CLEANING PAD ASSEMBLY FOR MOBILE ROBOT

A cleaning pad for a mobile cleaning robot can include a backing layer, a cleaning layer, and a card. The backing layer can be user-releasably securable to a pad tray of the mobile cleaning robot. The cleaning layer can be affixed to the backing layer and engageable with a floor surface. The card can be connected to at least one of the backing layer and the cleaning layer and can be engaged with the backing layer. The card can be slidably insertable into a retainer of the pad tray to align the cleaning pad with the pad tray of the mobile cleaning robot.

BACKGROUND

Autonomous mobile robots can move about an environment and can perform functions and operations in a variety of categories, including but not limited to security operations, infrastructure or maintenance operations, navigation or mapping operations, inventory management operations, and robot/human interaction operations. Some mobile robots, known as cleaning robots, can perform cleaning tasks autonomously within an environment, e.g., a home. Many kinds of cleaning robots are autonomous to some degree and in different ways. For example, a cleaning robot can conduct cleaning missions, where the robot traverses and simultaneously ingests (e.g., vacuums) debris from the floor surface of their environment.

SUMMARY

Some autonomous cleaning robots can include both a vacuum system and a mopping system that can allow the robots to perform both mopping and vacuuming operations (such as simultaneously or alternatively), often referred to as two-in-one robots or vacuums. Some two-in-one robots include a pad type mopping system located rearward of a vacuum extractor that allows the robot to extract debris from a floor surface just prior to mopping the surface with the pad. These systems can be effective for cleaning hard surfaces that may require both debris extraction and mopping. However, use of a pad type mopping system often requires that a mopping pad be replaced one or more times during a cleaning mission, depending on the size of the area to be cleaned and how dirty the area is. Pad changing can also occur after the mission is complete or before mission begins, such as to prepare the robot ready for the next mission. If the pad is not properly connected to the pad tray, the pad may become separated from the tray during cleaning missions.

This disclosure helps to address these issues by including features to ensure that the pad is properly aligned with and secured to the pad tray. For example, the pad can include a card that is secured to (e.g., slidably engages) the pad tray to secure the pad to the tray and align fasteners of the pad with fasteners of the tray. The tray can also include one or more fasteners to secure the pad to the pad tray. The card can optionally include features to align the card with a retainer of the tray and one or more features to help secure the card to the pad tray. The pad and tray together can also mate to form a relatively planar cleaning surface. That is, the tray can engage the pad in a uniform matter to help reduce hot spots (or higher pressure areas) on the cleaning pad, which can help improve product life and can help improve cleaning performance.

For example, a cleaning pad for a mobile cleaning robot can include a backing layer, a cleaning layer, and a card. The backing layer can be user-releasably securable to a pad tray of the mobile cleaning robot. The cleaning layer can be affixed to the backing layer and engageable with a floor surface. The card can be connected to at least one of the backing layer and the cleaning layer and can be engaged with the backing layer. The card can be slidably insertable into a retainer of the pad tray to align the pad with the tray and to help secure the cleaning pad to the pad tray of the mobile cleaning robot.

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

DETAILED DESCRIPTION

Robot Operation Summary

FIG.1illustrates a plan view of a mobile cleaning robot100in an environment40, in accordance with at least one example of this disclosure. The environment40can be a dwelling, such as a home or an apartment, and can include rooms42a-42e. Obstacles, such as a bed44, a table46, and an island48can be located in the rooms42of the environment. Each of the rooms42a-42ecan have a floor surface50a-50e, respectively. Some rooms, such as the room42d, can include a rug, such as a rug52. The floor surfaces50can be of one or more types such as hardwood, ceramic, low-pile carpet, medium-pile carpet, long (or high)-pile carpet, stone, or the like.

The mobile cleaning robot100can be operated, such as by a user60, to autonomously clean the environment40in a room-by-room fashion. In some examples, the robot100can clean the floor surface50aof one room, such as the room42a, before moving to the next room, such as the room42d, to clean the surface of the room42d. Different rooms can have different types of floor surfaces. For example, the room42e(which can be a kitchen) can have a hard floor surface, such as wood or ceramic tile, and the room42a(which can be a bedroom) can have a carpet surface, such as a medium pile carpet. Other rooms, such as the room42d(which can be a dining room) can include multiple surfaces where the rug52is located within the room42d.

During cleaning or traveling operations, the robot100can use data collected from various sensors (such as optical sensors) and calculations (such as odometry and obstacle detection) to develop a map of the environment40. Once the map is created, the user60can define rooms or zones (such as the rooms42) within the map. The map can be presentable to the user60on a user interface, such as a mobile device, where the user60can direct or change cleaning preferences, for example.

Also, during operation, the robot100can detect surface types within each of the rooms42, which can be stored in the robot or another device. The robot100can update the map (or data related thereto) such as to include or account for surface types of the floor surfaces50a-50eof each of the respective rooms42of the environment. In some examples, the map can be updated to show the different surface types such as within each of the rooms42.

In some examples, the user60can define a behavior control zone54using, for example, the methods and systems described herein. In response to the user60defining the behavior control zone54, the robot100can move toward the behavior control zone54to confirm the selection. After confirmation, autonomous operation of the robot100can be initiated. In autonomous operation, the robot100can initiate a behavior in response to being in or near the behavior control zone54. For example, the user60can define an area of the environment40that is prone to becoming dirty to be the behavior control zone54. In response, the robot100can initiate a focused cleaning behavior in which the robot100performs a focused cleaning of a portion of the floor surface50din the behavior control zone54.

Robot Example

FIG.2Aillustrates an isometric view of a mobile cleaning robot100with a pad assembly in a stored position.FIG.2Billustrates an isometric view of the mobile cleaning robot100with the pad assembly in an extended position.FIG.2Cillustrates an isometric view of the mobile cleaning robot100with the pad assembly in a mopping position.FIGS.2A-2Calso show orientation indicators Front and Rear.FIGS.2A-2Care discussed together below.

