Patent Application
20240172906
Embodiments described herein generally relate to a mobile cleaning robot and more specifically to mobile cleaning robots with spacer.
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.
Autonomous mobile cleaning robots can be useful to automatically or autonomously clean a portion of an environment, such as a room or rooms, by extracting debris off a surface of the room or rooms. Extraction can be performed using a single roller. The vanes of the single roller can be configured in a herringbone pattern where vanes on opposite sides of the roller have an opposing pitch or helicity Such a roller with a herringbone pattern can provide improved cleaning performance. The inventors have recognized, among other things, the need for a single roller that provides the advantages of a herringbone pattern while also providing reduced noise and power consumption.
In certain systems including a herringbone roller, the inventors have recognized that by replacing a central portion of the herringbone roller with a spacer improved noise performance and power consumption can be provided.
This disclosure describes devices and methods that can help to address this problem, such as by including a roller that can include a first elongated member, a second elongated member, and a spacer. The first elongated member, the second elongated member, and the spacer can each be engageable to a surface of the environment. The first elongated member and the second elongated member can include a helical pattern or a herringbone pattern, to aid in the extraction of debris from the surface of the environment. The spacer can prevent debris collection between the first elongated member and the second elongated member.
For example, a mobile cleaning robot can include a roller core, a first elongated member, a second elongated member, and a spacer. The roller core can extend along a longitudinal axis of the roller. The first elongated member can be engageable with a floor surface. The first elongated member can at least partially surround a first portion of the roller core. The second elongated member can also be engageable with the floor surface. The second elongated member can at least partially surround a second section of the roller core. The spacer can at least partially surround the roller core between the first elongated member and the second elongated member. The spacer can be engageable with the floor surface and can be configured to prevent debris collection between the first elongated member and the second elongated member.
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.
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. Extraction can be performed using a single roller. The use of a single roller can allow for a roller design that can help to reduce an amount of energy required during cleaning operations as compared to dual roller designs. In examples, the single roller can include different patterns to aid in the extraction of debris, e.g., fibrous debris and particle debris, from a surface of a floor.
For example, a first elongated member and a second elongated member can each include one or more fletches (or vanes) extending longitudinally along a longitudinal axis of the roller in a helical pattern. In another example, the first elongated member and the second elongated member can include one or more fletches extending longitudinally along a longitudinal axis of the roller in a herringbone pattern. In the herringbone pattern, the helical pattern on the first elongated member can rotate in an opposite direction around the roller core than the helical pattern on the second elongated member. In examples, during operation, a roller with the first elongated member and the second elongated member with opposite helical patterns (or herringbone pattern) that form a single body can generate more noise than desired and can require additional power to rotate the roller.
Thus, the first elongated body and the second elongated body can be detached from one another such that the first elongated body and the second elongated body can deflect independently of each other. However, as the first elongated body and the second elongated body deflect, a gap can form between the first elongated body and the second elongated body. The gap between the first elongated body and the second elongated body can reduce the efficiency of debris extraction and can generate a trap for fibrous debris to wrap around the roller.
This disclosure describes devices and methods that can help to address these problems, such as by providing a mobile cleaning robot including a roller with the first elongated member, the second elongated member, and a spacer. In examples, the spacer can be installed on a roller core between the first elongated member and the second elongated member. The spacer can have a diameter less than a resting diameter of the first elongated member and the second elongated member, thus helping to reduce stress in the middle of the roller as the roller is operatively rotated and contacts the floor. The smaller diameter can help to decrease an amount of power to operate the roller. Also, the spacer can at least partially fill an axial gap between the first elongated member and the second elongated member, which can help limit debris build-up between the first elongated member and the second elongated member. Moreover, the spacer can transfer debris between the first elongated member and the second elongated member.
