ROBOTIC SURFACE CLEANER

BACKGROUND

The present disclosure relates generally to robotic surface cleaners, and more particularly to robotic surface cleaners configurable with one or more removable accessories such as a mop accessory.

BRIEF DESCRIPTION

In accordance with one embodiment, a robotic surface cleaner is provided. The robotic surface cleaner includes a main body comprising: a vacuum inlet port in fluid communication with a suction source; a first energy source coupled to the main body and in electrical communication with the suction source; and a connection interface; and a mop accessory removably attachable to the main body at the connection interface, the mop accessory comprising: a fluid reservoir configured to contain a fluid; a vapor generator in fluid communication with the fluid reservoir; an outlet port in fluid communication with the vapor generator and configured to dispense vapor from the vapor generator to a floor surface; and a second energy source coupled to the mop accessory and in electrical communication with the vapor generator.

In accordance with another embodiment, a mop accessory for a robotic surface cleaner is provided. The mop accessory includes a fluid reservoir configured to contain a fluid; a vapor generator in fluid communication with the fluid reservoir; an outlet port in fluid communication with the vapor generator, wherein the outlet port is configured to dispense vapor from the vapor generator to a floor surface; and an energy source coupled to the mop accessory and in electrical communication with the vapor generator, wherein the mop accessory is removably attachable to a main body of the robotic surface cleaner at a connection interface of the robotic surface cleaner.

In accordance with another embodiment, a method of operating a robotic surface cleaner is provided. The method includes identifying, via a logic device of the robotic surface cleaner, a mop accessory as attached to a main body of the robotic surface cleaner at a connection interface of the main body, the mop accessory comprising a fluid reservoir; providing at least some of the fluid from the fluid reservoir to a vapor generator via a pump; heating at least some of a fluid of the fluid reservoir via the vapor generator; and dispensing vapor through an outlet port of the mop accessory to a floor surface, wherein the vapor generator and the pump are in electrical communication with an energy source that is part of the mop accessory.

In accordance with another embodiment, a method of dispensing vapor from a robotic surface cleaner in a workspace is included. The method includes activating a vapor generator of the robotic surface cleaner to dispense vapor when the robotic surface cleaner traverses a first area of a workspace; terminating dispensing of vapor when the robotic surface cleaner enters a second area of the workspace different than the first area; and recognizing passage into the first or second area in response to detecting a known condition associated with the first or second area, wherein the workspace is separated into the first and second areas by an operator at a user interface.

These and other features, aspects and advantages of the present disclosure will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a robotic surface cleaner in accordance with embodiments of the present disclosure;

FIG. 2 is a bottom plan view of a robotic surface cleaner in accordance with embodiments of the present disclosure;

FIG. 3 is a rear perspective view of a connection interface associated with a robotic surface cleaner in accordance with embodiments of the present disclosure;

FIG. 4 is a front perspective view of a dust bin associated with a robotic surface cleaner in accordance with embodiments of the present disclosure;

FIG. 5 is a perspective view of a dock configured to charge and empty debris from the robotic surface cleaner in accordance with embodiments of the present disclosure;

FIG. 6 is a bottom view of a mop accessory for a robotic surface cleaner and a mop pad for the mop accessory in accordance with embodiments of the present disclosure;

FIG. 7 is a schematic, cross-sectional view of a robotic surface cleaner docked in accordance with embodiments of the present disclosure as seen along Line A-A in FIG. 5;

FIG. 8 is a schematic plan view of a workspace where a robotic surface cleaner can operate in accordance with embodiments of the present disclosure;

FIG. 9 is a view of a mobile device used to control one or more operational aspects of a robotic surface cleaner in accordance with embodiments of the present disclosure;

FIG. 10 is a side view of a robotic surface cleaner traversing between a hard surface and an area rug in a workspace in accordance with embodiments of the present disclosure;

FIG. 11 is a flowchart of a method of operating a robotic surface cleaner in accordance with embodiments of the present disclosure;

FIG. 12 is a flowchart of a method of dispensing vapor from a robotic surface cleaner operating in a workspace in accordance with embodiments of the present disclosure;

FIG. 13 is a schematic view of a mop accessory of a robotic surface cleaner in accordance with embodiments of the present disclosure; and

FIG. 14 is a flowchart of fluid flow through the mop accessory in accordance with embodiments of the present disclosure.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments of the present disclosure, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation, rather than limitation of, the technology. Modifications and variations can be made in the present technology without departing from the scope or spirit of the claimed technology. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment.

As used herein, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. The terms “coupled,” “fixed,” “attached to,” and the like refer to both direct coupling, fixing, or attaching, as well as indirect coupling, fixing, or attaching through one or more intermediate components or features, unless otherwise specified herein. Terms of approximation, such as “about,” “generally,” “approximately,” or “substantially,” include values within ten percent greater or less than the stated value. As used herein, the terms “comprises,” “comprising,” “includes.” “including.” “has.” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method. article, or apparatus that comprises a list of features is not necessarily limited only to those features but may include other features not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive-or and not to an exclusive- or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).

In general, robotic surface cleaners and accessories for robotic surface cleaners described herein can be configured to perform different types of surface cleaning operations, such as dry servicing operations and wet servicing operations. The robotic surface cleaner can operate within a workspace using an interchangeable accessory system including one or more removable accessories. In an embodiment, the removable accessories can include a removable mop accessory that utilizes a vapor generator to dispense vapor on an underlying floor surface. The vapor generator may perform wet cleaning operations to enhance cleaning capability of the robotic surface cleaner. The robotic surface cleaner may further be configured with accessories to perform other cleaning operations such as vacuuming, rug cleaning, sanitizing, and the like. In some embodiments, the removable accessories are configured to perform servicing operations not limited to cleaning, such as dispensing fragrance or powders, surface conditioning, or other servicing operations.

The robotic surface cleaner can operate in different modes to perform a plurality of different servicing operations. The cleaner may switch between different servicing capabilities based on the specifications of the attached removable accessory. In certain instances, it may be desirable to switch between different servicing capabilities when operating on different types of surfaces within the workspace. In one or more embodiments it may be desirable to engage and disengage certain features of the cleaner described herein based on the type of surface disposed under the robotic surface cleaner, or based on the specifications of the attached removable accessory. For example, a wet servicing operation, such as a mopping operation, may be desirable on hard surfaces while a dry servicing operation, such as a vacuuming operation, may be desirable on soft surfaces. It may be advantageous to allow for changing between different servicing operation modes based on surface type. The robotic surface cleaner may be configured to discern between different surfaces the cleaner is operating on, or zones based on location within the workspace and perform different types of cleaning operations in view of the different surfaces or zones.

Referring now to the drawings, FIG. 1 illustrates a perspective view of a robotic surface cleaner 100 in accordance with an embodiment. FIG. 2 illustrates a bottom view of the robotic surface cleaner 100 in accordance with an embodiment. The robotic surface cleaner 100 depicted and described herein is a surface cleaning robot configured to traverse a floor of an indoor environment to perform various cleaning operations. However, the robotic surface cleaner 100 can be another type of surface traversing vehicle configured to move within indoor or outdoor environments.

Referring to FIGS. 1 and 2, the robotic surface cleaner 100 includes a main body 102 configured to house one or more components of the robotic surface cleaner 100. The main body 102 is provided with a first energy source 104. The first energy source 104 can include one or more batteries configured to store energy to power one or more components of the robotic surface cleaner 100.