The mobile cleaning robot100can include a body102and a mopping system104. The mopping system104can include arms106aand106b(referred to together as arms106) and a pad assembly108. The robot100can also include a bumper109and other features such as an extractor (including rollers), one or more side brushes, a vacuum system, a controller, a drive system (e.g., motor, geartrain, and wheels), a caster, and sensors, as discussed in further detail below. A distal portion of the arms106can be connected to the pad assembly108and a proximal portion of the arms106aand106bcan be connected to an internal drive system to drive the arms106to move the pad assembly108.

FIGS.2A-2Cshow how the robot100can be operated to move the pad assembly108from a stored position inFIG.2Ato a transition or partially deployed position inFIG.2B, to a mopping or a deployed position inFIG.2C. In the stored position ofFIG.2A, the robot100can perform only vacuuming operations. In the deployed position ofFIG.2C, the robot100can perform vacuuming operations or mopping operations.FIGS.2D-2Ediscuss additional components of the robot100.

Components of the Robot

FIG.2Dillustrates a bottom view of the mobile cleaning robot100andFIG.2Eillustrates a top isometric view of the robot100.FIGS.2D and2Eare discussed together below. The robot100ofFIGS.2D and2Ecan be consistent withFIGS.2A-2C;FIGS.2D-2Eshow additional details of the robot100For example,FIGS.2D-2Eshow that the robot100can include a body102, a bumper109, an extractor113(including rollers114aand114b), motors116aand116b, drive wheels118aand118b, a caster120, a side brush assembly122, a vacuum assembly124, memory126, sensors128, and a debris bin130. The mopping system104can also include a tank132and a pump134.

The cleaning robot100can be an autonomous cleaning robot that autonomously traverses the floor surface50(ofFIG.1) while ingesting debris75from different parts of the floor surface50. As shown inFIG.2D, the robot100can include the body102that can be movable across the floor surface50. The body102can include multiple connected structures to which movable or fixed components of the cleaning robot100are mounted. The connected structures can include, for example, an outer housing to cover internal components of the cleaning robot100, a chassis to which the drive wheels118aand118band the cleaning rollers114aand114b(of the cleaning assembly113) are mounted, the bumper109mounted to the outer housing, etc. The caster wheel120can support a front portion of the body102above the floor surface50, and the drive wheels118aand118bcan support the middle and rear portions of the body102(but can also support a majority of the weight of the robot100) above the floor surface50.

As shown inFIG.2D, the body102can include a front portion that has a substantially semicircular shape that can be connected to the bumper109, and a rear portion that has a substantially semicircular shape. In other examples, the body102can have other shapes such as a square front or straight front. The robot100can also include a drive system including the actuators116aand116b, e.g., motors. The actuators116aand116bcan be connected to the body102and can be operably connected to the drive wheels118aand118b, which can be rotatably mounted to the body102. The actuators116aand116b, when driven, can rotate the drive wheels118aand118bto enable the robot100to autonomously move across the floor surface50.

The vacuum assembly124can be carried within the body102of the robot100, e.g., in a rear portion of the body102, and can be located in other locations in other examples. The vacuum assembly124can include a motor to drive an impeller that generates the airflow when rotated. The airflow and the cleaning rollers114, when rotated, can cooperate to ingest the debris into the robot100. The cleaning bin130can be mounted in the body102and can contain the debris ingested by the robot100. A filter in the body102can separate the debris from the airflow before the airflow enters the vacuum assembly124and is exhausted out of the body102. In this regard, the debris can be captured in both the cleaning bin130and the filter before the airflow is exhausted from the body102. In some examples, the vacuum assembly124and extractor113can be optionally included or can be of a different type.

The cleaning rollers114aand114bcan be operably connected to an actuator115, e.g., a motor, through a gearbox. The cleaning head113and the cleaning rollers114aand114bcan be positioned forward of the cleaning bin130. The cleaning rollers114can be mounted to an underside of the body102so that the cleaning rollers114aand114bengage debris on the floor surface50during the cleaning operation when the underside of the body102faces the floor surface50.

The controller112can be located within the housing and can be a programable controller, such as a single or multi-board computer, a direct digital controller (DDC), a programable logic controller (PLC), or the like. In other examples, the controller112can 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 memory126can 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 memory126can be located within the housing102, connected to the controller112and accessible by the controller112.

The controller112can operate the actuators116aand116bto autonomously navigate the robot100about the floor surface50during a cleaning operation. The actuators116aand116bcan be operable to drive the robot100in a forward drive direction, in a backwards direction, and to turn the robot100. The controller112can operate the vacuum assembly124to generate an airflow that flows through an air gap near the cleaning rollers114, through the body102, and out of the body102.

The control system can further include a sensor system with one or more electrical sensors. The sensor system, as described herein, can generate a signal indicative of a current location of the robot100, and can generate signals indicative of locations of the robot100as the robot100travels along the floor surface50. The sensors128(shown inFIG.2D) can be located along a bottom portion of the housing102. Each of the sensors128can 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 surface50. The sensors128(optionally cliff sensors) can be connected to the controller112and can be used by the controller112to navigate the robot100within the environment40. In some examples, the cliff sensors can be used to detect a floor surface type which the controller112can use to selectively operate the mopping system104.

The cleaning pad assembly108can be a cleaning pad connected to the bottom portion of the body102(or connected to a moving mechanism configured to move the assembly108between a stored position and a cleaning position), such as to the cleaning bin130in a location to the rear of the extractor113. The tank132can be a water tank configured to store water or fluid, such as cleaning fluid, for delivery to a mopping pad142. The pump134can be connected to the controller112and can be in fluid communication with the tank132. The controller112can be configured to operate the pump134to deliver fluid to the mopping pad142during mopping operations. In some examples, the pad142can be a dry pad such as for dusting or dry debris removal. The pad142can also be any cloth, fabric, or the like configured for cleaning (either wet or dry) of a floor surface.

