or dual receiver-single emitter IR light-based proximity sensor aimed downward at a floor surface. The cliff sensors span between sidewalls of the robot 110 and cover the corners as closely as possible to detect flooring height changes beyond a threshold accommodated by reversible robot wheel drop prior to traversal of the respective floor portions by the robot. For example, the placement of the cliff sensors proximate the corners of the robot 110 ensures that the cliff sensors trigger when the robot 110 overhangs a flooring drop, preventing the robot wheels from advancing over the drop edge.
The robot 110 carries a pad holder (not shown) on the forward portion 140 of the robot. The pad holder extends across the front edge of the robot 110 behind a bumper 160 and is configured to hold the pad 100. The pad holder is described in further detail below in relation to
The forward portion 140 of the body 120 carries a movable bumper 160 for detecting collisions in longitudinal or lateral directions. The bumper 160 has a shape complementing the robot body 120 and extends beyond the robot body 120 making the overall dimension of the forward portion 140 wider than the rearward portion 150 of the robot body. The bottom portion of the robot body 120 supports the cleaning pad 100. In embodiments, the pad 100 extends to the edges of the bumper 160 or beyond the width of the bumper 160 such that the robot 110 can position an outer edge of the pad 100 up to and along a wall surface or into a crevice. For example, the pad 100 can be maneuvered by the robot 110 to clean near a wall-floor interface by the extended edge of the pad 100 the while the robot 110 moves in a wall-following motion. Extending the pad 100 beyond the width of the bumper 160 enables the robot 110 to clean in cracks and crevices beyond the reach of the robot body 120. In some implementations, the pad 100 does not extend past the edges of the robot body 120.
The robot 110 can include a fluid applicator. The fluid applicator can have a single nozzle or multiple nozzles. The multiple nozzles are configured to spray the fluid in different directions from one another, different distances from the robot 110, or can be configured to spray in approximately the same direction. The fluid applicator applies fluid downward and outward, dripping or spraying fluid in front of the robot 110. Alternatively, the fluid applicator can be a microfiber cloth or strip.
The fluid applicator is a sprayer that includes at least two nozzles. Each of the nozzles distribute fluid evenly across the floor surface in two strips of applied fluid. The two nozzles are each configured to spray the fluid at an angle and distance different than another nozzle. The two nozzles are vertically stacked in a recess in the fluid applicator and angled from horizontal and spaced apart from one another such that one nozzle sprays relatively longer lengths of fluid forward and downward to cover an area in front of the robot 110 with a forward supply of applied fluid. The other nozzle sprays relatively shorter lengths fluid forward and downward to leave a rearward supply of applied fluid on an area in front of but closer to the robot 110 than the area of applied fluid dispensed by the top nozzle. The nozzle or nozzles dispense fluid in an area pattern that extends one robot width and at least one robot length in dimension. The top nozzle and bottom nozzle apply fluid in two distinct spaced apart strips of applied fluid that do not extend to the full width of the robot 110. The nozzles complete each spray cycle by sucking in a small volume of fluid at the opening of the nozzle so that no fluid leaks from the nozzle following each instance of spraying.
The robot 110 cleans the floor surface using a pattern of approximately parallel ranks. For example, the robot 110 can progress in a generally forward direction during cleaning operations along a first rank. The robot 110 proceeds until a border of the floor surface is reached, such as a wall, carpet, cliff, etc. The robot 110 is configured to perform a 180 degree turn and return in a parallel but opposite direction to clean along a second rank that is offset from the first rank. The robot can turn to offset a width of the robot to clean along the second rank. Alternatively, the robot turns to offset less than a width of the robot to clean along a second rank, ensuring redundant cleaning coverage of the floor surface. The robot 110 has 60-70% overlap from a first rank to a second rank. The robot 110 cleans a portion of the floor surface 2-4 times during cleaning operations. This ensures that the floor surface has been cleaned. For example, the robot 110 loosens stains and debris with earlier passes, allowing time for any cleaning fluid that had been applied to wet the stain. The pad 100 of the robot 110 absorbs the stain and remaining debris and fluid during the later passes.