A logic device 106 disposed in the main body 102 controls one or more functional aspects of the robotic surface cleaner 100. The logic device 106 can be operably coupled to the first energy source 104 to receive power. The logic device 106 includes one or more controllers including non-transitory computer-readable memory storing instructions that, when executed by one or more processors, cause the one or more processors to generate instructions that control one or more operations of the robotic surface cleaner 100. In one embodiment, the logic device 106 communicates with an external device such as a mobile device 107. Communication between the logic device 106 and the mobile device 107 can be performed wirelessly using one or more wireless communication protocols such as WiFi, Bluetooth, or the like. The logic device 106 can receive control instructions, parameters, settings, and other information from the external device that cause the logic device 106 to generate instructions that control one or more operations of the robotic surface cleaner 100.

The illustrated embodiment includes a bumper 108 movably coupled to the main body 102 to signal when the robotic surface cleaner 100 contacts a nearby object, such as a wall, a piece of furniture, a person, or the like. The bumper 108 extends around at least a portion of the main body 102 configured to be displaced upon contacting the nearby object. Displacement of the bumper 108 can occur in a lateral X-direction, a longitudinal Y-direction, a vertical Z-direction, or a combination thereof. Upon displacement, the bumper 108 triggers a sensor or switch 110 electronically coupled to the logic device 106 of the robotic surface cleaner 100. The logic device 106 can control directional behavior of the robotic surface cleaner 100, e.g., adjust navigational instructions of the robotic surface cleaner 100, in response to a signal from the sensor or switch 110 indicating displacement of the bumper 108.

The robotic surface cleaner 100 further includes a drive assembly. In the illustrated embodiment, the drive assembly includes a plurality of wheels 112 exposed from the main body 102 to selectively move the robotic surface cleaner 100 about the workspace. At least one of the wheels 112A is driven by a motor 114 to control movement of the robotic surface cleaner 100 within the workspace. The motor 114 is controlled by the logic device 106 to navigate within the workspace. In certain instances, at least one of the wheels 112B can be passive, i.e., non-driven. By way of non-limiting example, the non-driven wheel 112B can include a caster wheel.

A detector 116 can detect aspects of the nearby workspace to gather information about one or more conditions of the workspace. In some embodiments, the detector 116 can include a device having an emitter and a detector, such as a laser range finder, a light detector, a video camera, an infrared detector, an ultrasonic sensor, or the like. The detector 116 is in electronic communication with the logic device 106 to inform the logic device 106 of conditions within the workspace.

In an embodiment, the detector 116 is mounted on a turret 118 extending from the main body 102. In an embodiment, the turret 118 extends from the main body 102 in an upward direction. In certain instances, the turret 118, or a portion thereof, can rotate to allow for a greater field of view for the detector 116. In an embodiment, an upper surface 120 of the turret 118 can include a bump sensor 122. The bump sensor 122 can detect contact with nearby objects, such as for example, the bottom surface of a couch or chair. The bump sensor 122 may detect vertical contact, lateral contact, or both. The bump sensor 122 communicates with the logic device 106 to signal contact with a nearby object. Upon triggering the bump sensor 122, the logic device 106 can control behavior of the robotic device 100, e.g., controlling the wheels 112 to stop, or reverse direction, or move away from the object. Or the logic device may adjust navigational instructions, to try to keep the cleaner 100 from becoming stuck, i.e., wedged, beneath the object or prevent further wedging of the robotic surface cleaner 100.

In an embodiment, the robotic surface cleaner 100 can further include one or more additional detectors, such as a detector 124. In an embodiment, the detector 124 can detect a condition of the workspace through a window or cutout 126 in the bumper 108. The detector 124 may detect obstacles in the workspace, an amount of dirt in the workspace, presence of a human in the workspace, or the like. While only one detector 124 is depicted in FIG. 1, a plurality of detectors 124 can be disposed on the robotic surface cleaner 100 and positioned on the robot at various locations as desired for the function of the sensor, e.g., on the underside of the main body, around the main body, or on an upward portion of the main body. The detectors 124 can have the same, similar, or different attributes as compared to one another. For example, one of the detectors 124 can be a first type of detector, such as an infrared detector, while another one of the detectors 124 can be a second type of detector different from the first type of detector, such as a laser range finder or a sonic or ultrasonic detector.

A user interface 128 can be accessible to an operator from an external location of the robotic surface cleaner 100. The user interface 128 can include one or more buttons, knobs, toggles, displays, touch screens, or the like. In the illustrated embodiment, the user interface 128 includes buttons that allow the operator to control one or more operational aspects of the robotic surface cleaner 100.

The robotic surface cleaner 100 can further include a side brush 130 extending down towards the underlying surface of the workspace. In an embodiment, the side brush 130 can rotate to move dust and debris in a desired direction relative to the robotic surface cleaner 100. The side brush 130 can be disposed in front of the wheels 112. In this regard, the side brush 130 can move dust and debris in a direction A (FIG. 2) towards a location of the robotic device 100 where a vacuum inlet port 132 is disposed.

The vacuum inlet port 132 defines an opening in the robotic surface cleaner 100 in fluid communication with a suction source 134 configured to generate a suction airflow at the vacuum inlet port 132 operable to draw dust and debris from the surface to be cleaned into the vacuum inlet port 132. By way of non-limiting example, the suction source 134 includes a fan, such as a radial fan, driven by a motor to generate negative pressure at the vacuum inlet port 132. The suction source 134 can be in communication with the logic device 106 and receive instructions therefrom. The suction source 134 is configurable between an ON state and an OFF state. In an embodiment, the suction source 134 may be configurable between a plurality of operating states such as a low suction mode where the suction source 134 generates minimal suction, a medium suction mode where the suction source 134 generates a greater amount of suction, and a high suction mode where the suction source 134 generates a maximum amount of suction.

In certain instances, a drum or rotatable brush 136 is disposed at the vacuum inlet port 132 to assist in picking up dust and debris from the underlying floor surface. The rotatable brush 136 is driven by a motor. As the rotatable brush 136 moves, debris can be swept into the vacuum inlet port 132. In certain instances, the vacuum inlet port 132 can be surrounded by one or more flaps 137 or squeegees or bristle strips to increase vacuum suction power at the underlying floor surface.

Referring to FIG. 3, the robotic surface cleaner 100 can include a connection interface 140 that interfaces with one or more removable accessories of the robotic surface cleaner 100. One of the removable accessories can be a dust bin 142 as shown in FIG. 4.

In the embodiment illustrated in FIG. 4, a front end 146 of the dust bin 142 is configured to be releasably coupled to the connection interface 140, e.g., at a rear end 148 of the main body 102. The connection interface 140 can define a cavity sized and shaped to receive one or more removable accessories, such as the dust bin 142, the mop accessory 160, and other removable accessories in a modular arrangement. The front end 146 of the removable accessory, e.g., dust bin 142, can be introduced to the connection interface 140 and installed into a seated position. In some instances, the removable accessory can lock relative to the connection interface 140. For example, the removable accessory can form a snap fit connection with the connection interface 140, can be latched to the connection interface 140, or can be locked to the connection interface 140 by another type of mechanism such as a spring-loaded clasp, a twist-to-lock fastener, or the like. In certain instances, the removable accessory can form a tactile or audible indication when properly seated relative to the connection interface 140. When seated, an exposed portion of the removable accessory, e.g., the dust bin 142, can form a close fit with nearby portions of the main body 102 such that the accessory appears to be a continuation of the main body 102.