Operation of the Robot

In operation of some examples, the controller112can be used to instruct the robot100to perform a mission. In such a case, the controller112can operate the motors116to drive the drive wheels118and propel the robot100along the floor surface50. The robot100can be propelled in a forward drive direction or a rearward drive direction. The robot100can also be propelled such that the robot100turns in place or turns while moving in the forward drive direction or the rearward drive direction. In addition, the controller112can operate the motors115to cause the rollers114aand114bto rotate, can operate the side brush assembly122, and can operate the motor of the vacuum system119to generate airflow. The controller112can execute software stored on the memory126to cause the robot100to perform various navigational and cleaning behaviors by operating the various motors of the robot100.

The various sensors of the robot100can be used to help the robot navigate and clean within the environment40. For example, the cliff sensors can detect obstacles such as drop-offs and cliffs below portions of the robot100where the cliff sensors are disposed. The cliff sensors can transmit signals to the controller112so that the controller112can redirect the robot100based on signals from the sensors. Proximity sensors 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 environment40of the robot100. The proximity sensors can transmit signals to the controller112so that the controller112can redirect the robot100based on signals from the proximity sensors. In some examples, a bump sensor can be used to detect movement of the bumper109along a fore-aft axis of the robot100. A bump sensor139can also be used to detect movement of the bumper109along one or more sides of the robot100and can optionally detect vertical bumper movement. The bump sensors139can transmit signals to the controller112so that the controller112can redirect the robot100based on signals from the bump sensors139.

The robot100can also optionally include one or more dirt sensors144connected to the body102and in communication with the controller112. The dirt sensors144can be a microphone, piezoelectric sensor, optical sensor, or the like located in or near a flowpath of debris, such as near an opening of the cleaning rollers114or in one or more ducts within the body102. This can allow the dirt sensor(s)144to detect how much dirt is being ingested by the vacuum assembly124(e.g., via the extractor113) at any time during a cleaning mission. Because the robot100can be aware of its location, the robot100can keep a log or record of which areas or rooms of the map are dirtier or where more dirt is collected. This information can be used in several ways, as discussed further below.

The image capture device140can be configured to generate a signal based on imagery of the environment40of the robot100as the robot100moves about the floor surface50. The image capture device140can transmit such a signal to the controller112. The controller112can use the signal or signals from the image capture device140for various tasks, algorithms, or the like, as discussed in further detail below.

In some examples, obstacle following sensors can detect detectable objects, including obstacles such as furniture, walls, persons, and other objects in the environment of the robot100. 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 can also serve as obstacle detection sensors, similar to the proximity sensors described herein.

The robot100can also include sensors for tracking a distance travelled by the robot100. For example, the sensor system can include encoders associated with the motors116for the drive wheels118, and the encoders can track a distance that the robot100has travelled. In some implementations, the sensor can include an optical sensor facing downward toward a floor surface. The optical sensor can be positioned to direct light through a bottom surface of the robot100toward the floor surface50. The optical sensor can detect reflections of the light and can detect a distance travelled by the robot100based on changes in floor features as the robot100travels along the floor surface50.

The controller112can use data collected by the sensors of the sensor system to control navigational behaviors of the robot100during the mission. For example, the controller112can use the sensor data collected by obstacle detection sensors of the robot100, (the cliff sensors, the proximity sensors, and the bump sensors) to enable the robot100to avoid obstacles within the environment of the robot100during the mission.

The sensor data can also be used by the controller112for simultaneous localization and mapping (SLAM) techniques in which the controller112extracts features of the environment represented by the sensor data and constructs a map of the floor surface50of the environment. The sensor data collected by the image capture device140can be used for techniques such as vision-based SLAM (VSLAM) in which the controller112extracts visual features corresponding to objects in the environment40and constructs the map using these visual features. As the controller112directs the robot100about the floor surface50during the mission, the controller112can use SLAM techniques to determine a location of the robot100within 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 memory126. In addition, other data generated for the SLAM techniques, including mapping data forming the map, can be stored in the memory126. 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 robot100to perform its behaviors, the memory126can store data resulting from processing of the sensor data for access by the controller112. For example, the map can be a map that is usable and updateable by the controller112of the robot100from one mission to another mission to navigate the robot100about the floor surface50.

The persistent data, including the persistent map, can help to enable the robot100to efficiently clean the floor surface50. For example, the map can enable the controller112to direct the robot100toward open floor space and to avoid nontraversable space. In addition, for subsequent missions, the controller112can use the map to optimize paths taken during the missions to help plan navigation of the robot100through the environment40.

The controller112can also send commands to a motor (internal to the body102) to drive the arms106to move the pad assembly108between the stored position (shown inFIGS.2A and2D) and the deployed position (shown inFIGS.2C and2E). In the deployed position, the pad assembly108(which can include a pad tray142supporting the mopping pad142) can be used to mop a floor surface of any room of the environment40. The mopping pad142can be a dry pad or a wet pad. Optionally, when the mopping pad142is a wet pad, the pump134can be operated by the controller112to spray or drop fluid (e.g., water or a cleaning solution) onto the floor surface50or the mopping pad142. The wetted mopping pad142can then be used by the robot100to perform wet mopping operations on the floor surface50of the environment40.