The robot 110 cleans the floor surface by progressing generally forward in straight ranks. The robot 110 performs a back-and-forth maneuver to check a portion of the floor surface before applying fluid (e.g., a cleaning solution, water, etc.) to the portion of the floor surface for cleaning operations. In embodiments, the robot 110 applies fluid to areas of the floor surface that the robot has already traversed. In other embodiments, the robot 110 does not apply fluid, such as for dry cleaning operations. The robot 110 moves in approximately parallel ranks without performing a backward and forward fluid application maneuver.
The robot performs a fluid application maneuver by moving in a forward direction along the floor surface, followed by moving in a backward or reverse direction. The robot 110 drives in a forward drive direction for a first distance to a first location, such as from location 2 to location 3 on
The fluid application maneuver ensures that the robot 110 is applying fluid to a clear portion of the floor surface. The robot 110 applies the fluid to an area substantially equal to or less than the area footprint of the robot 110. The robot 110 determines that an area of floor is a clear floor surface that is unoccupied by obstacles such as furniture, walls, cliffs, carpets or other surfaces or obstacles. The robot 110 identifies boundaries, such as a flooring changes and walls, and prevents fluid damage to those items.
The robot 110 stores a map and tracks locations the pad 100 has occupied. The robot 110 stores coverage locations on the map in a non-transitory-memory of the robot or on an external storage medium accessible by the robot through wired or wireless means during a cleaning routine. Robot sensors may include a camera and/or one or more ranging lasers for building a map of a space. In some examples. the robot controller uses a map of walls, furniture, flooring changes and other obstacles to position and pose the robot 110 at distances of at least one spray length away from obstacles and/or flooring changes prior to the application of cleaning fluid. This has the advantage of applying fluid to areas of floor surface having no known obstacles thereon. In some examples. the robot 110 moves in a back and forth motion to moisten the pad 100 and/or scrub the floor surface to which fluid has been applied.
Additionally, the forward portion 330 of the pad 300 allows debris 360 and/or fluid to pass beneath the pad and contact the aft portion 320 of the pad. The different thicknesses of the forward portion 330 and the aft portion 320 promotes an even distribution of debris 360 on the pad 300, eliminating or reduce the occurrence of debris heavy deposit spots on the pad (e.g., relative to the rest of the pad). For example, debris buildup on the forward portion 330 of the pad is prevented. Heavy deposit spots on the pad 300 occur where there is an excessive accumulation of debris 360 on a particular portion of the pad while other portion of the pad are clean or nearly clean and collect no debris or relatively little debris. The different thicknesses of the forward portion 330 and the aft portion 320 promotes even wetting across the pad 300, such as for wet cleaning operations. Fluid is soaked up by the aft portion 320 of the pad 300 and the forward portion 330 of the pad. The pad 300 does not push debris and/or fluid along the floor surface 310 but lifts and collects the debris and/or fluid from the floor surface. Taller, less compact debris 340 is collected by the forward portion 330 of the pad 300 while more compact debris 350 is collected by the aft portion 320 of the pad.
The length 510 and the width 515 are dimensioned so that the pad 500 can be affixed to a pad holder of a robot 110. Other properties of the pad 500, such as the vertical thickness, the planar width of each of the segments 530, 540, 550, 560, 570 can be scaled up or scaled down to accommodate particular cleaning operations, such as, for example, larger or smaller floor surface areas and floor surface areas with more or fewer obstacles to navigate between during a cleaning mission. In one embodiment, the pad 500 has a length 510 to width 515 ratio of approximately 5:2. The pad 500 can be different sizes. In some implementations, the pad 500 has a length 510 of approximately 27-32 cm (e.g., 27 cm, 30 cm, or 32 cm) and a width 515 of approximately 10-15 cm (e.g., 10 cm, 12 cm, 15 cm). In embodiments, the pad 500 has a length 510 of approximately 15-20 cm (e.g., 15 cm, 18 cm, or 20 cm) and a width of approximately 5-10 cm (e.g. 5 cm, 8 cm or 10 cm).