In the embodiment of FIGS. 3 and 4, when the dust bin 142 is properly seated, the vacuum inlet port 132 of the main body 102 is in fluid communication with a dust bin inlet port 150 of the dust bin 142. Dust and debris are drawn through the vacuum inlet port 132 by the suction source 138 into the dust bin 142 through the dust bin inlet port 150. The suction source 138 moves the airflow from the dust bin 142 through a dust bin outlet port 152. A filter (not illustrated) can be disposed between the dust bin inlet port 150 and the dust bin outlet port 152 to remove debris from the airflow path. Airflow then passes from the dust bin outlet port 152 and exits through the exhaust port 144 to an external environment.

In an embodiment, the robotic surface cleaner 100 can detect the presence and absence of the removable accessory at the connection interface 140. For example, referring to FIGS. 3 and 4, the dust bin 142 includes an identifier 156 that informs a detector 158 of the robotic surface cleaner 100 that the dust bin 142 is present at the connection interface 140. The detector 158 detects the presence of the dust bin 142 at the connection interface 140 based on detecting the identifier 156. The detector 158 can identify the removable accessory when the identifier 156 is within a predetermined range of the detector 158. The predetermined range can correspond with a predetermined distance or establishment of detection or seating of the removable accessory. In one embodiment, the identifier 156 provides a signal or other information that uniquely identifies the dust bin 142 or features of the dust bin 142 based on unique identity information provided by the identifier 156.

The identification method used by the detector 158 to detect and identify the presence of or type of removable accessory received at the connection interface 140 can include radio frequency identification (RFID), physical identification (e.g., using pins arranged in specific combinations), hall effect identification (e.g., using magnets arranged in specification combinations detectable by a hall effect sensor), a circuit including a voltage divider, or the like. In one embodiment, the detector 158 communicates with the logic device 106 and provides information about the identifier 156 so the logic device 106 can control an operational aspect of the robotic surface cleaner 100 in view of the attached accessory. In an embodiment, the robotic surface cleaner 100 can self-configure, e.g., automatically adjust operational pressure of the suction source 138, to meet the specifications of the attached accessory.

In an embodiment, the dust bin 142 is one of a plurality of different types of removable accessories operable with the robotic surface cleaner 100. In an embodiment, the removable accessory can be selected from a plurality of removable accessories such as a mop accessory, a carpet dry cleaning accessory, a room refreshing/fragrance accessory, an ultraviolet (UV) sanitization accessory, or the like. Each removable accessory can include a unique identifier 156. In an embodiment, the robotic surface cleaner 100 can detect the type of removable accessory at the connection interface 140 using detector 158. The robotic surface cleaner 100 can then self-configure to meet the specifications of the attached removable accessory.

FIGS. 1 and 2 depict the robotic surface cleaner 100 with a mop accessory 160 coupled with the connection interface 140. The mop accessory 160 enables the robotic surface cleaner 100 to perform wet cleaning operations. In some instances, the mop accessory 160 is configured to operate simultaneously with the aforementioned vacuum system. In other instances, the mop accessory 160 and vacuum system operate at different times.

In the embodiment shown in FIG. 2, the mop accessory 160 includes an onboard logic device 174. The logic device 174 includes one or more controllers including non-transitory computer-readable memory storing instructions that, when executed by one or more processors, cause the one or more processors to generate instructions that control one or more operations of the mop accessory 160. In the illustrated embodiment, the logic device 174 is configured to communicate with the logic device 106 of the robotic surface cleaner 100. Additionally, the logic device 174 can communicate with an external device such as the mobile device 107, or another external device. The logic device 174 can receive control instructions, parameters, settings, and other information from the external device that causes the logic device 174 to generate instructions that control one or more operations of the mop accessory 160.

As depicted in FIG. 2, the mop accessory 160 includes a fluid reservoir 162 configured to contain a fluid for wet cleaning operations, a vapor generator 164 in fluid communication with the fluid reservoir 162, and an outlet port 166 in fluid communication with the vapor generator 164 to dispense vapor to an underlying floor surface. A pump 168 is disposed in fluid communication with the fluid reservoir 162 and the vapor generator 164 to deliver fluid from the fluid reservoir 162 to the vapor generator 164.

In an embodiment, the vapor generator 164 is a steam generator. The steam generator includes at least one fluid chamber 170 having a chamber inlet in fluid communication with the pump 168 and a chamber outlet in fluid communication with the outlet port 166. The steam generator includes a heating element 172 operable to heat fluid in the chamber 170. In an embodiment, the heating element 172 includes a resistance wire heating element, a ceramic and semiconductor heating element, a thick film heating element, a composite heating element, a positive temperature coefficient (PTC) heating element, or any combination thereof.

Generation of steam at the steam generator generally requires heating the fluid to a critical threshold where at least some of the fluid transitions from a liquid to a gas phase. In the case of water, this critical threshold is approximately 100° Celsius (212° Fahrenheit) at atmospheric pressure. The heating element 172 can be controlled by the accessory logic device 174 or the cleaner logic device 106 to heat the fluid to the critical threshold for steam generation or another predetermined temperature as desired for the application. The heating element 172 can draw power from the first energy source 104, a second energy source 176 associated with the mop accessory 160, or both.

In an embodiment, the mop accessory 160 includes the second energy source 176, and the mop accessory 160 can be self-powered and may not require energy from the first energy source 104. In this regard, the robotic surface cleaner 100 can operate over a greater surface area of the workspace before recharging.

In an embodiment, the robotic surface cleaner 100 may be configured to operate in different power modes. In an individual mode, components of the main body 102 are powered by the first energy source 104 while components of the mop accessory 160 (or another removable accessory) are powered by the second energy source 176. In a share mode, at least one of the first or second energy sources 104 or 176 provides power to one or more components of the main body 102 and one or more components of the mop accessory 160 (or another removable accessory presently coupled to the connection interface 140). In the share mode, power can be transmitted between the first energy source 104 and the mop accessory 160 or between the second energy source 176 and one or more components of the main body 102 through the connection interface 140 or through another electrical interface between the main body 102 and the mop accessory 160. In one embodiment, the identifier 156 (FIG. 4) is an electrical connector through which power can be transmitted between the accessory 142 and the main body 102.

In an embodiment, the robotic surface cleaner 100 can switch between the different power modes. For example, the robotic surface cleaner 100 can switch between the different power modes in response to a user command, in response to an operational condition encountered in the workspace (e.g., a heavily soiled workspace that requires greater power draw), in response to an operational condition of the robotic surface cleaner 100 (e.g., a relative energy level of the first or second energy source 104 or 176 dropping below a prescribed threshold, a sensor signal indicating a condition of the workspace, the robotic cleaner 100, or first or second energy source 104 or 176, or in response to one of the first or second energy sources 104 or 176 being removed), or in view of another consideration. In an embodiment, switching between the power modes can be caused by one or both of the logic devices 106 or 174. For example, the logic device 174 may automatically switch from the individual mode to the share mode in response to a charge level of the second energy source 176 being at or below a minimum charge threshold. In another example, the logic device 106 may switch from the share mode to the individual mode in response to the charge level of the first energy source 104 being at or below a minimum charge threshold where the logic device 106 determines that the robotic surface cleaner 100 can reach a dock for recharging using only the first energy source 104. Alternatively, the logic device 106 may switch from the individual mode to the share mode in response to the first energy source 104 being at or below a minimum charge threshold where the logic device 106 determines that the cleaner cannot reach the dock using only the first energy source 104.