Network Examples

FIG.3is a diagram illustrating by way of example and not limitation a communication network300that enables networking between the mobile robot100and one or more other devices, such as a mobile device304, a cloud computing system306, or another autonomous robot308separate from the mobile robot100. Using the communication network300, the robot100, the mobile device100, the robot308, and the cloud computing system306can communicate with one another to transmit and receive data from one another. In some examples, the robot100, the robot308, or both the robot100and the robot308communicate with the mobile device304through the cloud computing system306. Alternatively, or additionally, the robot100, the robot308, or both the robot100and the robot308communicate directly with the mobile device304. Various types and combinations of wireless networks (e.g., Bluetooth, radio frequency, optical based, etc.) and network architectures (e.g., wi-fi or mesh networks) can be employed by the communication network300.

In some examples, the mobile device304can be a remote device that can be linked to the cloud computing system306and can enable a user to provide inputs. The mobile device304can include user input elements such as, for example, one or more of a touchscreen display, buttons, a microphone, a mouse, a keyboard, or other devices that respond to inputs provided by the user. The mobile device304can also include immersive media (e.g., virtual reality) with which the user can interact to provide input. The mobile device304, in these examples, can be a virtual reality headset or a head-mounted display.

The user can provide inputs corresponding to commands for the mobile robot100. In such cases, the mobile device304can transmit a signal to the cloud computing system306to cause the cloud computing system306to transmit a command signal to the mobile robot100. In some implementations, the mobile device304can present augmented reality images. In some implementations, the mobile device304can be a smart phone, a laptop computer, a tablet computing device, or other mobile device.

According to some examples discussed herein, the mobile device304can include a user interface configured to display a map of the robot environment. A robot path, such as that identified by a coverage planner, can also be displayed on the map. The interface can receive a user instruction to modify the environment map, such as by adding, removing, or otherwise modifying a keep-out zone in the environment, adding, removing, or otherwise modifying a focused cleaning zone in the environment (such as an area that requires repeated cleaning); restricting a robot traversal direction or traversal pattern in a portion of the environment; or adding or changing a cleaning rank, among others.

In some examples, the communication network300can include additional nodes. For example, nodes of the communication network300can include additional robots. Also, nodes of the communication network300can include network-connected devices that can generate information about the environment20. Such a network-connected device can include one or more sensors, such as an acoustic sensor, an image capture system, or other sensor generating signals, to detect characteristics of the environment40from which features can be extracted. Network-connected devices can also include home cameras, smart sensors, or the like.

In the communication network300, the wireless links can utilize various communication schemes, protocols, etc., such as, for example, Bluetooth classes, Wi-Fi, Bluetooth-low-energy, also known as BLE, 802.15.4, Worldwide Interoperability for Microwave Access (WiMAX), an infrared channel, satellite band, or the like. In some examples, wireless links can include any cellular network standards used to communicate among mobile devices, including, but not limited to, standards that qualify as 1G, 2G, 3G, 4G, 5G, or the like. The network standards, if utilized, qualify as, for example, one or more generations of mobile telecommunication standards by fulfilling a specification or standards such as the specifications maintained by International Telecommunication Union. For example, the 4G standards can correspond to the International Mobile Telecommunications Advanced (IMT-Advanced) specification. Examples of cellular network standards include AMPS, GSM, GPRS, UMTS, LTE, LTE Advanced, Mobile WiMAX, and WiMAX-Advanced. Cellular network standards can use various channel access methods, e.g., FDMA, TDMA, CDMA, or SDMA.

Pad Assemblies

FIG.4Aillustrates an isometric view of a cleaning pad442.FIG.4Billustrates an isometric view of a portion of the cleaning pad442.FIGS.4A and4Bare discussed together below.

The cleaning pad442can be similar to the mopping pad142discussed above.FIGS.4A and4Bshow additional details of the cleaning pad442. For example,FIG.4Ashows that the cleaning pad442can include a backing layer446, a cleaning layer448, a card450, a border452, and an identification (ID) sensor454.

The backing layer446can be a material layer connected to the cleaning layer448. The backing layer446can be made of one or more of fabric, polymer, silicone, foam, metal, fibers, or the like. In some examples, the backing layer446can includes a plurality of loop fasteners (e.g., Velcro) configured to engage a plurality of corresponding hook fasteners of the pad tray (e.g., to secure the backing layer to the pad tray143). Optionally, the backing layer446can include hook fasteners for engaging loop fasteners of the tray143. The backing layer446can be made of Brush Velcro, SV 170 GSM, SV 270 GSM, or the like. The backing layer446can have a thickness between 0.5 millimeters (mm) and 3 mm.

The cleaning layer448can be a material layer connected to the backing layer446. The cleaning layer448can be made of one or more of fabric, polymer, silicone, foam, metal, fibers, or the like. In some examples, the cleaning layer448can be made of one or more of cotton, nylon, polyester, or the like. The cleaning layer448can have a thickness between 3 mm and 10 mm. The backing layer446can be secured to the cleaning layer448using one or more of stitching, adhesive, fasteners, or the like.

The card450can be a rigid or semi-rigid body made of one or more of metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like. As discussed in further detail below, the card450can have a shape of a rectangular prism with rounded corners and having a relatively small height or thickness. The card450can be secured to one or more of the backing layer446and the cleaning layer448using one or more of stitching, adhesive, fasteners, or the like. The card450can be engaged with or directly affixed to the backing layer446. As discussed in further detail below, the card450can be slidably insertable into a retainer of the pad tray (e.g.,143) to align the cleaning pad442with the tray and to help secure the cleaning pad442to the pad tray of the mobile cleaning robot100.

The border452can be made of one or more of fabric, polymer, silicone, foam, metal, fibers, or the like. The border452can at least partially cover a perimeter edge of the cleaning layer448or a perimeter edge of the backing layer446. The border452can be secured to the backing layer446or the cleaning layer448using one or more of stitching, adhesive, fasteners, or the like. Optionally, the border452can be secured to one or more of the backing layer446and the cleaning layer448using stitching.