The cleaning robot 100 can include a housing or body 102, a cleaning assembly 104, and a control system 106 (which can include a controller 108 and memory 110). The cleaning robot 100 can also include drive wheels 112, motor(s) 114, and a support skid or skids 116. The cleaning assembly 104 can include a cleaning inlet 117, a roller 118 (or cleaning wheel), a vacuum system 119, a roller motor 120, and a dustpan 122 (or guide). The robot 100 can also include cliff sensors 124, proximity sensors 126, a bumper 128, bump sensors 130, an obstacle following sensor 132, and a brush 134 (or the side brush 134) including a motor 136.
The housing 102 can be a rigid or semi-rigid structure comprised of materials such as one or more of metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like. The housing 102 can be configured to support various components of the robot 100, such as the wheels 112, the controller 108, the cleaning assembly 104, the dustpan 122, and the side brush 134. The housing 102 can define the structural periphery of the robot 100. In some examples, the housing 102 includes a chassis, cover, bottom plate, and bumper assembly. Because the robot 100 can be a household robot, the robot 100 can have a small profile so that the robot 100 can fit under furniture within a home.
The roller 118 of the cleaning assembly 104 can be rotatably connected to the housing 102 near the cleaning inlet 117 (optionally located in a forward portion of the robot 100), where the roller 118 can extend horizontally across the robot 100. The roller 118 can be connected to the roller motor 120 to be driven to rotate the roller 118 relative to the housing 102 to help collect dirt and debris from the environment 40 through the cleaning inlet 117. The vacuum system 119 can include a fan or impeller and a motor operable by the controller 108 to control the fan to generate airflow through the cleaning inlet 117 between the roller 118 and into a debris bin 138 (shown in
The roller 118 can be of several types, such as when the roller 118 is optimized based on the environment 40, as discussed further below. The roller 118 can include bristles or brushes, which can be effective at separating (or agitating) debris within carpet fibers for suction by the robot 100. The roller 118 can also include vanes, fletches, or flexible members extending therefrom, which can be relatively effective at separating debris within carpet fibers for suction by the robot 100 while also being effective at pulling debris off hard surfaces. The roller 118 can also include no fins, vanes, or bristles, which can be effective at pulling debris off hard surfaces. The roller 118 can be other types of roller in other examples.
The controller 108 can be located within the housing and can be a programmable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programmable logic controller (PLC), or the like. In other examples the controller 108 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, memory, and communication capabilities. The memory 110 cam 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 110 can be located within the housing 102, connected to the controller 108, and accessible by the controller 108.
The control system 106 can further include a sensor system with one or more electrical sensors, for example. 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. The controller 108 can also be configured to execute instructions to perform one or more operations as described herein.
The drive wheels 112 can be supported by the body 102 of the robot 100, can be partially within the housing 102, and can extend through the bottom portion of the housing 102. The wheels 112 can also be connected to and rotatable with a shaft; the wheels 112 can be configured to be driven by the motors 114 to propel the robot 100 along the surface 50 of the environment 40, where the motors 114 can in communication with the controller 108 to control such movement of the robot 100 in the environment 40.
The skids 116 can be low friction elements connected to the body 102 of the robot and can be a passive body configured to help balance the robot 100 within the environment 40. Together, the drive wheels 112 and the skid(s) 116 can cooperate to support the housing 102 above the floor surface 50. For example, one skid 116 can be located in a rearward portion of the housing 102, and the drive wheels 112 can be located forward of the skid 116. In another example, cleaning robot 100 can include two wheels 112 and a caster to aid in the balance of the cleaning robot 100.
The dustpan 122 can be connected to the body 102 and can be engageable with the floor surface 50 (as shown in
The cliff sensors 124 can be located along a bottom portion of the housing 102. Each of the cliff sensors 124 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 124 can be connected to the controller 108. The proximity sensor(s) 126 can be located near a forward portion of the housing 102. In other examples, the proximity sensors 126 can be located on other portions of the housing 102. The proximity sensor 126 can include an optical sensor facing outward from the housing 102 and can be configured produce a signal based on a presence or the absence of an object in front of the optical sensor. The proximity sensor 126 can be connected to the controller.