In an embodiment, the robotic surface cleaner 100 can change one or more aspects of operational control in response to the first or second energy source 104 or 176 dropping below a prescribed threshold. For example, heating or vapor generation may terminate when charge of one of the first or second energy sources 104 or 176 is below a minimum charge. Alternatively, power to the pump may be terminated or reduced, thereby lowering the flow rate of fluid, thereby lowering the volumetric discharge rates of vapor may be reduced when charge of one of the first or second energy sources 104 or 176 is below a minimum charge.

In an embodiment, heating fluid in the fluid chamber 170 can be performed using only the second energy source 176 when the robotic surface cleaner 100 is operating in the individual mode. In another embodiment, heating fluid in the fluid chamber 170 can be performed using the first and second energy sources 104 and 176 when the robotic surface cleaner 100 is operating in the share mode.

Heating fluid in the fluid chamber 170 from room temperature to the critical temperature threshold, particularly for steam generation, can sometimes require a relatively large amount of energy compared to the capacity of the second energy source 176 and first energy source 104, particularly when heating the fluid from room temperature. This large energy draw can reduce operational run time; however, to increase working time by reducing draw on the first and second energy sources 104 and 176, the fluid may be at least partially heated using power from an external source, such as the dock, when the robotic surface cleaner 100 is electrically coupled with the dock, or another power source connected to a wall outlet. After pre-heating the fluid, less heating is required using the first and second energy sources 104 and 176 upon departing from the dock, thereby reducing time required to resume servicing or cleaning operations after docking.

FIG. 13 illustrates a schematic view of a mop accessory 230 in accordance with an embodiment. In the illustrated embodiment, the mop accessory 230 includes different regions such as a dry region 232 and a wet region 234. The dry and wet regions 232 and 234 are isolated from one another by a fluid barrier to inhibit water from entering the dry region 232 from the wet region 234. The fluid barrier can include a wall, a baffle, a rigid insert, a sealed container, a sealing member, or any combination thereof.

The dry region 232 includes an energy source 240 and a logic device 242. The logic device 242 can be in electrical communication with the energy source 240. The logic device 242 can further be in communication with a logic device of a robotic surface cleaner to which the mop accessory 230 is attachable. The wet region 234 includes a fluid containment region 236 and a steam generation region 238. The fluid containment region 236 and steam generation region 238 can be isolated from one another, e.g., by a heat resistant barrier. The fluid containment region 236 includes a fluid reservoir 244 and a pump 246 in fluid communication with the fluid reservoir 244 to pump at least some fluid from the fluid reservoir 244 to a steam generator 248 disposed in the steam generation region 238. The fluid can pass through a filter 250 (such as a hard water filter) to remove contaminants before entering the steam generator 248.

The steam generator 248 includes a fluid chamber fluidly coupled to the pump 246 to receive fluid from the fluid reservoir 244. A heating element disposed in the fluid chamber receives instructions from the logic device 242 to heat the fluid to raise the temperature of the fluid to a critical temperature threshold where pressure in the fluid chamber exceeds a pressure threshold of atmospheric pressure or a relief valve 252 fluidly coupled to the fluid chamber. At the pressure threshold, the fluid chamber releases steam through the relief valve 252 and the steam is dispensed onto a floor surface. In some embodiments, the relief valve 252 can be in communication with the logic device 242 and receive instructions for adjusting the pressure threshold. In some embodiments, the relief valve 252 is an aperture forming the outlet of the steam generator.

FIG. 14 is a flow chart depicting fluid flow through the mop accessory 230 in accordance with one embodiment. Fluid is disposed in the fluid reservoir 244. The fluid reservoir 244 can include a fluid inlet for refilling and a fluid outlet for dispensing. The pump 246 is in communication with the logic device 242 to selectively provide fluid from the fluid reservoir 244 through the filter 250 to the steam generator 248. In one embodiment, the pump 246 is cycled between ON and OFF states to provide fluid to the steam generator 248. Temperature of the fluid is increased at the steam generator 248 using the heating element to a critical temperature threshold where pressure exceeds the pressure threshold of the pressure relief valve 252, causing steam to dispense from an outlet of the steam generator 248 to a floor 254 located below an outlet port of the steam generator 248. The mop accessory 230 can share any one or more characteristics as mop accessory 160.

FIG. 5 illustrates a perspective view of a dock 178 (also referred to as a docking station) in accordance with an embodiment. The dock 178 includes one or more charging elements 180, such as one or more contacts, configured to form a charging interface with one or more corresponding charging elements 182, such as one or more electrical contacts disposed on the robotic surface cleaner 100 (FIG. 6). In an embodiment, the complementary charging elements 182 are disposed on the mop accessory 160 such that the robotic surface cleaner 100 can interface with the dock 178 through the mop accessory 160. The dock 178 further includes a logic device (not illustrated) to regulate one or more operational aspects of the dock 178, such as flow of current to the robotic surface cleaner 100 during charging. The dock logic device can be in communication with the robot logic device 106 and the logic device 174 of the mop accessory 160 to control charging of the energy sources 104 and 176 and other services of the dock 178. The dock 178 can be electrically coupled to a power source, such as a wall outlet, using a power cord (not shown).

In certain instances, such as when at least one of the first and second energy sources 104 and 176 is at or below a minimum charge threshold, the robotic surface cleaner 100 can maneuver through the workspace to the dock 178 and align with the dock 178 such that the charging elements 180 and 182 are aligned in electrical communication with one another. Upon detecting proper alignment between the charging elements 180 and complementary charging elements 182, the dock logic device can initiate charging of either or both of the first and second energy sources 104 and 176. The robotic surface cleaner 100 can remain at the dock 178 until the first and second energy sources 104 and 176 reach a predetermined threshold charge. In an embodiment, the predetermined threshold charge can correspond with 100% charge, i.e., full battery capacity. In another embodiment, the predetermined threshold charge can be less than 100%. Instead, the charge can be brought to a level sufficient to complete a cleaning operation currently in progress (e.g., 80%).

Referring to FIG. 2, in one embodiment a sensor 163 is configured to monitor the temperature of the fluid during the pre-heating operation. The sensor 163 is electronically coupled to the logic device 174. The logic device 174 is configured to control power to the heating element 184 based on the temperature of the fluid in the fluid reservoir 162 by controlling a switch or by communicating with the dock logic device. Power can be directed from the dock 178 (FIG. 6) to the heating element 184 through the charging interface formed between the charging elements 180 and the complementary charging elements 182. Current can flow to the heating element 184 while the first and second energy sources 104 and 176 are charging. In some instances, the dock 178 is configured to provide at least some power directly to the heating element 172 to preheat the fluid in the fluid chamber 170. In one embodiment, the fluid in the fluid reservoir 162 and/or the fluid chamber 170 can be preheated above room temperature (approximately 20 degrees Celsius) to a predetermined temperature less than the critical temperature threshold, such as between 90 and 99 degrees Celsius, or between 80 and 90 degrees Celsius.

In some instances, the dock 178 can refill the fluid reservoir 162 while the robotic surface cleaner 100 is docked. In one embodiment, the dock 178 can preheat the fluid to a desired temperature prior to transferring the fluid to the fluid reservoir 162. The dock 178 can heat the fluid to a temperature less than the critical threshold temperature prior to transferring the fluid, and power the heating element 184 to further heat the preheated fluid in the fluid reservoir 162 to a predetermined temperature less than the critical temperature threshold, such as between 90 and 99 degrees Celsius, or between 80 and 90 degrees Celsius.

