This specification relates to electrical connection mechanisms for robotic vacuum lids.
Cleaning robots include mobile robots that autonomously perform cleaning tasks within an environment, e.g., a home. Many kinds of cleaning robots are autonomous to some degree and in different ways. The cleaning robots can autonomously navigate about the environment and ingest debris as they autonomously navigate the environment. The ingested debris are often stored in cleaning bins that can be manually removed from the cleaning robots so that debris can be emptied from the cleaning bins. A cleaning robot can include a light ring that can provide visual indications that can represent the status of the cleaning robot.
Described herein is a system and method for maintaining an electrical connection to a light ring in a lid of an autonomous cleaning robot. During operation of an autonomous cleaning robot, e.g., a vacuuming robot, if the electrical connection to the light ring is disrupted, the light ring may not illuminate. Certain events may disrupt the electrical connection, such as position changes in the lid after the autonomous cleaning robot bumps into an object, or a cleaning bin improperly seated in a cavity of the autonomous cleaning robot due to debris build up beneath the cleaning bin. When the cleaning bin is unable to seat properly in the cavity of the autonomous cleaning robot, the cleaning bin may press upward on an underside the lid of the autonomous cleaning robot and may interfere with an electrical connection between the lid of the autonomous cleaning robot and the robot body. Three aspects of the autonomous cleaning robot and its operation may advantageously reduce or eliminate this problem. First, a bottom surface that defines the cavity may include surface features to create a vertical space where debris may collect without disrupting the cleaning bin's position. Second, the autonomous cleaning robot may be operated to clear debris from an airflow channel prior to removal of the cleaning bin from the autonomous cleaning robot. Third, the electrical contact assembly is configured to maintain contact with the lid over a wide range of vertical heights, allowing the electrical connection to be maintained during movement of the robot, slight off-positioning of the cleaning bin, etc.
In one aspect, an autonomous cleaning robot includes a body, a drive operable to move the body across a floor surface, and a circuit board mounted below an upper surface of the body of the autonomous cleaning robot. The autonomous cleaning robot includes one or more electrical contacts, a base of each electrical contact being mounted on the circuit board and a contact tip of each electrical contact being configured to protrude through a corresponding opening in the upper surface, wherein each electrical contact comprises a double curved structure to allow the electrical contact to be vertically flexible. The autonomous cleaning robot includes a hinged lid comprising one or more contact pads, the one or more contact pads being configured to contact corresponding electrical contacts protruding through the upper surface as the lid is opened or closed.
In some implementations, each electrical contact includes a dome-shaped dimple on the contact tip of the electrical contact.
In some implementations, the contact tip of the electrical contact includes a first material and the base of the electrical contact includes a second material, the second material being different from the first material. In some instances, the first material includes gold and the second material includes a copper alloy.
In some implementations, the lid includes a light ring configured to be powered through the one or more electrical contacts and to provide and receive data through the one or more electrical contacts. In some instances, the one or more contacts providing power are located to the inside of the one or more contacts providing and receiving data.
In some implementations, the autonomous cleaning robot of claim 1, wherein the one or more electrical contacts are configured to have a vertical travel between 1 and 2 mm.
In some implementations, each electrical contact comprises a horizontally extending free end configured to contact an underside of the upper surface of the body of the autonomous cleaning robot.
In some implementations, each electrical contact comprises a substantially horizontal surface connected to the double curved structure, wherein the substantially horizontal surface is configured to contact an underside of the upper surface of the body of the autonomous cleaning robot.
In some implementations, the upper surface comprises a raised portion through which the one or more electrical contacts protrude.
In some implementations, the contact tips of the one or more electrical contacts are configured to scrub the contact pads of the lid as the lid is opened or closed.
In some implementations, the openings of the upper surface through which the one or more contacts protrude are proximate to a hinge of the lid.
In some implementations, the contact pads have dimensions of approximately 3 mm by 3 mm.
In some implementations, the corresponding openings in the upper surface have dimensions of approximately 2.5 mm by 2.5 mm.
In some implementations, the contacts are configured to provide at least 75 grams of force on the lid when the lid is closed.
In some implementations, the circuit board is positioned between 3.5 mm and 4.5 mm below an underside of the upper surface.
In some implementations, the double curved structure comprises a number of horizontally oriented regions connected by curved regions on alternating sides, and a pair of intersecting near-vertical regions connecting to form a tip.
In some implementations, the double curved structure forms a spring with a ribbon shaped cross section.
In another aspect, a method of controlling an autonomous cleaning robot includes navigating the autonomous cleaning robot to a docking station and sensing that the autonomous cleaning robot is navigating to the docking station. The method includes increasing a vacuum power of a vacuum assembly of the autonomous cleaning robot to reduce an amount of debris from an airflow channel proximate to an inlet of a cleaning bin disposed in the autonomous cleaning robot. The method includes decreasing the vacuum power of the vacuum assembly of the autonomous cleaning robot.