The bumper 128 can be removably secured to the housing 102 and can be movable relative to housing 102 while mounted thereto. In some examples, the bumper 128 can form part of the housing 102. The bump sensors 130 can be connected to the housing 102 and engageable or configured to interact with the bumper 128. The bump sensors 130 can include break beam sensors, capacitive sensors, switches, or other sensors that can detect contact between the robot 100, i.e., the bumper 128, and objects in the environment 40. The bump sensors 130 can be connected to the controller 108.
The robot can optionally include an image capture device that can be a camera connected to the housing 102. The image capture device 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 obstacle following sensors 132 can include an optical sensor facing outward from the side surface of the housing 102 and that can be configured to detect the presence or the absence of an object adjacent to the side surface of the housing 102. The obstacle following sensor 132 can emit an optical beam horizontally in a direction perpendicular to the forward drive direction F of the robot 100. In some examples, at least some of the proximity sensor 126 and the obstacle following sensor 132 can include an optical emitter and an optical detector. 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 108, can determine a reflected intensity (or optionally a time of flight of the optical beam) and can thereby determine a distance between the optical detector and the object, and hence a distance between the robot 100 and the object.
The brush 134 can be connected to an underside of the robot 100 and can be connected to the motor 136 operable to rotate the side brush 134 with respect to the housing 102 of the robot 100. The side brush 134 can be configured to engage debris to move the debris toward the cleaning assembly 104 or away from edges of the environment 40. The motor 136 configured to drive the side brush 134 can be in communication with the controller 108.
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.
The controller 108 can execute software stored on the memory 110 to cause the robot 100 to perform various navigational and cleaning behaviors by operating the various motors of the robot 100. For example, when the controller 108 causes the robot 100 to perform a mission, the controller 108 can operate the motors 114 to drive the drive wheels 112 and propel the robot 100 along the floor surface 50. In addition, the controller 108 can operate the motor 120 to cause the roller 118 to rotate, can operate the motor 136 to cause the brush 134 to rotate, and can operate the motor of the vacuum system 119 to generate airflow.
The roller 118 can be rotatable about an axis (shown in
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 124 can detect obstacles such as drop-offs and cliffs below portions of the robot 100 where the cliff sensors 124 are disposed. The cliff sensors 124 can transmit signals to the controller 108 so that the controller 108 can redirect the robot 100 based on signals from the cliff sensors 124. The proximity sensors 126 can produce a signal based on a presence or the absence of an object in front of the optical sensor. For example, detectable objects include obstacles such as furniture, walls, persons, and other objects in the environment 40 of the robot 100. The proximity sensor 126 can transmit signals to the controller 108 so that the controller 108 can redirect the robot 100 based on signals from the proximity sensors 126.
In some examples, the bump sensor 130 can be used to detect movement of the bumper 128 of the robot 100. The bump sensors 130 can transmit signals to the controller 108 so that the controller 108 can redirect the robot 100 based on signals from the bump sensors 130. In some examples, the obstacle following sensors 132 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 the 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 132 can also serve as obstacle detection sensors, similar to the proximity sensors described herein.
The robot 100 can also include sensors for tracking a distance traveled by the robot 100. For example, the sensor system can include encoders associated with the motors 114 for the drive wheels 112, and the encoders can track a distance that the robot 100 has traveled. 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 traveled by the robot 100 based on changes in floor features as the robot 100 travels along the floor surface 50.
The controller 108 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 108 can use the sensor data collected by obstacle detection sensors of the robot 100, (the cliff sensors 124, the proximity sensors 126, and the bump sensors 130) to enable the robot 100 to avoid obstacles within the environment of the robot 100 during the mission.
The sensor data can also be used by the controller 108 for simultaneous localization and mapping (SLAM) techniques in which the controller 108 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 can be used for techniques such as vision-based SLAM (VSLAM) in which the controller 108 extracts visual features corresponding to objects in the environment 40 and constructs the map using these visual features. As the controller 108 directs the robot 100 about the floor surface 50 during the mission, the controller 108 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 nontraversable space within the environment. For example, locations of obstacles can be indicated on the map as nontraversable space, and locations of open floor space can be indicated on the map as traversable space.
The sensor data collected by any of the sensors can be stored in the memory 110. In addition, other data generated for the SLAM techniques, including mapping data forming the map, can be stored in the memory 110. 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 110 can store data resulting from processing of the sensor data for access by the controller 108. For example, the map can be a map that is usable and updateable by the controller 108 of the robot 100 from one mission to another mission to navigate the robot 100 about the floor surface 50.
The roller core 310 can extend along the longitudinal axis LA of the roller 300. The roller core 310 can couple the roller 300 to the mobile robot 100 (
The first elongated member 320 can be engageable with a floor surface, e.g., the surface 50 from
The second elongated member 330 can be engageable with a floor surface, e.g., the surface 50. The second elongated member 330 can at least partially surround a second portion 314 of the roller core 310. In examples, the second elongated member 330 can be a monolithic polymer or rubber. In another example, the second elongated member 330 can be made of a combination or a composite of polymers, rubbers, metals, or the like. In examples, the first elongated member 320 and the second elongated member 330 can be configured to contact the floor surface simultaneously while the mobile cleaning robot is cleaning the floor surface. In another example, the first elongated member 320 and the second elongated member 330 can be configured to contact the surface of the floor at different instances. For example, the first elongated member 320 and the second elongated member 330 can be designed to alternatively contact the surface of the floor.
As shown in
The spacer 340 can at least partially surround the roller core 310 and can be engageable with the floor surface, e.g., the surface 50. The spacer 340 can prevent the roller 300 from losing particle debris by engaging with the particle debris, e.g., lifting or flicking toward the dustpan, between the first elongated member 320 and the second elongated member 330, and by preventing particle debris within the first elongated member 320 or the second elongated member 330 from escaping into the gap between the first elongated member 320 and the second elongated member 330. The spacer 340 can also guide, or shuttle, fibrous debris between the first elongated member 320 and the second elongated member 330, to prevent the fibrous debris from collecting or wrapping in the gap between the first elongated member 320 and the second elongated member 330. The spacer 340 can be made from foams, polymers, rubbers, or any combination thereof, or the like. In another example, the spacer 340 can include bristles. In an example, a length of the bristles can be adjusted based on the diameter of the bristles. For example, if the bristles have a larger diameter, the bristles can be longer and still have enough stiffness to move particle debris. For example, the bristles can have enough stiffness to lift the particle debris from the floor surface or flick the particle debris toward the dustpan. In an alternative example, the bristles can have a smaller diameter and be shorter to have enough stiffness to move debris. For example, the shorter bristles can have enough stiffness to lift the particle debris from the floor surface or flick the particle debris toward the dustpan.
The first fletch 404 and the second fletch 406 can extend around the first elongated member 320, such as in a helical pattern. The first fletch 404 and the second fletch 406 can be circumferentially spaced from one another to define a first fletch gap 408 therebetween.
The first fletch gap 408 can help extract debris from a floor surface. For example, the first fletch gap 408 can be or can define at least a portion of a void in the first elongated member 320 that can permit debris to be collected and distributed within. As such, the extension of the first fletch 404 and the second fletch 406 along the first shell 402 can help guide debris within the first fletch gap 408 along the first elongated member 320 and toward the cleaning inlet, e.g., the cleaning inlet 117 from
The first fletch gap 408 can also help allow flexibility of the first fletch 404 and the second fletch 406. For example, the first fletch gap 408 is spaced such that the first fletch 404 and the second fletch 406 can deflect upon contact with a floor surface. The deflection of the first fletch 404 and the second fletch 406 can help the first elongated member 320 extract debris from a variety of different floor surfaces.
The second elongated member 330 can include a second shell 412, a third fletch (or vane, hereinafter third fletch 414), and a fourth fletch (or vane, hereinafter fourth fletch 416). The second shell 412 can extend an entire length of the second elongated member 330. In another example, the second shell 412 can extend a portion of the length of the second elongated member 330. The third fletch 414 can extend radially outward from the second shell 412. The third fletch 414 can also extend along at least a portion of the longitudinal axis LA. The fourth fletch 416 can extend radially outward from the second shell 412. The fourth fletch 416 can also extend along at least a portion of the longitudinal axis LA. The third fletch 414 and the fourth fletch 416 can be circumferentially spaced from one another to define a second fletch gap 418 therebetween. The second shell 412, the third fletch 414, and the fourth fletch 416 can be made from polymers, foams, metals, ceramics, rubbers, any combination thereof, or the like. In examples, second shell 412, the third fletch 414, and the fourth fletch 416 can be made from the same material. In another example, the second shell 412, the third fletch 414 and the fourth fletch 416 can be made from different materials. In yet another example, the second shell 412 can be made from a first material and the third fletch 414 and the fourth fletch 416 can be made from a second material.
The second fletch gap 418 can help the second elongated member 330 with the extraction of debris, and with the malleability of the third fletch 414 and the fourth fletch 416 in the same ways discussed above, that the first fletch gap 408 can help the first elongated member 320.
In an example, the first fletch 404 and the second fletch 406 of the first elongated member 320 and the third fletch 414 and the fourth fletch 416 of the second elongated member 330 can deflect radially inward and tangentially upon contact with the surface of the floor. The first fletch 404, the second fletch 406, the third fletch 414, or the fourth fletch 416 together can define a deflected diameter 420 (shown in
Deflection of the fletches, e.g., the first fletch 404, the second fletch 406, the third fletch 414, and the fourth fletch 416, can help the mobile cleaning robot extract debris from a surface of an environment because the deflection can increase a contact force between the fletches and the debris to help extract the debris from the surface of the environment and to lift the debris into the fletch gaps, e.g., the first fletch gap 408 and the second fletch gap 418. As the fletches, e.g., the first fletch 404, the second fletch 406, the third fletch 414, and the fourth fletch 416 deflect radially inward and tangentially, the fletches build potential energy that can also help lift particle debris as the roller 300 rotates, and then the fletches decompress toward an equilibrium state because the fletches no longer contact the surface of the flooring. When the mobile cleaning robot engages with large particle debris, the large particle debris can deflect the first fletch 404, the second fletch 406, the third fletch 414, or the fourth fletch 416 to increase the potential energy within the fletches and help with the extraction of the large particle debris via flicking or lifting of the large particle debris from the surface of the floor. Any of the first fletch 404, the second fletch 406, the third fletch 414, or the fourth fletch 416 can extract the debris from the surface of the floor and direct the debris toward a dustpan, e.g., the dustpan 122 of
In another example, the surface of the floor or the particle debris can contact the third fletch 414 and deflect the third fletch 414 toward the fourth fletch 416. The third fletch 414 deflecting toward the fourth fletch 416 can direct the debris toward the fourth fletch 416. The debris that collects within the first fletch gap 408 and the second fletch gap 418 can be guided, e.g., lifted or flicked, toward the dustpan by the second fletch 406 and the fourth fletch 416, respectively, as the roller 300 rotates.
As the first fletch 404, the second fletch 406, the third fletch 414, and the fourth fletch 416 deflect, a gap forms between the first elongated member 320 and the second elongated member 330. The gap between the first elongated member 320 and the second elongated member 330 can increase noise during the operation of the robot, provide a collection area for fibrous debris between the first elongated member 320 and the second elongated member 330, and reduce extraction of debris at a center of the roller 300. As such, the spacer 340 can be installed between the first elongated member 320 and the second elongated member 330 to reduce the noise of the roller 300, prevent fibrous debris from collecting between the first elongated member 320 and the second elongated member 330, and prevent debris from escaping the roller 300 between the first elongated member 320 and the second elongated member 330.
The spacer 340 will be discussed in more detail with reference to
The base 426 can be connected to the roller core 310 at a radially inner surface of the base 426. The base 426 can extend circumferentially around the roller core 310 and radially outward from the roller core 310. In an example, the base 426 can be integral the roller core 310. In an example, the base 426 can connect to the roller core 310 to secure the spacer 340 to the roller core 310. The base 426 can be made from plastic, polymer, metal, rubber, foam, ceramic, alloys, any combination thereof, or the like.
The body 430 can extend circumferentially around the base 426. The body 430 can also extend radially outward from the base 426. The body 430 can be configured to limit debris from building up between the first elongated member 320 and the second elongated member 330. Thus, the body 430 can fill an entire gap (or at least a portion of the gap) between the first elongated member 320 and the second elongated member 330. The body 430 can be integral to the base 426 such that the base 426 and the body 430 are one uniform monolithic component. In examples, the base 426 and the body 430 can be separate components and the body 430 can connect to the base 426. The body 430 can be made from plastic, polymer, foam, ceramic, metal, rubber, any combination thereof, or the like. The body 430 can be made from the same material as the base 426. In another example, the body 430 can be made from a different material than the base 426.
The first wing 436 can extend axially from the first surface 432 of the body 430. The first wing 436 can also extend axially from the second surface 434 such that the first wing 436 can extend at least partially into the first fletch gap 408 from the first surface 432 and the second surface 434 (as shown in
The second wing 438 can extend axially from the first surface 432 of the body 430. The second wing 438 can also extend axially from the second surface 434 such that the second wing 438 can extend at least partially into the second fletch gap 418 from the first surface 432 and the second surface 434 (as shown in
The first wing 436 and the second wing 438 can define a maximum flex of the first fletch 404, the second fletch 406, the third fletch 414, or the fourth fletch 416. Moreover, the first wing 436 and the second wing 438 can help support the first fletch 404, the second fletch 406, the third fletch 414, and the fourth fletch 416 as the first fletch 404, the second fletch 406, the third fletch 414, and the fourth fletch 416 are deflected from the surface of the floor. Therefore, the first wing 436 and the second wing 438 can help prevent plastic deformation of the first fletch 404, the second fletch 406, the third fletch 414, and the fourth fletch 416.
In an example, the spacer 340 can include a major diameter 440 such that the spacer 340 can be within the major diameter 440. The major diameter 440 of the spacer 340 can be less than or equal to the deflected diameter 420. In yet another example, the major diameter 440 of the spacer 340 can be slightly greater than the deflected diameter 420.
As shown in
As shown in
At procedure 902, the method 900 can include operating a drive wheel, e.g., the drive wheels 112 of
At procedure 904, the method 900 can include operating a cleaning assembly to ingest debris from a surface of the environment, to operate the mobile cleaning robot in a cleaning mode, the cleaning assembly can include a roller, e.g., the roller 300 first shown in
At procedure 906, the method 900 can include blocking debris within the first elongated member and within the second elongated member from collecting between the first elongated member and the second elongated member. For example, the spacer can keep debris within the first elongated member, within the first elongated member such as to encourage the lifting of the debris within the first elongated member toward the dustpan, e.g., the dustpan 122 of
At procedure 908, the method 900 can include directing debris wrapped around the first elongated member to the second elongated member. At procedure 910, the method 900 can include directing debris wrapped around the second elongated member to the first elongated member. For example, hair, strings, strands, any elongated member that can wrap around the roller, or the like, can be transferred over the spacer between the first elongated member and the second elongated member. Decreasing an amount of the wrapping debris that can collect between the first elongated member and the second elongated member can reduce the time required to remove the wrapping debris and helps to maintain the debris extraction performance of the roller. For example, the wrapping debris can be collected towards an end of the roller core off of either of the first elongated member or the second elongated member such that the wrapping debris does not affect the performance of the mobile cleaning robot.
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.
Example 1 is a roller for a mobile cleaning robot, the roller comprising: a roller core extending along a longitudinal axis of the roller; a first elongated member engageable with a floor surface, the first elongated member at least partially surrounding a first portion of the roller core; a second elongated member engageable with a floor surface, the second elongated member at least partially surrounding a second portion of the roller core; and a spacer at least partially surrounding the roller core between the first elongated member and the second elongated member, the spacer engageable with the floor surface and configured to prevent debris collection between the first elongated member and the second elongated member.
In Example 2, the subject matter of Example 1 includes, wherein the first elongated member comprises: a first shell; a first fletch extending radially outward from the first shell and extending along at least a portion of the longitudinal axis; and a second fletch extending radially outward from the first shell and extending at least a portion of the longitudinal axis, wherein the first fletch and the second fletch are circumferentially spaced from one another to define a first fletch gap therebetween.
In Example 3, the subject matter of Example 2 includes, wherein the first fletch and the second fletch extend around the first elongated member in a first helical pattern.
In Example 4, the subject matter of Example 3 includes, wherein the second elongated member further comprises: a second shell; a third fletch extending radially outward from the second shell and extending along at least a portion of the longitudinal axis; and a fourth fletch extending radially outward from the second shell and extending along at least a portion of the longitudinal axis, wherein the third fletch and the fourth fletch are circumferentially spaced from one another to define a second fletch gap therebetween.
In Example 5, the subject matter of Example 4 includes, wherein the third fletch and the fourth fletch extend from the spacer in a second helical pattern, and wherein the second helical pattern is symmetric to the first helical pattern about the spacer.
In Example 6, the subject matter of Examples 4-5 includes, wherein the spacer comprises: a base connected to the roller core and extending circumferentially around the roller core and extending radially outward from the roller core; and a body extending circumferentially around the base and radially outward from the base.
In Example 7, the subject matter of Example 6 includes, wherein the body of the spacer further comprises: a first wing extending axially from a first surface of the body, the first wing also extending axially from a second surface of the body such that the first wing extends at least partially into the first fletch gap from the first surface and the second surface; and a second wing circumferentially spaced from the first wing and extending axially from the first surface, the second wing also extending axially from the second surface such that the second wing extends at least partially into the second fletch gap from the first surface and the second surface.
In Example 8, the subject matter of Example 7 includes, wherein the first fletch and second fletch of the first elongated member and the third fletch and the fourth fletch of the second elongated member compress radially inward on condition that the first elongated member or the second elongated member contacts a flooring, the first fletch, the second fletch, the third fletch, and the fourth fletch together defining a deflected diameter at a position of maximum deflection when any of the first fletch, the second fletch, the third fletch, and the fourth fletch deflect from engagement with the floor surface.
In Example 9, the subject matter of Example 8 includes, wherein the spacer comprises a major diameter such that the spacer is within the major diameter, and wherein the major diameter of the spacer is less than or equal to the deflected diameter.
In Example 10, the subject matter of Examples 7-9 includes, wherein the first surface of the body and the second surface of the body define a width of the body.
In Example 11, the subject matter of Example 10 includes, wherein the width of the body is between two and ten millimeters.
In Example 12, the subject matter of Examples 6-11 includes, wherein the spacer comprises a first portion and a second portion, wherein the first portion and the second portion are removably coupled to one another.
In Example 13, the subject matter of Examples 6-12 includes, wherein the body of the spacer comprises a plurality of bristles extending radially outward from the body of the spacer.
Example 14 is a mobile cleaning robot comprising: a body including a suction duct; and a cleaning assembly operable to ingest debris from a surface of an environment, the cleaning assembly comprising: a roller rotatable with respect to the body and engageable with the surface to direct debris toward the suction duct, the roller including: a roller core extending along a longitudinal axis of the roller; a first elongated member circumferentially surrounding a first portion of the roller core; a second elongated member circumferentially surrounding a second portion of the roller core; and a spacer at least partially circumferentially surrounding the roller core between the first elongated member and the second elongated member, the spacer engageable with the floor surface and configured to prevent debris collection between the first elongated member and the second elongated member.
In Example 15, the subject matter of Example 14 includes, wherein the first elongated member comprises: a first shell; a first vane extending radially outward from the first shell and extending along at least a portion of the longitudinal axis; and a second vane extending radially outward from the first shell and extending along at least a portion of the longitudinal axis, wherein the first vane and the second vane are circumferentially spaced from one another to define a first vane gap therebetween.