In an embodiment, preheating the fluid can occur during a final duration of charging, i.e., when the charge cycle is nearly complete. For example, when a preheating cycle is estimated to require 5 minutes and a charging cycle is estimated to require 80 minutes, the dock 178 is configured to initiate the preheating cycle at the 75th minute or later. In one embodiment, when the robotic surface cleaner 100 departs from the dock 178, power draw for the heating element 184 switches from the dock 178 to the second energy source 176 to maintain the fluid in the heated state, or to reduce the rate of heat lost to the atmosphere.

FIG. 6 illustrates a bottom, rear perspective view of the mop accessory 160. The outlet port 166 of the vapor generator 164 is depicted as a plurality of openings. However, the outlet port 166 may extend across a larger or smaller area of the mop accessory 160, may be disposed at a different location along the mop accessory 160, or may include openings having different shapes, sizes, or the like.

In an embodiment, the mop accessory 160 can include a feature, such as a mop pad 186, that contacts the underlying floor to enhance wet servicing operations. By way of non-limiting example, the mop pad 186 can include a textile or synthetic material, such as a microfiber cloth or a nonwoven absorbent pad. In an embodiment, the mop pad 186 is positioned forward of the outlet port 166. In an embodiment, the mop pad 186 can define one or more openings 188 that allow steam to pass through. In an embodiment, the openings 188 of the mop pad 186 can be generally aligned with the outlet port 166 of the vapor generator 164. In an embodiment, the openings 188 can share at least one of a size or shape in common with openings in the outlet port 166. In another embodiment, the openings 188 can have a different size or shape as compared to the openings in the outlet port 166.

The mop pad 186 may be removably attached to the mop accessory 160. In an embodiment, the mop accessory 160 can include one or more attachment locations 190 each configured to engage with a corresponding attachment location 192 of the mop pad 186. In some instances, the attachment locations 190 and corresponding attachment locations 192 can define a quick attachment interface that allows for easy attachment of the mop pad 186 to the mop accessory 160. The attachment locations 190 and corresponding attachment locations 192 can include hook and loop fasteners, or alternatively a hook fastener on the mop accessory 160 engaging fibers of the mop pad. In an embodiment, the interface between the attachment locations 190 and corresponding attachment locations 192 may include a magnetic interface, twist-to-lock fasteners, or one-way engagement features that allow an operator to insert the mop pad 186 into the feature and prevent the mop pad 186 from prematurely pulling out of the feature.

During use, the mop pad 186 absorbs and disperses fluid on the underlying floor surface. Over periods of use, the mop pad 186 absorbs fluid and becomes saturated. When the robotic surface cleaner 100 finishes a cleaning operation, robot surface cleaner 100 and the attached mop pad 186 can remain static for a prolonged duration of time, until further cleaning is required. Prior to these durations of inactivity, it may be desirable to dry the mop pad 186 while the mop pad 186 is attached to the robotic surface cleaner 100.

In an embodiment, the mop pad 186 can be dried by the dock 178 when the robotic surface cleaner 100 is positioned on the dock. FIG. 7 illustrates an exemplary schematic, cross-sectional side view of the robotic surface cleaner 100 at the dock 178 as seen along Line A-A in FIG. 5. The dock 178 is shown interfaced with a ramp 201. The robotic surface cleaner 100 can ride onto the ramp 201 to dock.

In an embodiment, the dock 178 is configured to empty debris from the robotic surface cleaner 100. Once the robotic surface cleaner 100 is aligned with the dock 178, a suction source 194 of the dock 178 can draw dust and debris from the robotic surface cleaner 100 (e.g., from the dust bin 142). The suction source 194 can generate airflow to cause debris to pass from the robotic surface cleaner 100 into a debris storage chamber 196 of the dock 178. Air exhausted by the suction source 194 can pass through an exhaust port 198 of the dock 178 and vent into the external environment. In an embodiment, the exhaust port 198 can terminate at an exhaust outlet 200 arranged at a position adjacent to the mop pad 186 such that air 202 passing through the exhaust port 198 is directed towards the mop pad 186. In this regard, air 202 can be used to dry the mop pad 186 when the dock 178 empties the dust bin 142.

In an embodiment, the dock 178 is configured to operate a drying cycle by activating the suction source 194 for a duration during non-emptying operations to dry the mop pad 186 when the mop accessory 160 is present. The duration of the drying cycle can be a predetermined duration, or may be controlled by the dock logic device in response to a moisture sensor on the dock or mop accessory, or may be determined by user input. In an embodiment, the dock 178 can further include a secondary suction source 204 that generates air 202 through the exhaust port 198 for the purpose of drying the mop pad 186 without initiating an emptying operation. The secondary suction source 204 can be in communication with an air inlet not associated with the debris storage chamber 196.

FIG. 8 illustrates a workspace 206 in which the robotic surface cleaner 100 can operate. The workspace 206 can include one or more docks 178, such as docks 178A and 178B. In other instances, a single dock 178 can be utilized in the workspace 206.

The workspace 206 depicted in FIG. 8 includes two docks 178A and 178B. In an embodiment, the docks 178A and 178B can be similar to one another. For instance, both docks 178A and 178B can share a common size, shape, operational function, or the like. In another embodiment, the docks 178A and 178B can have one or more different characteristics as compared to each other. For example, one of the docks 178A or 178B can form a primary dock that communicates with the robotic surface cleaner 100 and the other of the docks 178A or 178B while the other of the docks 178A or 178B can form a secondary dock that, e.g., receives communications from the primary dock 178A or 178B. By way of another example, one of the docks 178A or 178B can include a charging station that allows the robotic surface cleaner 100 to charge when electrically coupled therewith while the other dock 178A or 178B can form an auxiliary function such as emptying the dust bin 142, servicing the mop accessory 160, refilling the fluid reservoir 162, pre-heating the fluid, or the like.

The workspace 206 can correspond with an entire home, a portion of a home, an office environment, an auxiliary building, or the like. The workspace 206 can be divided into separate areas, such as separate rooms. For example, the workspace 206 illustrated in FIG. 8 includes a first room 208, a second room 210, and a third room 212. The first, second and third rooms 208, 210 and 212 may be separated by a physical boundary, a virtual boundary, or a combination thereof.

In one embodiment, the robotic surface cleaner 100 surface cleaner 100 is configured to switch between different servicing capabilities when operating on different types of surfaces within the workspace 206. In one or more embodiments the cleaner 100 includes a floor type sensor operable to determine surface cleaner 100 the type of surface disposed under the robotic surface cleaner 100. The robot logic device 106 and accessory logic device 174 discern the floor type from the floor type sensor and the type of accessory coupled to the cleaner 100 from the detector 158. As a result, certain features of the cleaner 100 and accessory may be engaged and disengaged to control the servicing operation. For example, a wet servicing operation, such as a mopping operation, may be provided on hard surfaces by operating the pump and the vapor generator when operating on hard surfaces and the mop accessory 160 is attached. For another example, a dry servicing operation, such as vacuuming, may be provided on carpet or textile surfaces by operating the suction motor when operating on such surfaces and the dust bin 142 is attached. The robotic surface cleaner 100 may be configured to discern between different surfaces or zones within the workspace 206 and perform different types of cleaning operations in view of the different surfaces or zones.