The segments 520 of the pad 500 are defined by the transition regions 580a-d. The segments 520 extend across the length 510 of the pad 500. The segments 520 are pockets that are formed between the transition regions 580 and that are formed on one or both edges by the transition regions 580. The transition regions 580 are formed by bonding the layers (e.g. core 610, wrap 620, moisture-resistant material 630) of the pad 500 together, thereby defining edges of pockets that form segments 520. By securing the layers, each of the segments 520 generally have a thicker center region that tapers to a thinner transition region (e.g., region 580). In one aspect, the pad 500 includes five segments 530, 540, 550, 560, 570, but other configurations of the pad are possible. In embodiments, the pad 500 includes fewer than five segments, such as two segments. For example, a first segment can be a forward-positioned segment that terminates at the leading edge 590. A second segment can be an aft-positioned segment that starts at the trailing edge 595 and terminates at the start of the forward-positioned segment. Alternatively, in embodiments, the pad may have more than five segments to increase the surface area of the pad 500 and/or to increase the number of transition regions 580 and thereby break up contact (and therefore molecular attraction) between the surface area of a wet pad 500 and a floor surface 310 more frequently. An embodiment of the pad 500 having more transition regions 580 is less likely to stick to a wet floor surface 310 during a cleaning mission because the adhesive forces of a wet pad on a wet floor are interspersed with regions of non-contact. (e.g., the regions of non-contact are the transition regions 580 dimpled inwardly from the point of maximum thickness of each pocket of each of the segments 520).
Each transition region 580 separates adjacent segments of the pad 500. The transition regions 580 are regions of the pad 500 where the layers of the pad 500 are bonded together. The transition regions 580 bond the layers of the pad 500 together from a top surface of the pad to a bottom surface of the pad. The transition regions 580 prevent bunching or sliding of material within the pad and ensure that material of one or more layers of the segments 520 retain their positions relative to the rest of the pad 500. The transition regions 580 ensure that the pad 500 retains its shape during cleaning operations; for example, that the center of the pad 500 is thicker than the forward portion of the pad 500. The transition regions 580 can assist in wicking fluid from the floor surface and transferring the fluid to a fluid retention core 610, as described in relation to
A mechanical process forms the transition regions 580. For example, mechanical embossments form the transition regions 580. The multiple layers (e.g., core 610, wrap layer 620, moisture-resistant material 630) of the pad 500 are fed though rotary embossing dies that compress the layers of the pad together, forming a strip of mechanical indentations along the transition region 580. The layers of the pad 500 are bonded together mechanically because the indentations are compressed from one or both sides through the thickness of the pad. In embodiments, the mechanical embossments are formed by a heat stamping process that fuses the layers of the pad 500 together along the transition regions 580. The layers of the pad 500 are “pinched” together to form a bond at the transition region 580. In embodiments, the transition regions 580 are formed using ultrasonic welds. For ultrasonic welds, the layers of the pad 500 are held closely together, and a high-frequency signal is applied to fuse the layers of the core 610, moisture-resistant material 630 and wrap layer 620 together though the thickness of the pad 500 (e.g., from the top surface to the bottom surface). The transition regions 580 add stiffness to the pad 500 and assist with maintaining the profile shape of the pad 500 so that the layers of the core 610 and wrap 620 do not move laterally relative to one another. Because the transition regions 580 securely affix the layers of the pad 500, this enables the moving robot 110 to impart downward force on the top surface of the pad 500 and have that fully translate to the same force applied to the bottom surface of the pad 500 in contact with the floor surface 310. The greater the movement and applied force, the greater the scrubbing action that loosens debris from the floor surface.