In Example 16, the subject matter of Example 15 includes, wherein the first vane and the second vane extend around the first elongated member in a helical pattern.
In Example 17, the subject matter of Example 16 includes, wherein the second elongated member further comprises: a second shell; a third vane extending radially outward from the second shell and extending along at least a portion of the longitudinal axis; and a fourth vane extending radially outward from the second shell and extending at least a portion of the longitudinal axis, wherein the third vane and the fourth vane are circumferentially spaced from one another to define a second vane gap therebetween.
In Example 18, the subject matter of Example 17 includes, wherein the spacer comprises: a base connected to the roller core and extending circumferentially around at least a portion of the roller core and extending radially outward from the roller core; and a body extending circumferentially around at least a portion of the base and radially outward from the base, and wherein the body comprises: a first surface extending circumferentially around the body; and a second surface extending circumferentially around the body opposite the first surface.
In Example 19, the subject matter of Example 18 includes, wherein the body of the spacer further comprises: a first wing extending axially from the first surface, the first wing also extending axially from the second surface such that the first wing extends at least partially into the first vane gap from the first surface and the second surface; and a second wing circumferentially spaced from the first wing and extending axially from the first surface, the second wing also extending axially from the second surface such that the second wing extends at least partially into the second vane gap from the first surface and the second surface.
In Example 20, the subject matter of Example 19 includes, wherein the first vane and the second vane of the first elongated member and the first vane and second vane of the second elongated member compress radially inward on condition that the first elongated member or the second elongated member contacts a surface of an environment, the first vane, the second vane, the third vane, and the fourth vane together defining a deflected diameter at a position of maximum deflection when any of the first vane, the second vane, the third vane, and the fourth vane deflect from engagement with the surface of the environment.
In Example 21, the subject matter of Example 20 includes, wherein the spacer comprises a major diameter at a periphery of the spacer, wherein the major diameter of the spacer is less than or equal to the deflected diameter of the first elongated member and the second elongated members.
Example 22 is a method of operating a mobile cleaning robot comprising: operating a drive wheel of the mobile cleaning robot to navigate the mobile cleaning robot about an environment; and operating a cleaning assembly to ingest debris from a surface of the environment, to operate the mobile cleaning robot in a cleaning mode, the cleaning assembly including: a roller rotatable with respect to a body of the mobile cleaning robot and engageable with the surface to direct debris toward a suction duct, the roller including: a roller core extending along a longitudinal axis of the roller; a first elongated member circumferentially surrounding a first portion of the roller core; a second elongated member circumferentially surrounding a second portion of the roller core; and a spacer at least partially circumferentially surrounding the roller core between the first elongated member and the second elongated member, the spacer engageable with the floor surface and configured to prevent debris collection between the first elongated member and the second elongated member.
In Example 23, the subject matter of Example 22 includes, directing, with the spacer, debris on the first elongated member to the second elongated member.
In Example 24, the subject matter of Example 23 includes, directing, with the spacer, debris on the second elongated member to the first elongated member.
In Example 25, the subject matter of Example 24 includes, blocking debris within the first elongated member and within the second elongated member from collecting between the first elongated member and the second elongated member; directing debris wrapped around the first elongated member to the second elongated member; and directing debris wrapped around the second elongated member to the first elongated member.
Example 26 is an apparatus comprising means to implement of any of Examples 1-25.
In Example 27, the apparatuses or method of any one or any combination of Examples 1-25 can optionally be configured such that all elements or options recited are available to use or select from.
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 that may 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.
All publications, patents, and patent documents referred to in this document are incorporated by reference herein in their entirety, as though individually incorporated by reference. In the event of inconsistent usages between this document and those documents so incorporated by reference, the usage in the incorporated reference(s) should be considered supplementary to that of this document; for irreconcilable inconsistencies, the usage in this document controls.
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 the appended claims, 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, 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.
The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is to allow the reader to quickly ascertain the nature of the technical disclosure and 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 may 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 may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separate embodiment. The scope of the embodiments should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