FIG. 9 illustrates a map 214 of the workspace 206 as seen on a display 216 of the mobile device 107. Using the mobile device 107, an operator can control one or more aspects of the robotic surface cleaner 100. For instance, the operator can schedule operational times, different operational zones in the workspace 206 for travel and cleaning, different cleaning priorities, different cleaning operation types, or the like. In some instances, the operator can select control parameters from a preset list 218 of available options. In other instances, the operator can manually enter desired control parameters. The operator can further check on progress of a cleaning operation, determine the status of one or more of the docks 178, see a current position of the robotic surface cleaner 100, see a current charge level of the first and second energy sources 104 and 176, or the like.

As part of a cleaning operation, the robotic surface cleaner 100 may be required to traverse different types of surfaces. For example, the first room 208 may have a generally uniform floor type including a hard surface, such as tile, stone or wood. Thus the cleaner 100 can operate in the first room 208 using either or both dry servicing operations using a dry servicing accessory and wet servicing operations using a wet servicing accessory. Conversely, the second room 210 can include different types of surfaces, such as a hard surface and a soft surface, such as a carpet or an area rug 220. The second room 210 may thus require different types of cleaning operations at different locations. For example, the hard surface of the second room 210 can be cleaned by either or both dry servicing operations and wet servicing operations, while the cleaner can avoid servicing the soft surface of the second room 210 when performing wet servicing operations.

In an embodiment, selecting zones for different types of cleaning operations can be performed manually, e.g., by creating different zones within the map 214. To create a zone, an operator can form a boundary within the map 214. The boundary can be formed by connecting one or more lines or sizing shapes to form an enclosed area. The operator can resize the enclosed area and move the zone as desired. The operator can further select between the type of cleaning operation desired within a particular enclosed area using, e.g., a selectable interface 222. The selectable interface 222 can include all available types of cleaning operations, e.g., dry and wet. The operator may be able to distinguish between different types of dry and wet cleaning operations, such as vacuuming, mopping, sanitizing, carpet dry cleaning, or the like. The robotic surface cleaner 100 performing a servicing operation determines its location relative to the location of the zones and determines when the cleaner enters a zone. The robot logic device 106 or the accessory logic device 174 is configured to determine whether the servicing operation being performed is selected in the zone. The cleaner 100 continues the servicing operation in the zone if the type of cleaning operation is selected for the zone. The cleaner 100 navigates around the zone or stops the servicing operation in the zone if the type of cleaning operation is not selected for the zone.

In another embodiment, the type of cleaning operation employed at any given time may be at least partially determined by the robotic surface cleaner itself. FIG. 10 illustrates an, enlarged side view of the robotic surface cleaner 100 traversing the first room 208 and passing from a hard surface 224 to the area rug 220.

Rugs and carpeted surfaces typically extend upward from a level upon which the wheel(s) 112 move. That is, the fibers of rugs and carpets typically project upward from an underlying, solid surface. To detect these fibers, at least one of the robotic surface cleaner 100 or mop accessory 160 can include a threshold bumper 226 that is positioned to interact with fibers of the rug or carpet to detect the change in surface under the robotic surface cleaner 100. As illustrated in FIG. 10, in some embodiments the threshold bumper 226 can be disposed at, e.g., extend below, a vertical elevation below the outlet port 166 of the vapor generator 164. In other embodiments the bumper 226 may be disposed at a different location and/or vertical elevation. As shown in solid lines, the threshold bumper 226 can extend downward in an unactuated state. Upon contacting fibers associated with the area rug 220, the threshold bumper 226 displaces as shown by dashed lines. The threshold bumper 226 can be coupled with a detector or switch (not illustrated) that notifies the robot logic device 106 or the accessory logic device 174 that an underlying object (e.g., the area rug 220) is being traversed. In one embodiment, the logic device 106 stops the forward motion of the cleaner 100 upon actuation of the threshold bumper 226. The logic device 106 reverses or redirects the cleaner 100 away from the object and continues the servicing operation. In an embodiment, with the threshold bumper 226 displaced, the vapor generator 164 at least temporarily stops dispensing vapor until the threshold bumper returns to its unactuated state. In some instances, termination of vapor dispensing, and more particularly steam generation) can be performed by stopping the pump and reducing the temperature of at least one of the heating elements or disabling power thereto. In an embodiment, a cover (not illustrated) can be selectively deployed over the outlet port 166 of the vapor generator 164 to redirect or block any lingering vapor from passing through the outlet port 166. In some instances, the cover can be mechanically linked to the threshold bumper 226. In other instances, the cover can be moved between the open and closed configurations by an actuator, motor, or the like that receives instructions in response to displacement of the bumper 226.

The threshold bumper 226 can remain in the displaced position until the robotic surface cleaner 100 leaves the area associated with the underlying object (e.g., when the robotic surface cleaner 100 passes from the area rug 220 and returns to the hard surface 224). In some instances, the threshold bumper 226 displaces rotationally, e.g., about a horizontal pivot axis. In an embodiment, the horizontal pivot axis extends perpendicular to a direction of travel. In another embodiment, the horizontal pivot axis extends parallel with a direction of travel. In other instances, the threshold bumper 226 displaces linearly upon contact the underlying object. In yet a further instances, the threshold bumper 226 displaces via rotation and linear displacement.

In an embodiment, the robotic surface cleaner 100 can detect the presence of the area rug 220 using a tilt sensor (not illustrated). The tilt sensor can detect passage onto the area rug 220 when the angular orientation of the robotic surface cleaner 100 relative to the floor changes. In another embodiment, the robotic surface cleaner 100 can detect the presence of the area rug 220 using a threshold sensor (not illustrated) that detects a changing characteristic of the floor. In another embodiment, the robotic surface cleaner 100 can detect the presence of the area rug 220 using yet another type of sensor or detector such as an ultrasonic sensor.

FIG. 11 illustrates a flow chart of a method 1100 of operating a robotic surface cleaner in accordance with an embodiment. The method 1100 can generally describe a method of utilizing the mop accessory 160 described above with respect to a robotic surface cleaner 100.

The method 1100 can include a step 1102 of identifying, via a logic device of the robotic surface cleaner, a mop accessory as attached to a main body of a robotic surface cleaner at a connection interface of the main body. The step 1102 of identifying the mop accessory can occur when a removable accessory is detected at the connection interface. In an embodiment, the removable accessory can be manually installed at the connection interface by an operator. The operator can swap between a plurality of different removable accessories including at least the mop accessory and a dust bin.

In an embodiment, the removable accessory can be installed at the connection interface at least semi-autonomously. For instance, the mop accessory can be removably attached to the robotic surface cleaner when the robotic surface cleaner is docked, e.g., for charging. The dock may include a service assembly that removes and attaches the mop accessory to the robotic surface cleaner. In one embodiment, the dock can include a storage area for storing an unused removable accessory when not in use. The service assembly swaps between different removable accessories based on a request initiated at a remote device, an automated cleaning protocol, a state of the accessory or robotic surface cleaner, or for any other reason.

The mop accessory includes a fluid reservoir. The fluid reservoir is configured to store fluid for wet servicing operations on the floor surface. The method 1100 further includes a step 1104 of providing at least some of the fluid from the fluid reservoir to a vapor generator of the robotic surface cleaner via a pump. The pump can be arranged in series with a filter to remove contaminants from the fluid.