In some implementations, the autonomous cleaning robot moves to the docking station as the autonomous cleaning increases the vacuum power.
In some implementations, decreasing the vacuum power of the vacuum assembly occurs when the robot is docked at the docking station.
In some implementations, decreasing the vacuum power of the vacuum assembly occurs before docking at the docking station is completed.
In some implementations, the increased vacuum power corresponds to a motor speed between 20,000 rpm and 24,000 rpm. In some instances, the increased vacuum power is corresponds to a motor speed of approximately 22,000 rpm.
In some implementations, increasing the vacuum power occurs during a time interval. In some instances the time interval is between approximately 5 seconds and 15 seconds. In some instances, the time interval is approximately 10 seconds.
In some implementations, decreasing the vacuum power is initiated before the autonomous cleaning robot contacts the docking station.
In some implementations, decreasing the vacuum power is initiated after the autonomous cleaning robot contacts the docking station.
In another aspect, an autonomous cleaning robot includes a body, a drive operable to move the body across a floor surface, and a cleaning bin cavity defined by a bottom surface in the body of the autonomous cleaning robot, the cleaning bin cavity being configured to receive a cleaning bin. The autonomous cleaning robot includes one or more pillars positioned on the bottom surface of the cleaning bin cavity, the one or more pillars extending vertically from the bottom surface and being configured to contact a bottom surface of the cleaning bin positioned in the cleaning bin cavity. The one or more pillars create a volume between the bottom surface of the cleaning bin cavity and the bottom surface of the cleaning bin.
In some implementations, each of the one or more pillars extends vertically approximately 1 mm above the bottom surface of the cleaning bin cavity.
In some implementations, each of the one or more pillars comprises a top surface and each pillar has a tapered shape extending upward toward the top surface.
In some implementations, each of the one or more pillars is approximately cylindrically shaped.
In some implementations, the autonomous cleaning robot includes four pillars, wherein two of the four pillars are positioned proximate to a flat sidewall of the cleaning bin cavity and two of the four pillars are positioned proximate to a curved sidewall of the cleaning bin cavity. In some implementations, the one or more pillars are distributed on the bottom surface of the cleaning bin cavity to support the cleaning bin in the cavity.
In some implementations, each of the one or more pillars is positioned at least 2 mm away from an edge of the bottom surface of the cleaning bin cavity.
In another aspect, an autonomous cleaning robot includes a body, a drive operable to move the body across a floor surface, and a cleaning bin cavity defined by a bottom surface in the body of the autonomous cleaning robot, the cleaning bin cavity being configured to receive a cleaning bin. The autonomous cleaning robot includes one or more pillars positioned on the bottom surface of the cleaning bin cavity, the one or more pillars extending vertically from the bottom surface and being configured to contact a bottom surface of a cleaning bin positioned in the cleaning bin cavity, wherein the one or more pillars create a volume between the bottom surface of the cleaning bin cavity and the bottom surface of the cleaning bin. The autonomous cleaning robot includes a circuit board mounted below an upper surface of the body of the autonomous cleaning robot. The autonomous cleaning robot includes one or more electrical contacts, a base of each electrical contact being mounted on the circuit board and a contact tip of each electrical contact being configured to protrude through a corresponding opening in the upper surface, wherein each electrical contact comprises a double curved structure configured to allow the electrical contact to be vertically flexible. The autonomous cleaning robot includes a hinged lid comprising one or more contact pads, the one or more contact pads being configured to contact corresponding electrical contacts protruding through the upper surface as the lid is opened or closed. The hinged lid is configured to cover the upper surface and the cleaning bin when the cleaning bin is positioned in the cleaning bin cavity and the hinged lid is closed.
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.
Described herein is a system and method for maintaining an electrical connection to a light ring in a lid of an autonomous cleaning robot. Three aspects of the autonomous cleaning robot and its operation may advantageously reduce or eliminate this problem. First, a bottom surface defining the cavity may include surface features to create a vertical space where debris may collect without disrupting the cleaning bin's position. Second, the autonomous cleaning robot may be operated to clear debris from an airflow channel prior to removal of the cleaning bin from the autonomous cleaning robot. Third, the contact assembly is configured to maintain contact with the lid over a wide range of vertical heights, allowing the electrical connection to be maintained during movement of the robot, slight off-positioning of the cleaning bin, etc.
Autonomous Cleaning Robot Components
Referring to
Referring to
Surface Features of a Bottom Surface of a Cavity Configured to Receive a Cleaning Bin
Referring to
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The bottom surface 416 defining the cavity 414 includes surface features (e.g., pillar 418) to support the cleaning bin 306 when the cleaning bin 306 is positioned in the cavity 414. Various shapes, geometries, combinations of shapes may be used in forming the surface features. Pillar 418 is approximately cylindrically shaped and is positioned near a corner of the bottom surface 416 defining the cavity 414. In the present implementation, the pillar 418 is positioned approximately a distance D1 from the first side surface 432 defining the cavity 414 and approximately a distance D2 from a second side surface 434 that defines the cavity 414. In some implementations, the distance D1 may be between 2 mm and 6 mm and the distance D2 may be between 13 mm and 23 mm.