The ID sensor454can be a radio frequency identification (RFID) chip, near field communication (NFC) chip, ultra wide band sensor (UWB), WiFi sensor, magnetic sensor, inductive sensor, infrared sensor, optical sensor, or the like. As shown inFIG.4B, which shows the backing layer446in phantom, the sensor454can be located at least partially between the backing layer446and the cleaning layer448such as to secure the sensor454to the cleaning pad442. The sensor454can optionally be secured between the backing layer446and the cleaning layer448by stitching456such that the sensor454is sewn into the backing layer446or the cleaning layer448.

Also, as shown inFIG.4A, the backing layer446can include a pair of cutouts458aand458b. Optionally the cutouts458can be a single cutout or can be 3, 4, 5, 6, or the like cutouts. The cutouts458can be located at least partially between the card450and the cleaning layer448. The cutouts458can be configured to receive the retainer of the pad tray therein, when the pad is connected to the pad tray, such as to form a planar cleaning layer surface as discussed in further detail below.

FIG.5Aillustrates a top view of the cleaning pad442.FIG.5Billustrates a bottom view of the cleaning pad442.FIGS.5A and5Bare discussed together below. The cleaning pad442ofFIGS.5A and5Bcan be consistent with the cleaning pad442and the mopping pad142.FIGS.5A and5Bshow additional details of the cleaning pad442.

For example,FIG.5Ashows that the cleaning pad442can have a width A. The width A can be between 200 mm and 350 mm. The width A can be between 250 mm and 300 mm. The width A can be between 270 mm and 280 mm. The width A can be about 275 mm. The cleaning pad442can have a length B between 50 mm and 150 mm. The length B can be between 75 mm and 125 mm. The length B can be between 95 mm and 105 mm. The length B can be about 100 mm.

A front portion of the pad442can include segments460,462, and464. The segments460can have a width C between 10 mm and 50 mm. The width C can be between 20 mm and 40 mm. The width C can be about 34 mm. The segments462can be straight or can be curved. The segments462can have a radius of curvature D between 125 mm and 225 mm. The curvature D can be about 173 mm. The segment464can have a radius of curvature E between 75 mm and 175 mm. The curvature E can be about 117 mm. A rear portion466can be straight or curved and can optionally have a radius of curvature F between 125 and 200 mm. The radius of curvature F can be about 166 mm. As shown inFIG.5B, the cleaning pad442can have a thickness G, which can be between 3 mm and 7 mm. The thickness G can be between 4 mm and 6 mm. The thickness G can be about 5 mm.

FIG.6Aillustrates a top view of the card450of the cleaning pad442.FIG.6Billustrates a side view of the card450of the cleaning pad442.FIGS.6A and6Bare discussed together below. The card450ofFIGS.6A and6Bcan be consistent with the card450ofFIGS.4A-5B.FIGS.6A-6Bshow additional details of the card450.

For example,FIG.6Ashows that the card450is at least partially defined by four edges468a-468dthat can be connected by a pair of rear corners470aand470dand a pair of front corners470band470c. The front corners470band470ccan be defined by a front radius of curvature that is larger than a rear radius of curvature that defines the rear corners470aand470d. Together, the edges468and the corners470can define an irregular rectangular shape having rounded corners. For example, one or more of the edges468can be rounded, curved, or not straight.

FIGS.6A and6Balso show several dimensions of the card450. For example,FIG.6Ashows that the card450can define or have a width H, which can be between 10 mm and 50 mm. In some examples, the width H of the card450can be between 25 mm and 35 mm. In some examples, the card450can have a width H between 28 mm and 32 mm. In some examples, the card450can have a width H of 30 mm.

As shown inFIG.6B, the card450can have a length I between 20 mm and 60 mm. In some examples, the length I can be between 30 and 50 mm. In some examples, the length I can be between 38 mm and 42 mm. In some examples, the length I can be about 40 mm.FIG.6Balso shows that the card450can have a thickness J between 0.3 mm and 1.5 mm. In some examples, the thickness J can be between 0.6 mm and 1.0 mm. In some examples, the card450can have a thickness J of about 0.8 mm.

FIG.6Aalso shows that the card450can include detents472aand472b. The detent472acan extend outward from the edge468aand the detent472bcan extend outward from the edge468c. The detents472can extend from the opposing edges468aand468c, respectively by a distance K, which can be between 0.1 mm and 1 mm. In some examples, the distance K can be between 0.3 millimeters and 0.5 millimeters. In some examples, the distance K can be about 0.4 mm.

FIG.6Aalso shows that the450can include slots474aand474bthat can be respectively located near detents472aand472b. The slots474can allow the detents472to reversibly deflect laterally inward, such as in response to a force, as discussed in further detail below. Each of the slots474can be defined by a length L and a width M. The length L can be between 5 mm and 30 mm. In some examples, the length L can be between 10 mm and 20 mm. In some examples, the length L can be about 15 mm. The width M of the slots474can be between 0.5 mm and 4 mm. In some examples, the width M can be between 1 mm and 3 mm. In some examples, the width M can be about 2 mm.

FIG.7Aillustrates an isometric view of a portion of a pad tray443. The pad tray443can be similar to the tray143discussed above.FIG.7Ashows the tray443in further detail. For example,FIG.7Ashows that the tray443can include retainers476a-476h. The retainers476a-476hcan each include one or more hook fasteners configured to engage with the loop fasteners of the backing layer446to help secure the cleaning pad442to the443. As shown inFIG.7A, the retainers476can be located near or at perimeter portions of the pad tray443such as to help ensure edges of the442remain connected to the443during cleaning operations.