The method 1100 further includes a step 1106 of heating at least some of the fluid. Heating of the fluid can be performed by a heating element associated with the vapor generator. Step 1106 can be performed simultaneously with step 1104.

The method 1100 further includes a step 1108 of dispensing vapor through an outlet port of the mop accessory to a floor surface. In one embodiment, dispensing occurs under pressure. As temperature of the fluid within the vapor generator reaches a critical threshold, pressure overcomes a pressure relief valve causing vapor to dispense through the outlet port. In one embodiment, the vapor dispensed is steam. The pressure threshold for dispensing steam is preset based on the specifications of the pressure relief valve and in view of the fluid properties.

As vapor is dispensed, step 1104 can be repeated by providing additional fluid from the fluid reservoir to the vapor generator via the pump. In one embodiment, this process can be continuous, i.e., vapor is dispensed from the vapor generator while additional fluid is provided to the vapor generator for heating.

In an embodiment, the robotic surface cleaner can prevent dispensing of steam upon displacement of a bumper associated with the robotic surface cleaner. Displacement of the bumper occurs when the bumper contacts an elevated object such as a carpeted region of the workspace. When displaced, the bumper triggers a switch that signals termination of steam generation. Steam generation can resume when the bumper returns to its original non-displaced position.

When stored charge of the onboard energy source reaches a minimum critical threshold, the robotic surface cleaner navigates to a docking station to initiate a charging operation. In one embodiment, fluid associated with the vapor generator is preheated using power provided by the docking station while the robotic surface cleaner is docked. Power to preheat the fluid can be provided entirely by the docking station.

In one embodiment, the method can further include drying one or more features, such as a mop pad, of the mop accessory while the robotic surface cleaner is docked. Drying the mop pad can be performed at least in part using airflow generated by the docking station. In one embodiment, the airflow is an exhaust airflow generated by the dock during an emptying procedure where debris is emptied from the robotic surface cleaner. Drying of the mop pad at the docking station can prevent excess fluid from dripping off the mop pad and keep the components of the robotic surface cleaner sanitary and clean during use. In one embodiment, fragrance or sterilizing fluid can be applied to the mop pad.

After sufficient charging, the robotic surface cleaner undocks from the docking station and return to the workspace to complete additional servicing operations. In one embodiment, the robotic surface cleaner resumes operation where it previously left off.

FIG. 12 is a flowchart of a method 1200 of dispensing vapor from a robotic surface cleaner in accordance with an embodiment. The method 1200 includes a step 1202 of activating a vapor generator of a robotic surface cleaner when the robotic surface cleaner traverses a first area of a workspace. The first area can correspond with a first type of floor. For example, the first area can be a hardwood floor. The method 1200 can further include a step 1204 of terminating dispensing of vapor when the robotic surface cleaner enters a second area of the workspace different than the first area. The second area can correspond with a second type of floor different from the first type of floor. For example, the second area can be an area rug.

The method 1200 further includes a step 1206 of recognizing passage into the first or second area in response to detecting a known condition associated with the first or second area. In one embodiment, the separates the workspace into first and second areas at a user interface. The robotic surface cleaner detects passage between the first and second areas of the workspace based on a known position within the workspace. In another embodiment, the known condition is associated with a characteristic change between the first and second areas. For example, a bumper of the robotic surface cleaner can detect fibers extending from an area rug. When the robotic surface cleaner passes onto the area rug, the fibers from the area rug displace the bumper. The bumper communicates with a logic device of the robotic surface cleaner to inform the passage of the robotic surface cleaner onto the area rug and terminate dispensing of vapor.

Robotic surface cleaners and accessories for robotic surface cleaners described herein may allow for efficient and easy cleaning of workspaces while operating in different modes to intelligently perform a plurality of different cleaning services within a workspace.

Further aspects of the disclosure are provided by one or more of the following embodiments:

Embodiment 1. A robotic surface cleaner comprising: a main body comprising: a vacuum inlet port in fluid communication with a suction source; a first energy source coupled to the main body and in electrical communication with the suction source; and a connection interface; and a mop accessory removably attachable to the main body at the connection interface, the mop accessory comprising: a fluid reservoir; a vapor generator in fluid communication with the fluid reservoir; an outlet port in fluid communication with the vapor generator and configured to dispense vapor from the vapor generator to a floor surface; and a second energy source coupled to the mop accessory and in electrical communication with the vapor generator.

Embodiment 2. The robotic surface cleaner of any one or more of the embodiments, wherein the mop accessory is one of a plurality of removable accessories each being removably attachable at the connection interface, and wherein the robotic surface cleaner is configured to detect a type of removable accessory attached at the connection interface.

Embodiment 3. The robotic surface cleaner of any one or more of the embodiments, wherein the robotic surface cleaner comprises a logic device and a detector in electronic communication with the logic device, wherein the mop accessory comprises an identifier, and wherein the logic device is configured to determine an identity of the mop accessory when the identifier is within a predetermined range of the detector.

Embodiment 4. The robotic surface cleaner of any one or more of the embodiments, wherein the mop accessory further comprises a bumper, and wherein displacement of the bumper terminates dispensing of vapor from the outlet port.

Embodiment 5. The robotic surface cleaner of any one or more of the embodiments, wherein the first and second energy sources are selectively operable in a share mode and an individual mode, wherein in the share mode power from at least one of the first and second energy sources is provided to the main body and the mop accessory, and wherein in the individual mode power from the first and second energy sources is provided exclusively to the main body and the mop accessory, respectively.

Embodiment 6. The robotic surface cleaner of any one or more of the embodiments, further comprising: a pump configured to provide at least some of the fluid from the fluid reservoir to the vapor generator, wherein the vapor generator is configured to preheat the at least some of the fluid when the robotic surface cleaner is docked to a docking station, and the vapor generator is at least partially powered by the docking station.

Embodiment 7. The robotic surface cleaner of any one or more of the embodiments, wherein power to preheat the fluid is provided entirely by the docking station.

Embodiment 8. The robotic surface cleaner of any one or more of the embodiments, wherein the robotic surface cleaner is at least partially controllable by a remote device operable by a user to assign cleaning zones to be associated with the mop accessory, and wherein the robotic surface cleaner is configured to activate and deactivate the mop accessory based on the assigned cleaning zones.

Embodiment 9. The robotic surface cleaner of any one or more of the embodiments, wherein the vapor generator is a steam generator, and wherein the outlet port is configured to dispense steam from the steam generator to the floor surface.

Embodiment 10. The robotic surface cleaner of any one or more of the embodiments, wherein the main body and the mop accessory each comprise logic devices configured to communicate with each other.

Embodiment 11. The robotic surface cleaner of any one or more of the embodiments, wherein the mop accessory comprises a mop pad, wherein a docking station associated with the robotic surface cleaner is configured to dry the mop pad while the robotic surface cleaner is docked at the docking station, and wherein drying the mop pad is performed using airflow generated at least in part by the docking station.

Embodiment 12. A mop accessory for a robotic surface cleaner, the mop accessory comprising: a fluid reservoir configured to contain a fluid; a vapor generator in fluid communication with the fluid reservoir; an outlet port in fluid communication with the vapor generator, wherein the outlet port is configured to dispense vapor from the vapor generator to a floor surface; and an energy source coupled to the mop accessory and in electrical communication with the vapor generator, wherein the mop accessory is removably attachable to a main body of the robotic surface cleaner at a connection interface of the robotic surface cleaner.