Additionally, the segments 520 of the pad 500 can each have dimensions that further facilitate debris collection during cleaning operations. The segments 520 each include a vertical thickness and a planar width along the forward-aft axis of the pad 500 and these thicknesses and widths vary so that the pad 500 to has a tapered configuration, as described above with regard to
Turning now to the
In embodiments, the pad 500 includes a core 610, a wrap layer 620, and a moisture-resistant material 630 that each form one or more layers of the pad 500.
Each segment 530, 540, 550, 560, 570 of the pad 500 includes one or more fluid absorbing layers that form the fluid retention core 610 of the pad. In some segments 520, the core 610 is formed from a stack of the fluid absorbing layers that can be bonded together. The core 610 absorbs fluid that contacts the core, such as though capillary action, and distributes the fluid throughout the core. For example, the core 610 wicks the fluid away from an exterior surface of the pad 500 and retains the fluid. Surface tension of the fluid absorbing layers prevents wicked fluid absorbed by the core 610 from leaking into lower layers of the pad 500 or onto the floor surface 310. The core 610 retains the fluid in the one or more absorbing layers such that the fluid does not leak back onto the floor surface 310, such as when the pad 500 is put under pressure against the floor surface 310 by the pad holder of the robot 110. In an embodiment, the core 610 retains approximately 90% of the fluid absorbed from the floor surface when less than 1 lb of force is applied to the core 610. The core 610 soaks up to 8-10 times the weight of the pad 500 in fluid. The core 610 can be formed from a single stack of bonded absorbent layers, or the core 610 can be formed from two or more stacks of bonded absorbent layers.
In embodiments, a bonded stack of absorbent layers comprises an airlaid material. The airlaid material includes an approximately isotropic surface. The airlaid material can be a non-linting material that is non-static. Multiple airlaid layers, each comprising a stack of absorbent layers, can be bonded together by a mechanical embossing process, such as for transition regions 580. The airlaid material includes a cellulose pulp non-woven material that is air bonded with a biocomponent fiber. The fibers of the cellulose pulp are thermally bonded with biocomponent polyethylene, polypropylene, or both, which have low melting points. The mixture forms the core 610 to be absorbent and is semi-rigid such that the core 610 retains its shape when wet. The airlaid material evenly distributes the absorbed fluid, preventing fluid accumulation or pooling in a low point of the core 610.
In embodiments, the absorbent layers of the core 610 can be heat bonded or bonded with an adhesive to form stacks of absorbent layers (e.g., core layers). Spray adhesive is applied uniformly over the absorbent layers to bond the layers together without creating ridges or rigid areas of the core 610. The adhesive includes polyolefin. The adhesive enables fluid to wick between the absorbent layers of the core 610, promoting a substantially even distribution of fluid within the core. A latex bonding agent can be applied to the absorbent layers of the core 610 to reduce linting of the absorbent layers and to minimize sloughing of the absorbent layers from the core.
In embodiments, the core 610 can be of non-uniform density, such as to promote wicking of fluid away from a surface of the core and toward an interior of the core. The surface of the core 610 can be slightly denser than the interior of the core. The denser surface of the core 610 is smoother and slightly less absorptive than the interior of the core. The core 610 is configured to retain and distribute fluid throughout the center of the core.
The core 610 forms a base for the pad 500. The core 610 is semi-rigid to retain the shape of the pad 500. The transition regions 580 stiffen the core 610 and add help the core retain structure. The segments 520 of the pad 500 each include one or more layers of the core 610. Segments of the pad 500 have different numbers of layers of core 610 material. For example, segment 530 includes a single layer of core 610, while segments 540, 550, 560, and 570 each include two or more layers of core 610. In some implementations, a single core 610 layer includes airlaid. In some implementations, a single core 610 layer includes latex.
In embodiments, the wrap layer 620 wraps around the one or more layers of the core 610 and forms an outer surface of the pad 500. The wrap layer 620 includes a flexible and absorbent material that covers the core 610 and prevents the core from being directly exposed to the floor surface 310. In embodiments, the wrap layer 620 includes a fiber-entangled material. The wrap layer 620 contacts the floor surface during cleaning operations. The wrap layer 620 absorbs fluid from the floor surface by capillary action during cleaning operations. The wrap layer 620 transfers the fluid into the core 610, where the fluid is retained by the pad 500.
The wrap layer 620 can be formed from a material that is flexible, absorbent, and thin, such as a spun-lace material, a spun-bond material, and so forth. In some implementations, the wrap layer 620 is formed by a fiber-entangling process, such as hydroentangling, water entangling, jet entangling, hydraulic needling, etc. being applied to a precursor web. The precursor web is formed from staple textile-like fibers. The precursor web can be a single fiber webs or made of many different fiber blends. The fibers can include can include one or more of polyester, viscose, polypropylene, cotton, and other similar materials.
The wrap layer 620 is configured for wet, damp, or dry cleaning operations, such as to mop a floor surface or to dust a floor surface The wrap layer 620 can include an external coating of one or more cleaning materials, debris removing materials, etc. The wrap layer 620 includes a cleaning agent surfactant such as butoxypropanal, alkyl polyglycoside, dialkyl dimethyl ammonium chloride, polyoxyethylene castor oil, alkylbenzene sulfonate, glycolic acid, or other surfactant.
In some implementations, the wrap layer 620 can include an external coating of an antistatic agent such as those based on long-chain aliphatic amines (optionally ethoxylated) and amides, quaternary ammonium salts (e.g., behentrimonium chloride or cocamidopropyl betaine), esters of phosphoric acid, polyethylene glycol esters, or polyols. Other aspects of a pad 900 configured for dry cleaning are described below in relation to
Returning to
In embodiments, the moisture-resistant material 630 includes a batting material. The batting material includes loosely entangled fibers of low density relative to the core 610. The moisture-resistant material 630 wicks fluid from the wrap layer 620 and transfers the fluid to the core 610 at a first rate that is slower than a second rate of fluid transfer that occurs when the wrap layer directly contacts the core. As stated above, slowing the rate of fluid transfer enables the pad 500 to leave some fluid on the floor surface 310 during cleaning operations, which enables the fluid to soak stains or other debris on the floor surface for later absorption into the pad 500 during another pass by the mobile robot. In embodiments, the mobile robot 110 traverses the floor surface 310 in overlapping parallel ranks terminating at 180 degree turns. In embodiments, the robot 110 overlaps with a previously traversed rank by approximately two thirds the width of the body of the robot 110 or two thirds the width of the pad 500 attached to the robot 100, so that every spot on a floor surface is contacted three times by the pad 500. During these passes, the fluid applied to the floor surface by the robot is wicked away from the moisture-resistant material 630 by the core 610. The low density of the moisture-resistant material 630 prevents the moisture-resistant material 630 from storing excess fluid such and transferring fluid back to the wrap layer 620 from the core 610. Such a configuration allows the wrap layer 620 to be dryer to absorb more fluid from the floor surface 310 and improves wicking of fluid and suspended debris into the core 610. In embodiments, the moisture-resistant material 630 can include latex fibers. In embodiments, the moisture-resistant material 630 can include a cotton batting.