Referring to
In the present implementation, the pillar 518 has a flat top surface configure to contact a bottom surface of the cleaning bin 306 when the cleaning bin 306 is positioned in the cavity 514. The flat top surface of the pillar 518 has a diameter D3, which may be between approximately 3 mm and 5 mm. The pillar 518 has slanted sides, which slope downward and outward from the flat top surface to connect the pillar 518 at a base to the bottom surface 516 defining the cavity 514. The base of the pillar 518 has a diameter D4, which may be between approximately 5 mm and 7 mm. Pillars (e.g., pillar 518) are formed on the bottom surface 516 of the cavity 514 to protrude past any debris that might be present on the bottom surface 516 of the cavity 514. The pillars are shaped to allow debris to be easily wiped out of the cavity 514 around the pillars. Additionally, movement of the cleaning bin 306 (e.g., as the autonomous cleaning robot 300 moves across a floor surface) in the cavity 514 and the shape of the pillars allows debris to slide off of the top of the pillars.
Contact Assembly
Referring to
The contacts 636a-d are configured to flex vertically (i.e., extend a variable distance from the raised surface 622) as the contacts 636a-d are contacted by the contact pads 310 on the lid 302 of the autonomous cleaning robot 300. The contacts 636a-d are configured to flex horizontally as the autonomous cleaning robot 300 moves about a floor surface during a cleaning mission. During the cleaning mission, the autonomous cleaning robot 300 can bump into objects, traverse flooring changes, etc., which may cause the lid 302 to move differently than the body 308 of the autonomous cleaning robot 300. For example, if the lid 302 is bounced slightly upward (i.e. the lid 302 moves upward relative to the body 308, but does not come unlatched from the body 308 of the autonomous cleaning robot 300) due to the autonomous cleaning robot 300 encountering an obstacle, the contacts 636a-d will flex vertically upward to maintain contact with the contact pads 310 on the lid 302. The vertical flexing of the contacts 636a-d therefore allows the electrical connection, and therefore the transmission of power and data, to be maintained
As the contact pads 310 contact the contacts 636a-d when the lid is closed, the contacts 636a-d may flex horizontally as well as vertically. Due to a dome shape of a dimple 808 (see
Referring to
Based on a status of the autonomous cleaning robot 300, the controller may send a signal to the light ring 304 on the lid 302 to cause the light ring 304 to illuminate. A status of the autonomous cleaning robot 300 may be, for example, a status of the cleaning bin 306 (e.g., a fullness level), a status of another component of the autonomous cleaning robot 300 (e.g., a side brush 106 (shown in
Referring to
The tip 806 of the contact 800 includes a dimple 808, which contacts a corresponding contact pad 310 on the lid 302 of the autonomous cleaning robot 300 when the lid 302 is closed. The dimple 808 has an approximately dome-shaped outer surface which allows the dimple 808 to make contact with (e.g. by scraping along) the contact pad of the lid 302 as the lid 302 pivots about hinge 430 during opening and closing. The dome-shaped outer surface provides an approximately circular contact region between the electrical contact 800 and the corresponding contact pad 310. The dimple 808 is raised by approximately 0.5 mm to avoid damage to the contact pads 310 from the sharper edges (e.g., edge 836) of the contacts. In some implementations, the dimple 808 may be raised between approximately 0 and 1 mm (e.g., 0 to 0.1 mm, 0 to 0.25 mm, 0 to 0.5 mm, 0 to 0.75 mm, 0.1 to 0.25 mm, 0.1 to 0.5 mm, 0.1 to 0.75 mm, 0.1 to 1 mm, 0.25 to 0.5 mm, 0.25 to 0.75 mm, 0.25 to 1 mm, 0.5 to 0.75 mm, 0.5 to 1 mm, 0.75 to 1 mm, etc.) above the curved portion 810.
The top portion 804 of the contact 800 has a first free end 824 that includes a first horizontal surface 812. The horizontal direction is shown as the X direction and the vertical direction is shown as the Z direction in
Referring to
Airflow Channel Clearing Method
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The method also includes, subsequent to increasing the vacuum power, decreasing (1008) the vacuum power of the vacuum assembly of the autonomous cleaning robot 300. In some instances, decreasing the power occurs after the autonomous cleaning robot 300 contacts the docking station. In some instances, decreasing the power occurs before the autonomous cleaning robot 300 contacts the docking station. Decreasing the power of the vacuum assembly may include returning the vacuum assembly to a power level at which the vacuum assembly was operating before increasing the power to clear the debris. Decreasing the power of the vacuum assembly may include turning the vacuum power to zero, thereby shutting off the vacuum assembly.
A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made. Accordingly, other implementations are within the scope of the claims.