FIG.7Aalso shows that the pad tray443can include a sensor interface478. The478. The sensor interface478can be configured to at least partially receive the sensor454therein. That is, the sensor interface478can be sized and shaped complimentary to the sensor454to receive at least a portion of the sensor454therein. The sensor interface478can optionally include one or more devices for interacting with the sensor454such as a scanner, sensor, or the like, for identifying or authenticating the sensor454and the cleaning pad442. The sensor454or the device of the interface478can also communicate with the controller112to identify or authenticate the sensor454and the cleaning pad442.

FIG.7Afurther shows that the pad tray443can include a retainer480that can be secured to a body482of the pad tray443. The retainer480can at least partially define a slot484or track configured to receive and retain the card450therein to help secure the cleaning pad442to the pad tray443. The retainer480is discussed in further detail below.

FIG.7Billustrates an isometric view of a portion of the pad tray443. The pad tray443can be consistent with the cleaning pad442and the pad tray443discussed above.FIG.7Bshows additional details of the pad tray443.

For example,FIG.7Bshows a connector481insertable into a notch483of the pad tray443. The connector481can be connectable to an arm (e.g., arm106) of the robot (e.g., robot100) such as via a pivot pin485that can be insertable into a bore487of the connector481and a bore of the pad tray443. The bore487can also be secured to the pad tray443via a fastener489, which can be a screw, rivet, or the like. The connector481can enable rotation of the pad tray443relative to the arms (e.g.,106). The connector481can also include a hook491for engaging and at least partially retaining a body of the connector481to the pad tray443.

FIG.8Aillustrates a bottom view of a portion of the pad tray443with the retainer480shown in phantom.FIG.8Billustrates a bottom view of a portion of the pad tray443and a portion of the cleaning pad442.FIGS.8A and8Bare discussed together below The cleaning pad442and the pad tray443can be consistent with the cleaning pad442and the pad tray443discussed above.FIGS.8A and8Bshow additional details of the pad tray443and how the card450can interact with the retainer480.

FIG.8Ashows the pad tray443in a condition where no pad is secured to the pad tray443and no card is inserted into the retainer480.FIG.8Ashows that the retainer480can include rails486aand486bextending from a body488of the retainer480. The rails486can together, at least in part, form the slot484. The rails486can be secured to the body482of the pad tray443via one or more fasteners490. The fasteners490can be screws, rivets, thermal fasteners (heat steaks), or the like. The rails486can, together with walls492aand492b, of the body482of the pad tray443, form the slot484for receipt of the card450, as discussed in further detail below.FIG.8Aalso shows that the walls492aand492bcan include, respectively, recesses494aand494bconfigured to receive detents472aand472btherein.

FIG.8Bshows the card450secured within the retainer480of the pad tray443such that the card450is located between the rails486and the body482and between the walls492aand492b. When the card450is fully inserted into the slot484, the detents472aand472bcan be inserted into the recesses494aand recesses494brespectively to help secure the cleaning pad442to the pad tray443.

As the card450is inserted between the walls492, the detents472can engage the walls492and can reversibly (elastically) deflect laterally inward. This deflection by the detents472can be at least partially enabled by the slots474located near the detents472. As the card450is fully inserted, the detents472can align with the recesses494, allowing the detents472to extend laterally outward and into the recesses494to help secure the cleaning pad442to the pad tray443, as shown inFIG.8B.

FIG.9illustrates a rear view of a portion of the pad tray443and a portion of the cleaning pad442when the cleaning pad442is secured to the pad tray443. More specifically,FIG.9shows that the card450can be inserted into the slot484at least partially formed by the rails486aand486bsuch that the card450is limited from moving vertically with respect to the pad tray443by contact with the rails486and the body482.FIG.9also shows that lateral movement of the card450with respect to the pad tray443can be limited by engagement between the card450and the walls492aand492bof the body482.

FIG.9further shows that the rails486aand486bcan extend into cutouts458aand458b, respectively, of the cleaning layer448of the cleaning pad442when the cleaning pad442is secured to the pad tray443. Together, the rails486aand486band the backing layer446can form a planar or relatively planar surface for engaging with the cleaning layer448such that the cleaning layer448forms a planar or relatively planar cleaning surface of the cleaning layer448.

FIG.10Aillustrates a top view of a cleaning pad1042.FIG.10Billustrates a bottom view of a pad tray1043.FIG.10Cillustrates a side isometric view of a portion of the pad tray1043and a portion of the cleaning pad1042.FIGS.10A-10Care discussed together below. The pad1042and the tray1043can be similar to the pads and trays discussed above or below. The pad1042and the tray1043can include fasteners and alignment features in and around the card. Any of the pads and trays discussed herein can be modified to include the features of the pad1042and the tray1043.

As shown inFIG.10A, the pad1042can include a card1050that includes bores1096a-1096d. The bores1096a-1096dcan extend downward into the card1050and can receive posts1097of the tray (shown inFIG.10B). The pad1042can also include a backing layer1046including loop fasteners. The backing layer1046can also include fastener sections1046aand1056bin the1050to help secure the center of the1050to the pad tray1043. The pad1042can also include hooks1098aand1098b. The hooks1098can extend from front portions of the pad1042and can be configured to engage slots of the pad tray1043to secure the pad1042to the pad tray1043.

As shown inFIG.10B, the pad tray1043can include a plurality of retainers1076that can include hook fasteners. The pad tray1043can include retainers1076aand1076bengageable with fastener sections1046aand1046bto help secure the card1050and therefore the pad1042to the pad tray1043. The pad tray1043can also include bosses1097a-1097d. The bosses1097a-1097dcan be insertable into the bores1096a-1096dof the pad1042, respectively, to help align the pad1042with the pad tray1043, such as to align the retainers1076aand1076bwith the fastener sections1046aand1046b. When the bosses1097a-1097dare inserted into the bores1096a-1096d, the bosses1097a-1097dcan engage the bores1096a-1096dto help to limit relative movement of the pad1042with respect to the pad tray1043.FIG.10Balso shows that the pad tray1043can include slots1099aand1099bconfigured to receive and retain the hooks1098aand1098b, respectively, of the pad1042to help secure the pad1042to the pad tray1043.