The moisture-resistant material 630 is disposed in varying amounts (e.g., different volumes, but equal density) in the segments 520. The moisture-resistant material 630 gives volume to one or more of the segments 520. The tapered cross-sectional shape of the pad 500 is formed by varying the amount of the moisture-resistant material 630 in each of the segments 520 so that the aft portion of the pad is thicker than the forward portion of the pad. In embodiments, the density of the moisture-resistant material 630 is approximately equivalent throughout the segments 520 of the pad 500 so that the rate of fluid absorption into the core 610 is varied only by the volume of moisture resistant material in each of the segments 520. In the embodiment of
The moisture-resistant material 630 is disposed on a surface of the core 610 that faces the floor surface 310 during cleaning operation. The top surface of the pad 500, which includes a pad backing (described in greater detail in relation to
Returning to
The thicknesses of the segments 520 promote even distribution of debris collection on the pad 500. In some implementations, the pad 500 is generally thicker near the aft portion 320 of the pad than near the forward portion 330 of the pad 500 relative to the direction of motion of the pad 670 across a floor surface 310 during cleaning operations. A forward-positioned segment, such as segment 530, is thinner than an aft-positioned segment, such as segments 540, 550, 560, and 570. For example, segment 530 includes the core 610 surrounded by the wrap layer 620, and has a first thickness 640. Segment 540 includes the core 610 at double thickness relative to segment 530, such as including two stacks of bonded absorbent material layers 710, 720. Segment 540 has a second thickness 650 that is greater than the first thickness 640. The first thickness is approximately 5-10 mm. The second thickness is approximately 7-13 mm. Segment 530 includes a first thickness of the core 610, and the other segments 540, 550, 560, and 570 each include a second thickness of the core 610 that is approximately twice as thick as the first thickness 640.
In embodiments, the pad 500 can include more than two segments. Segment 550 is aft of segments 530 and 540 and includes the moisture-resistant material 630 between the wrap layer 620 and the core 610. Segment 550 has a third thickness 660 that is greater than the second thickness 650 and the first thickness 640. Segments 550, 560, and 570 each have the third thickness 630. The third thickness 630 is approximately 15-25 mm. Segments 550, 560, and 570 respectively increase in thickness. Segments 550, 560, and 570 each include the moisture-resistant material 630 that is disposed between the core 610 and the wrap layer 620.
The transition regions 580 divide the width 515 of the pad 500 into the segments, as described above in relation to
Turning now to the types of applications of cleaning,
The moisture-resistant layer 830 gives the pad 500 volume (e.g., vertical thickness) in the aft-positioned segments 550, 560, 570 and reduces or eliminates contact area between the forward-positioned segments 530, 540 on the floor surface relative to the contact area between the floor surface and segments 550, 560, 570. The moisture-resistant layer 830 causes segments 530, 540 to be suspended just above the floor surface during cleaning operation, as the pad 500 and the robot 100 rest on segments 550, 560, 570. The moisture-resistant layer 830 is thicker in segment 570 than segment 560 and thicker in segment 560 than segment 550. The wrap layer 820 surrounds the moisture-resistant layer 830, the first core layer 810, and the second core layer 840. The transition regions 580 bond the first core layer 810, the second core layer 840, the wrap layer 820, and the moisture-resistant layer 830 (where applicable) together. Each segment 530, 540, 550, 560, 570 defines a pocket with the wrap layer 820 surrounding the first core layer 810, and the second core layer 840. For segments 550, 560, and 570, the wrap layer 820 forms the pocket around the moisture-resistant layer 830.
Under the weight of the robot 110, a pad holder (e.g., pad holder 1300 of
In this embodiment, due to the varying thicknesses of the segments 530, 540, 550, 560, and 570, segments 530 and 540 either do not contact the floor surface at all or with as much pressure as the aft-positioned segments 550, 560, 570. For example, the core 610 is thinner in segment 530 than in segments 540,550, 560, and 570. Segment 530 lightly contacts or suspends above the floor surface 310 and allows some debris and fluid to pass beneath the segment 530 underneath the pad 500, allowing the aft-positioned segments 540, 550, 560, 570 to wet evenly and remove debris from the floor surface as described above. Additionally, segment 540 does not include the moisture-resistant layer 830 and is thinner than the segments 550, 560, 570 that do include the moisture-resistant layer. Segment 540 allows some debris and fluid to pass beneath the segment 540, allowing segments 550, 560, and 570 to remove the debris and fluid from the floor surface. Pad 500 is configured to wet evenly and collect debris evenly across each of the segments 530, 540, 550, 560, 570 during cleaning operations.
In other embodiments, a pad 900 is configured for dry cleaning operations.
A core 940 extends across the width 950 of the pad 900. The core 940 can include bonded absorbent layers that form a semi-rigid base for the pad 900. The core 940 can be similar to the core 610 of pad 500. For example, core 940 can include one or more airlaid layers. Core 940 can be a different material that is less absorbent than core 610 or not absorbent at all.
A wrap layer 960 wraps around one or more layers of the core 940 and forms the outer surface of the pad 900. The wrap layer 960 can be the same or similar to the wrap layer 620, such as described above in relation to
In embodiments, the pad 900 includes a volume layer 970. The volume layer 970 is a low-density batting. The volume layer can include the moisture-resistant material 630, such as the latex batting described above in relation to
Each segment of the pad 900 includes varying amounts of material, varying the thicknesses of the pad from the forward portion to the aft portion of the pad 900. The forward segment 910 includes the core 940 that is surrounded by the wrap layer 960. The middle segment 920 includes the core layer 910 having an increased thickness relative to the core layer of the forward segment 910, surrounded by wrap layer 960. The aft segment 930 includes the core layer 910 having greater thickness than the core layer of the forward segment 910, the volume layer 970, and the wrap layer 960.
The pad 900 includes an increasing thickness from a forward portion of the pad to an aft portion of the pad 900. Forward segment 910 has a first thickness 980 that is thinner than a second thickness 985 of middle segment 920. The second thickness 985 of the middle segment 920 is thinner than a third thickness 990 of the aft segment 930. In embodiments, the first thickness 980 of the forward segment 910 is 40-60% as thick as the second thickness 985 of the middle segment 920. In embodiments, the second thickness 985 of the middle segment 920 is 20-30% as thick as the third thickness 990 of the aft segment 930. The forward segment 910 and the middle segment 920 contact the floor surface during cleaning operations with less pressure than the aft segment 930, allowing debris to reach the aft segment without pushing the debris across the floor surface beneath the robot 110. The forward segment 910 and the middle segment 920 allow some debris to pass beneath portions of the pad 900 during cleaning operations, promoting even collection of debris by each of the forward segment 910, middle segment 920, and the aft segment 930.
Similarly, the dry pad 1130 includes a forward portion 1150 that is thinner than the aft portion 1140. For example, the forward portion 1150 of the dry pad 1130 allows some debris to contact the aft portion 1140 of the pad from the floor surface. The difference in thicknesses between the forward portion 1150 and the aft portion 1140 promotes even debris distribution across the length of the pad 1100, as described above. The difference in thicknesses between the forward portion 1150 and the aft portion 1140 prevents the accumulation of debris on the dry pad 1130 in particular, small regions called “debris hot spots” that collect debris while other portions of the pad 1130 remain clean. For example, in embodiments, the ratio of the forward portion 1150 width to the aft portion 1140 width of the dry pad 1130 is approximately 1:3, such that the forward portion 1150 is approximately 25-35% of the width of the dry pad 1130 and the aft portion is approximately 65-75% of the width of the pad.
The ratios of the forward portions 1110, 1140 to the aft portions 1120, 1150, respectively, are different for the wet pad 1100 and the dry pad 1130. Dry debris is more voluminous and less adhesive than wet debris. Dry debris covers a greater portion of the dry pad 1130 during cleaning operations, relative to the portion of the wet pad 1100 that is covered by the wet debris. The dry pad 1130 includes a larger ratio of the forward portion width to the aft portion width relative to the wet pad 1100. The dry pad 1130 allows larger debris room to pass beneath the forward portion 1150 of the dry pad and collect and compact the larger debris so that some portions of debris are sufficiently compact to be entrapped by and beneath the aft portion 1140 riding on the floor surface 310. Because dry debris is more voluminous and less compactable than wet debris, the dry pad 1130 has a larger overhanging leading edge than the wet pad 1100. By having a larger forward portion 1150, the dry pad 1130 rides up on fluffy dry debris and collects the voluminous dust and debris under the forward portion 1150 rather than pushing larger pieces of debris around in front of the robot 110.