Embodiment 13. The mop accessory of any one or more of the embodiments, wherein the mop accessory is one of a plurality of removable accessories each being removably attachable at the connection interface, and wherein the robotic surface cleaner is configured to detect a type of removable accessory attached at the connection interface.

Embodiment 14. The mop accessory of any one or more of the embodiments, further comprising a bumper, wherein displacement of the bumper terminates dispensing of vapor from the outlet port.

Embodiment 15. The mop accessory of any one or more of the embodiments, wherein the robotic surface cleaner comprises a first energy source, wherein the energy source of the mop accessory is a second energy source, wherein first and second energy sources are selectively operable in a share mode and an individual mode, wherein in the share mode power from at least one of the first and second energy sources is provided to the main body and the mop accessory, and wherein in the individual mode power from the first and second energy sources is provided exclusively to the main body and the mop accessory, respectively.

Embodiment 16. The mop accessory of any one or more of the embodiments, further comprising: a pump configured to provide at least some of the fluid from the fluid reservoir to the vapor generator, wherein the vapor generator is configured to preheat the at least some of the fluid when the robotic surface cleaner is docked to a docking station, and the vapor generator is at least partially powered by the docking station.

Embodiment 17. The mop accessory of any one or more of the embodiments, wherein power to preheat the fluid is provided entirely by the docking station.

Embodiment 18. The mop accessory of any one or more of the embodiments, wherein the mop accessory comprises a unique identifier recognizable by the robotic surface cleaner when the mop accessory is received at the connection interface such that the robotic surface cleaner recognizes the mop accessory when the mop accessory is attached to the main body at the connection interface.

Embodiment 19. The mop accessory of any one or more of the embodiments, wherein the robotic surface cleaner is at least partially controllable by a remote device operable by a user to assign cleaning zones to be associated with the mop accessory, and wherein the robotic surface cleaner is configured to activate and deactivate the mop accessory based on the assigned cleaning zones.

Embodiment 20. The mop accessory of any one or more of the embodiments, wherein the vapor generator is a steam generator, and wherein the outlet port is configured to dispense steam from the steam generator to the floor surface.

Embodiment 21. The mop accessory of any one or more of the embodiments, further comprising a mop pad, wherein a docking station associated with the robotic surface cleaner is configured to dry the mop pad while the robotic surface cleaner is docked at the docking station, and wherein drying the mop pad is performed using airflow generated at least in part by the docking station.

Embodiment 22. The mop accessory of any one or more of the embodiments, wherein the robotic surface cleaner and the mop accessory each comprise logic devices, configured to communicate with each other.

Embodiment 23. A method of operating a robotic surface cleaner, the method comprising: identifying, via a logic device of the robotic surface cleaner, a mop accessory as attached to a main body of the robotic surface cleaner at a connection interface of the main body, the mop accessory comprising a fluid reservoir; providing at least some of the fluid from the fluid reservoir to a vapor generator via a pump; heating at least some of a fluid of the fluid reservoir via the vapor generator; and dispensing vapor through an outlet port of the mop accessory to a floor surface, wherein the vapor generator and the pump are in electrical communication with an energy source that is part of the mop accessory.

Embodiment 24. The method of any one or more of the embodiments, further comprising terminating dispensing of vapor from the outlet port upon displacement of a bumper.

Embodiment 25. The method of any one or more of the embodiments, further comprising: navigating to a docking station; initiating a charging operation of the robotic surface cleaner when the robotic surface cleaner is docked at the docking station; and preheating fluid associated with the vapor generator using power provided by the docking station while the robotic surface cleaner is docked.

Embodiment 26. The method of any one or more of the embodiments, further comprising: drying one or more features of the mop accessory while the robotic surface cleaner is docked to a docking station.

Embodiment 27. The method of any one or more of the embodiments, wherein drying comprises using an airflow generated at least in part by the docking station.

Embodiment 28. The method of any one or more of the embodiments, wherein drying comprises using an exhaust airflow generated by the docking station during an emptying procedure where debris is emptied from the robotic surface cleaner.

Embodiment 29. The method of any one or more of the embodiments, further comprising powering the vapor generator using the energy source and a secondary energy source associated with the main body of the robotic surface cleaner.

Embodiment 30. The method of any one or more of the embodiments, further comprising: selectively operating the robotic surface cleaner in a share mode wherein power from at least one of the energy source and the secondary energy source is provided to the main body and the mop accessory, and selectively operating the robotic surface cleaner in an individual mode wherein power from the energy source and the secondary energy source is used exclusively for the mop accessory and the main body, respectively.

Embodiment 31. The method of any one or more of the embodiments, wherein the vapor generator is a steam generator, and the dispensing further comprises dispensing steam through the outlet port of the mop accessory to the floor surface.

Embodiment 32. The method of any one or more of the embodiments, wherein the identifying further comprises: utilizing a detector in electronic communication with the logic device and configured to detect an identifier of the mop accessory, and determining an identity of the mop accessory when the identifier is within a predetermined range of the detector.

Embodiment 33. A method of dispensing vapor from a robotic surface cleaner, the method comprising: activating a vapor generator of the robotic surface cleaner to dispense vapor when the robotic surface cleaner traverses a first area of a workspace; terminating dispensing of vapor when the robotic surface cleaner enters a second area of the workspace different than the first area; and recognizing passage into the first or second area in response to detecting a known condition associated with the first or second area, wherein the workspace is separated into the first and second areas by an operator at a user interface.

Embodiment 34. The method of any one or more of the embodiments, wherein the vapor generator is a steam generator and the activating further comprises activating the steam generator to dispense steam to the floor surface.

Embodiment 35. The method of any one or more of the embodiments, further comprising: causing the robotic surface cleaner to navigate to a docking station; initiating a charging operation of the robotic surface cleaner upon docking; and preheating fluid associated with the vapor generator using power provided by the docking station while the robotic surface cleaner is docked.

Embodiment 36. The method of any one or more of the embodiments, further comprising identifying, via a logic device of the robotic surface cleaner, a removable accessory as removably attached to a main body of the robotic surface cleaner at a connection interface of the main body.

Embodiment 37. The method of any one or more of the embodiments, wherein identifying comprises detecting a type of removable accessory attached at the connection interface.

Embodiment 38. The method of any one or more of the embodiments, wherein detecting comprises determining, with a detector operably coupled to the logic device of the robotic surface cleaner, an identity of the removable accessory attached at the connection interface based on an identifier of the removable accessory when the identifier is within a predetermined range of the detector.

Embodiment 39. The method of any one or more of the embodiments, further comprising terminating dispensing of vapor upon displacement of a bumper.

Embodiment 40. The method of any one or more of the embodiments, further comprising navigating to a docking station; initiating a charging operation of the robotic surface cleaner when the robotic surface cleaner is docked at the docking station; and preheating fluid associated with the vapor generator using power provided by the docking station while the robotic surface cleaner is docked.

Embodiment 41. The method of any one or more of the embodiments, further comprising: drying one or more features of the robotic surface cleaner is docked to a docking station.

Embodiment 42. The method of any one or more of the embodiments, wherein drying comprises using an airflow generated at least in part by the docking station.

Embodiment 43. The method of any one or more of the embodiments, wherein drying comprises using an exhaust airflow generated by the docking station during an emptying procedure where debris is emptied from the robotic surface cleaner.

ROBOTIC SURFACE CLEANER

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