The bosses1097a-1097dcan engage the bores1096a-1096dto also help to limit premature connection between the retainers1076of the pad tray1043and retainers of the pad (e.g., hook and loop fasteners) such that the retainers do not connect to each other before the pad1042is properly aligned with the tray1043, helping to limit incorrect attachments of the pad1042to the pad tray1043.

FIG.10Cshows how the hook1098acan be inserted into the slot1099ato help secure the pad1042to the pad tray1043. Because the hooks1098are located on the leading (front) edge of the pad1042, the hooks1098can help prevent the leading edge of the pad1042from separating from the pad tray1043during cleaning (e.g., mopping operations).

FIG.11Aillustrates a side isometric view of a portion of a pad tray1143and a portion of a cleaning pad1142.FIG.11Billustrates a front isometric view of a portion of the pad tray1143and a portion of the cleaning pad1142.FIGS.11A and11Bare discussed together below. The pad1142and the tray1143can be similar to the pads and trays discussed above or below. The pad1142and the tray1143can include a projection and a slot for securing the pad1142to the tray1143. Any of the pads and trays discussed herein can be modified to include the features of the pad1142and the tray1143.

More specifically,FIG.11Ashows that the tray1143can include a slot1104in a front portion1102or wing of the tray1143. The slot1104can extend laterally into the front portion1102. As shown inFIG.11B, the pad1142can include a projection1106connected to a cleaning layer1148(or to a backing layer1146or to a border). As also shown inFIG.11B, the projection1106can be insertable into the slot1104to secure the pad1142to the tray1143. Because the projection(s)1106is (are) located on the leading edge of the pad1142, the projection1106can help prevent the leading edge of the pad1142from separating from the pad tray1143during cleaning (e.g., mopping operations).

FIG.12Aillustrates a bottom isometric exploded view of a pad tray1243and a pad1242.FIG.12Billustrates a side isometric view of a portion of a pad tray1243and a portion of a cleaning pad1242.FIGS.12A and12Bare discussed together below The pad1242and the tray1243can be similar to the pads and trays discussed above or below. The pad1242and the tray1243can include guides engageable with a cleaning surface to limit contact between the surface and edges of the cleaning pad to help limit separation of the pad1242from the pad tray1243. Any of the pads and trays discussed herein can be modified to include the features of the pad1242and the tray1243.

More specifically,FIG.12Ashows that the tray1243can include guides1208located at front portions1202of the tray1243. As shown inFIG.12B, each guide1208can include a plurality of projections1210a-1210d. The projections1210each extend downward from a body1282of the tray1243beyond the backing layer1246and to the cleaning layer1248of the pad1242. This can allow the cleaning surface to engage the cleaning layer1248of the pad1242while helping to limit the surface, or edges of the surface, from engaging the edge1212of the pad1242, helping to limit separation of the pad1242from the tray1243during a cleaning mission. The projections1210can optionally have curved front surfaces such as to limit snagging of the projections on floor surfaces or other objects in an environment.

FIG.13Aillustrates a bottom view of a pad tray1343.FIG.13Billustrates a top view of a cleaning pad1342. The pad1342and the tray1343can include magnetic fasteners and alignment features in and around the card. Any of the pads and trays discussed herein can be modified to include the features of the pad1342and the tray1343.

More specifically,FIG.13Ashows that the tray1343can include magnetic fasteners1314a-1314f. The fasteners1314a-1314dcan be located centrally and configured to engage or couple to a magnetically-attractable feature or surface1316of a card1350to secure the card1350to the tray1343. The fasteners1314eand1314fcan be located at opposing front portions or wings of the tray1343and can configured to engage or couple to magnetically-attractable features1318aand1318b, respectively, of the pad1342to secure the pad1342to the tray1343.

The pad1342can also include bosses1397aand1397b. The bosses1397aand1397bcan be insertable into bores1396a-1396dof the tray1343to help align the pad1342with the pad tray1343, such as to align the fasteners1314a-1314dwith the magnetically-attractable features1318aand1318band the surface1316. When the bosses1397aand1397bare inserted into the bores1396aand1396b, the bosses1397aand1397bcan engage the bores1396aand1396b, respectively, to help to limit relative movement of the pad1342with respect to the pad tray1343.

FIG.14Aillustrates a cross-sectional view of a portion of a pad tray and a portion of a cleaning pad.FIG.14Billustrates an exploded cross-sectional top isometric view of a portion of a pad tray and a portion of a cleaning pad.FIG.14Cillustrates an exploded cross-sectional bottom isometric view of a portion of a pad tray and a portion of a cleaning pad.FIGS.14A-14Care discussed together below. The pad1442and the tray1443can be similar to the pads and trays discussed above or below. The pad1442and the tray1443can include a boss and a bore for aligning fasteners of the pad1442and the tray1443. Any of the pads and trays discussed herein can be modified to include the features of the pad1442and the tray1443.

More specifically,FIGS.14A and14Cshow how a body1482of the tray1443can include a boss1496extending downward from the body1482.FIGS.14A and14Bshow that a card1450of the pad1442can include a bore1497that can be configured (e.g., sized and shaped) to receive the boss1496of the tray1443therein. When the bosses (e.g., the boss1496) of the tray1443are inserted into the bores (e.g.,1497) of the card1450, fasteners of the tray1443and the pad1442can be brought into alignment to help ensure the pad1442is correctly aligned and secured to the tray1443.