Turning now to assembly of a pad 300, 500, 900 to a robot 1100, as shown in the embodiment of
In some implementations, the backing layer 1210 does not protrude beyond the edges 1295a, 1295b of the pad 1200. (Edges 1295a, 1295b correspond to edges 525, 535 in the embodiment of the pad 500 of
In embodiments, the backing layer 1210 includes keyed apertures 1230a, 1230b that receive protrusions 1320a, 1320b of the pad holder 1300 of the robot 110 for holding the pad 1200 on the robot 110. In some embodiments, the apertures 1230a, 1230b are located at symmetrical distances from edges 1295a, 1295b such that the pad 1200 can be affixed to the pad holder in more than one orientation. An aperture 1240 provides an opening for a sensor on the robot 110 to detect pad type indicia on the top surface of the pad 1200 and relay signal indicative of a type of the pad 1200 to the robot 110. For example, the type of pad can include the wet pad 1100, the dry pad 1130, a hybrid wet-dry pad, and so forth. In embodiments, the aperture 1240 can be substituted with another type of indicator for communicating pad type information to a sensor or otherwise communicating with a controller of the robot 110. Such indicators include, for example, an RFID tag, a QR code or other data rich symbol, and so forth.
The backing layer 1210 includes a pair of end stops 1260a, 1260b and a notch 1270 that assist the orientation and attachment of the pad 1200 to a pad holder of the robot 110 (e.g., pad holder 1300 of
The notch 1270 depicted in the embodiment of the backing layer 1210 in
In some implementations, the pad 1200 includes one or more chemical preservatives applied to or manufactured within the backing layer 1210. The preservatives are selected to prevent the growth of wood spores that may be present in the wood based backing layer 1210. The backing layer is approximately 5-7 mm thick, 68-72 mm wide and 92-94 mm long. The backing layer 1210 is coated on both sides with a water resistant coating, such as wax or polymer or a combination of water resistant materials, such as wax, polyvinyl alcohol, polyamine. The backing layer 1210 does not disintegrate when wetted, such as by fluid wicked from the floor surface by the pad 1200.
To hold the backing layer 1210 of the pad 1200, the robot 110 includes a pad holder 1300.
Under the weight of the robot 110, the pad holder 1300 is configured to apply varying pressure to the different portions of a pad (e.g., pad 500) against the floor surface (e.g., floor surface 310). The pad holder 1300 can apply more pressure to an aft portion (e.g., aft portion 320) of the pad 500 so that a forward portion (e.g., forward portion 330) of the pad does not adhere to the floor surface 310 and push debris in front of the pad 500 without entraining the debris. Rather, applying greater pressure to the aft portion of the pad 500 promotes even wetting and debris accumulation on the pad by allowing fluid and debris to pass beneath the forward portion 330 of the pad to contact the aft portion 320 of the pad 500.
In embodiments, the pad holder 1300 applies a greater pressure to a center of the aft portion 320 of the pad rather than edges 1295a, 1295b of the pad 500 which extend beyond the edges of the pad holder 1300. (Numbered elements refer to the single embodiment of the pad shown in
Several implementations have been described above. Accordingly, other implementations are within the scope of the following claims.
This application is a continuation of and claims priority to U.S. application Ser. No. 16/827,416, filed on Mar. 23, 2020, which application is a continuation of and claims priority to U.S. application Ser. No. 15/612,234, now U.S. Pat. No. 10,595,698, filed on Jun. 2, 2017, the entire contents of each are hereby incorporated by reference.
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| Number | Date | Country | |
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| 20230111703 A1 | Apr 2023 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 16827416 | Mar 2020 | US |
| Child | 18079351 | US | |
| Parent | 15612234 | Jun 2017 | US |
| Child | 16827416 | US |