Additionally, when the bosses (e.g., the boss1496) of the tray1443are inserted into the bores (e.g., the bore1497) of the card1450, the boss1496can engage the bore1497to limit lateral movement of the cleaning pad1442with respect to the pad tray1443when the cleaning pad1442is secured to the pad tray1443. This can help to ensure that the pad1442remains connected to the tray1443during cleaning missions of the robot (e.g., the robot100).

Notes And Examples

Example 1 is a cleaning pad for a mobile cleaning robot, the pad comprising: a backing layer user-releasably securable to a pad tray of the mobile cleaning robot; a cleaning layer affixed to the backing layer and engageable with a floor surface; and a card connected to at least one of the backing layer and the cleaning layer and engaged with the backing layer, the card securable to a retainer of the pad tray to secure the cleaning pad to the pad tray of the mobile cleaning robot.

In Example 2, the subject matter of Example 1 optionally includes wherein the backing layer includes a plurality of loop fasteners configured to engage a plurality of corresponding hook fasteners of the pad tray to secure the backing layer to the pad tray.

In Example 3, the subject matter of Example 2 optionally includes wherein the backing layer is sewn to the cleaning layer.

In Example 4, the subject matter of Example 3 optionally includes a border covering a perimeter edge of the cleaning layer and a perimeter edge of the backing layer, the border secured to the backing layer and the cleaning layer.

In Example 5, the subject matter of Example 4 optionally includes wherein the border is sewn to the backing layer and the cleaning layer.

In Example 6, the subject matter of any one or more of Examples 4-5 optionally include wherein the card is sewn to one or more of the backing layer, the border layer, and the cleaning layer.

In Example 7, the subject matter of any one or more of Examples 4-6 optionally include wherein the card is at least partially defined by four edges connected by a pair of rear corners and a pair of front corners, and wherein the front corners are each defined by a front radius of curvature that is larger than a rear radius of curvature that defines the rear corners.

In Example 8, the subject matter of any one or more of Examples 1-7 optionally include wherein the card is at least partially defined by four edges connected by a pair of rear corners and a pair of front corners, and wherein the card includes a pair of detents extending from opposing side edges of the four edges, the detents engageable with recesses of the retainer of the pad tray to secure the cleaning pad to the pad tray of the mobile cleaning robot.

In Example 9, the subject matter of Example 8 optionally includes wherein the card includes a pair of slots located near the detents, the slots configured allow the detents to reversibly deflect laterally inward when the detents engage the retainer and to extend outward when the detents align with the recesses of the retainer.

In Example 10, the subject matter of any one or more of Examples 8-9 optionally include wherein the backing layer includes a pair of cutouts located at least partially between the card and the cleaning layer, the pair of cutouts configured to receive the retainer of the pad tray therein, when the pad is connected to the pad tray.

In Example 11, the subject matter of any one or more of Examples 1-10 optionally include an identification chip connected to one or more of the backing layer and the cleaning layer.

In Example 12, the subject matter of Example 11 optionally includes wherein the identification chip is located between the backing layer and the cleaning layer.

In Example 13, the subject matter of Example 12 optionally includes wherein the identification chip is sewn into the backing layer and the cleaning layer.

In Example 14, the subject matter of any one or more of Examples 11-13 optionally include wherein the identification chip is an RFID chip or an NFC chip.

In Example 15, the subject matter of any one or more of Examples 11-14 optionally include a magnetically-attractable feature connected to the backing layer, the magnetically-attractable feature attractable with a magnet of the pad tray to retain the pad on the pad tray.

In Example 16, the subject matter of any one or more of Examples 11-15 optionally include wherein the card includes a bore configured to receive a boss of the pad tray to limit lateral movement of the cleaning pad with respect to the pad tray when the cleaning pad is secured to the pad tray.

In Example 17, the subject matter of any one or more of Examples 11-16 optionally include wherein the card includes a boss insertable into a bore of the pad tray to limit lateral movement of the cleaning pad with respect to the pad tray when the cleaning pad is secured to the pad tray.

Example 18 is a cleaning pad for a mobile cleaning robot, the pad comprising: a backing layer user-releasably securable to a pad tray of the mobile cleaning robot, a cleaning layer connected to the backing layer and engageable with a floor surface; and a card connected to at least one of the backing layer and the cleaning layer and engaged with the backing layer, the card slidably insertable into a retainer of the pad tray to align the cleaning pad with the pad tray of the mobile cleaning robot.

In Example 19, the subject matter of Example 18 optionally includes wherein the cleaning pad has a width between 270 millimeters and 280 millimeters, and wherein the cleaning pad has a length between 95 millimeters and 105 millimeters.

In Example 20, the subject matter of any one or more of Examples 18-19 optionally include wherein the card has a width between 28 millimeters and 32 millimeters, and wherein the card has a length between 38 millimeters and 42 millimeters.

In Example 21, the subject matter of Example undefined optionally includes wherein the card has a thickness between 0.6 millimeters and 1.0 millimeters.

In Example 22, the subject matter of any one or more of Examples 18-21 optionally include wherein the card is at least partially defined by four edges connected by a pair of rear corners and a pair of front corners, and wherein the card include a pair of detents extending from opposing side edges, the detents engageable with recesses of the retainer of the pad tray to secure the cleaning pad to the pad tray of the mobile cleaning robot.

In Example 23, the subject matter of Example 22 optionally includes wherein the detents extend from the opposing edges between 0.3 millimeters and 0.5 millimeters.

In Example 24, the subject matter of any one or more of Examples 22-23 optionally include wherein the card includes a pair of slots located near the detents, the slots have a width between 1 millimeter and 3 millimeters and the slots have a length between 10 millimeters and 20 millimeters.

In Example 25, the apparatuses, systems, or methods of any one or any combination of Examples 1-24 can optionally be configured such that all elements or options recited are available to use or select from.

In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim.