Patent Description:
<CIT>, <CIT>, <CIT>, and <CIT> disclose bumper arrangement in mobile cleaning robots.

The controller can control operation(s) of the robot based on analysis performed on one or more of the sensor signals. In some examples, autonomous cleaning robots can use bump sensors, which can be attached to a body of the robot and can be configured to detect when an outer bumper of the robot engages or bumps into an object. In such an instance, the object can engage the bumper to move the bumper with respect to the body of the robot, allowing the bumper to engage a switch. The switch can send a signal to the controller to indicate a bump, allowing the robot to change speed and/or direction to avoid future bumps of the same object. Simple switch sensors can be used, in part, because they are relatively inexpensive, which can help lower manufacturing costs of the robot. Many inexpensive switches move along a single axis allowing for movement detection along that axis. Because horizontal bumps are common, the switch can be oriented such that contact by the bumper with the switch in a horizontal direction actuates the switch to indicate a bump. In some examples, multiple switches can be used to detect movement of the bumper anywhere along a vertical plane.

It may also be desired to also detect bumps along a vertical axis. Vertical bump sensing can be important to help prevent wedging of autonomous cleaning robots (such as under furniture) during a mission. However, the horizontally aligned switches cannot detect vertical forces applied to the bumper (vertical bumps), which means different and/or additional sensors can be required to sense vertical bumps, which can increase cost and complexity of the control system.

This invention can help address such problems, such as by providing a bumper and an outer shell that include components that work together to translate vertical forces applied to the bumper to horizontal movement of the bumper with respect to an outer shell of the robot, enabling the bumper to actuate the horizontally actuated switches in response to vertical bumps. These designs can help reduce cost of the robot.

The above discussion is intended to provide an overview of subject matter of the present patent application. The description below is included to provide further information about the present patent application.

A controller of an autonomous cleaning robot can control operation of the robot based on analysis performed on one or more sensor signals delivered to the controller by sensors of the robot. In some examples, autonomous cleaning robots can use bump sensors. Bump sensors can be attached to a body of the robot and can be configured to detect when an outer bumper of the robot engages or bumps into an object. In such an instance, the object can engage the bumper to move the bumper with respect to the body of the robot, allowing the bumper to engage a switch. The switch can send a signal to the controller to indicate a bump, allowing the robot to change speed and/or direction to avoid future bumps of the same object.

Simple switch sensors can be used, in part, because they are relatively inexpensive, which can help lower manufacturing costs of the robot. Most (inexpensive) switches move along a single axis allowing for movement detection along that axis. Because horizontal bumps are very common, the switch can be oriented such that contact by the bumper on the switch in a horizontal direction actuates the switch to indicate a bump. Multiple switches can be used to detect movement of the bumper anywhere along a vertical plane.

<FIG> illustrates a top isometric view of an autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a bottom isometric view of an autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates an exploded isometric view of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG>, and <FIG> are discussed below concurrently.

The autonomous cleaning robot <NUM> can include an outer shell <NUM>, a bumper <NUM>, drive wheels <NUM>, an extractor assembly <NUM>, a side brush <NUM>. a nose wheel <NUM>, and a controller <NUM>. As shown in <FIG>, the robot <NUM> can also include a top cover <NUM>, a body <NUM>, a bottom retainer <NUM>, and a bottom cover <NUM>.

The outer shell <NUM> can be a rigid or semi-rigid member secured to the body <NUM> of the robot and configured to support the bumper <NUM> thereon. The bumper <NUM> can be removably secured to the outer shell <NUM> and can be movable relative to the outer shell <NUM> while mounted thereto. The outer shell <NUM> and the bumper <NUM> can each be comprised of materials such as one or more of metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like.

The drive wheels <NUM> can be supported by the body <NUM> of the robot <NUM>. The wheels <NUM> can be connected to and rotatable with a shaft; the wheels <NUM> can be configured to be driven by a motor to propel the robot <NUM> along a surface of an environment, where the motor is in communication with the controller <NUM> to control such movement of the robot <NUM> in the environment. The nose wheel <NUM> can be connected to the body <NUM> of the robot and can be either a passive or driven wheel configured to balance and steer the robot <NUM> within the environment.

The extractor assembly <NUM> can include one or more rollers or brushes rotatable with respect to the body <NUM> to collect dirt and debris from the environment. The rollers can be powered by one or more motors in communication with the controller <NUM>. The side brush <NUM> can be connected to an underside of the robot <NUM> and can be connected to a motor operable to rotate the side brush <NUM> with respect to the body <NUM> of the robot. The side brush <NUM> can be configured to engage debris to move the debris toward the extractor assembly <NUM> and/or away from edges. The motor configured to drive the side brush <NUM> can be in communication with the controller <NUM>.

The controller <NUM> 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 controller <NUM> can be any computing device, such as a handheld computer, for example, a smart phone, a tablet, a laptop, a desktop computer, or any other computing device including a processor, memory, and communication capabilities.

The top cover <NUM> can be secured to the outer shell <NUM> and/or the body <NUM> to generally protect the components within the robot <NUM>. The body <NUM> can be a rigid or semi-rigid structure comprised of materials such as one or more of metals, plastics, foams, elastomers, ceramics, composites, combinations thereof, or the like. The body <NUM> can be configured to support various components of the robot <NUM>, such as the wheels <NUM>, the controller <NUM>, a battery, the extractor assembly <NUM>, and the side brush <NUM>. The bottom retainer <NUM> can be secured to the body <NUM> of the robot <NUM> and can help secure the bottom cover <NUM> to the body <NUM>. The bottom cover <NUM> can be configured to cover and generally protect various components within the robot <NUM> from impact and debris.

In operation of some examples, the robot <NUM> can be controlled by the controller <NUM>, autonomously, to perform a cleaning mission within the environment. The controller <NUM> can control operation of the drive wheels <NUM> and the nose wheel <NUM> to move the robot <NUM> throughout the environment. The controller <NUM> can also control operation of the extractor assembly <NUM> (and a pump within the robot <NUM>) to intake debris from the environment during the mission while the side brush <NUM> can be operated by the controller <NUM> to direct debris toward the extractor assembly <NUM>.

During operation, the bumper <NUM> can be contacted by objects within the environment, which can cause movement of the bumper <NUM> with respect to the outer shell <NUM>. When the bumper <NUM> is bumped by one or more objects, it can engage a switch or switches mounted to the body or the outer shell <NUM> of the robot <NUM>. The switches can each be a push-button switch, rocker switch, toggle switch, or the like. When pressed by the bumper <NUM>, a switch can send a signal to the controller <NUM>. The controller can receive and analyze the signal to determine that the bumper <NUM> has encountered an object (that is, that the bumper <NUM> has been bumped). When a bump is detected, the controller <NUM> can operate the drive wheels <NUM> to change a direction of travel of the robot <NUM> to avoid the object causing the bump. Once the bumper <NUM> is released, a biasing element engaged with the bumper <NUM> and the body <NUM> can cause the bumper <NUM> to return to a neutral position where the bumper <NUM> is positioned to sense a bump caused by the next object the bumper <NUM> encounters. Such a process can be repeated for each object bump of the bumper <NUM>.

It may be desired to also detect bumps along a vertical axis (or outside the horizontal plane). As discussed above, vertical bump sensing can be important to help prevent wedging of the robot <NUM> under items, such as furniture, during a cleaning mission. Switches commonly used to detect horizontal bumps are often horizontally aligned switches that often cannot detect vertical bumps, which means different or additional sensors can be required to sense vertical bumps. The addition of such sensors can increase manufacturing cost and can increase complexity of the control system. However, as discussed in further detail below, the robot <NUM> can include features to allow the bumper <NUM> to translate horizontally in response to a vertical force, allowing the simple horizontal force switches to detect a vertical bump, helping to avoid the use of additional or more complex sensors, which can help save manufacturing cost.

<FIG> illustrates a top isometric view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused top isometric view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused top isometric view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> show a first feature, or ramps, that help translate vertical forces applied to the bumper <NUM> into horizontal movement of the bumper <NUM> with respect to the outer shell <NUM>. <FIG> are discussed below concurrently.

The outer shell <NUM> of <FIG> can be consistent with the robot discussed above with respect to <FIG>; <FIG> show additional details of the outer shell <NUM>. For example, the outer shell <NUM> can include an outer lip or rim <NUM>, inner ramps 126a and 126b (collectively referred to as inner ramps <NUM>), outer ramps 128a and 128b (collectively referred to as outer ramps <NUM>), and posts 130a-130d.

As shown in <FIG>, the outer lip <NUM> can extend radially outward from a central portion <NUM> of the outer shell <NUM> to define a sloped surface <NUM> and an outer edge <NUM>. As shown in <FIG>, the inner ramp 126b can extend upward from the outer lip <NUM> to define a ramp surface <NUM> sloped downward and radially inward (or substantially radially inward).

As shown in <FIG>, the outer ramps 128a and 128b can extend upwards from the outer lip <NUM> to define a wall <NUM> substantially aligned with the outer rim <NUM>. The ramp 124a can further define a top pad <NUM> and a ramp surface <NUM> sloped downward from the top pad <NUM> and substantially tangential to the outer lip <NUM>. The ramp <NUM> can partially define a recess <NUM> in the outer lip <NUM>. Each of the ramps <NUM> and <NUM> can be integrally molded into the outer shell <NUM> (such as the outer lip <NUM>) in some examples and can be connected to or removably attached to the outer shell in some examples, such as for replacement of the ramps <NUM> and <NUM>.

The inner ramps <NUM> and the outer ramps <NUM> can each be features configured to engage complimentary features of the bumper <NUM> to cause the bumper <NUM> to move in a horizontal direction with respect to the outer shell <NUM> in response to a vertical force applied to the bumper <NUM>.

<FIG> also shows that the post 130b can have a shape that is a substantially truncated cone. The post 130b can extend substantially upward from the sloped surface of the outer lip <NUM>. Similarly, <FIG> shows that the post 130a can have a shape that is a substantially truncated cone and can extend substantially upward from the sloped surface of the outer lip <NUM>. The posts <NUM> can each be configured to engage features of the bumper <NUM> to help retain the bumper <NUM> on the outer shell <NUM>.

<FIG> illustrates a top view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused top view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> are discussed below concurrently. Orientation indicators Front and Rear are shown in <FIG>.

The outer shell <NUM> shown in <FIG> can be consistent with the outer shell <NUM> discussed above with respect to <FIG>; further details are discussed below with respect to <FIG>. For example, <FIG> shows that the inner ramps <NUM> can be positioned on a front portion of the outer lip <NUM> and the outer ramps <NUM> can be positioned on sides of the outer lip <NUM> (between the front and rear portions of the outer shell). <FIG> also shows that a width of the outer ramps <NUM> can be relatively small with respect to a width of the outer lip <NUM>. In some examples, a width w2 of the top pad <NUM> can be larger than a width w1 of the ramp surface <NUM>.

<FIG> illustrates a side isometric view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused side isometric view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused side isometric view of the outer shell <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> are discussed below concurrently. <FIG> show orientation indicators Top and Bottom.

The outer shell <NUM> of <FIG> can be consistent with the outer shell <NUM> discussed above with respect to FIGS. 1A-4C; further details are discussed below with respect to <FIG>. For example, <FIG> shows how the ramp surface <NUM> of the outer ramp <NUM> can be sloped downward and tangentially (or substantially tangentially) to outer lip <NUM>. In some examples, the inner ramps <NUM> and the outer ramps <NUM> can be substantially aligned (can face substantially the same direction) to coerce the bumper <NUM> to move horizontally in a single direction, which can help ensure the bumper switches are activated due to bumps from multiple angles and positions. Also, <FIG> shows how the ramp surface <NUM> of the inner ramp 126a can be sloped downward and radially inward (or substantially radially inward). <FIG> also shows that the sloped surface <NUM> of the outer lip <NUM> can be curved.

<FIG> illustrates a bottom isometric view of the bumper <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused bottom isometric view of the bumper <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused bottom isometric view of the bumper <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> are discussed below concurrently.

The bumper <NUM> of <FIG> can be consistent with the bumper <NUM> discussed above with respect to <FIG>; further details are discussed below with respect to <FIG>. For example, <FIG> shows that the bumper <NUM> can include an inner wall <NUM>, an outer wall <NUM>, inner hoops 150a and 150b, outer hoops 152a and 152b, and a sensor housing <NUM>.

The inner wall <NUM> can be a wall of relatively small thickness and can extend downward from a top portion <NUM> of the bumper <NUM>. The outer wall <NUM> can also have a relatively small thickness and can extend downward from the top portion <NUM> of the bumper <NUM>, but can extend downward further than the inner wall <NUM> such as to cover and protect a front portion of the robot <NUM> from debris and impact with objects.

As shown in <FIG>, the outer hoop 152a can include a hoop wall <NUM> defining a cavity <NUM>, where the cavity <NUM> is configured to receive the pin 130a therein and is configured to retain the pin 130a therein when the bumper <NUM> is mounted to the outer shell <NUM>. Similarly, as shown in <FIG>, the inner hoop 150b can include a hoop wall <NUM> defining a cavity <NUM>, where the cavity <NUM> is configured to receive and retain the pin 130b therein when the bumper <NUM> is mounted to the outer shell <NUM>. Together, the hoops <NUM> and <NUM> can retain the pins <NUM> while allowing the bumper <NUM> to move with respect to the pins <NUM> and therefore the outer shell <NUM> (and the body <NUM>). Also, as discussed below, the outer hoops <NUM> can engage the outer ramps <NUM>, respectively, to translate vertical forces applied to the bumper <NUM> to horizontal movement of the bumper <NUM>.

<FIG> illustrates a bottom isometric view of the bumper <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a bottom isometric view of the bumper <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention.

The bumper <NUM> of FIGS. 7A-7C can be consistent with the bumper <NUM> discussed above with respect to <FIG>; further details are discussed below with respect to <FIG>. For example, <FIG> shows that the inner wall <NUM> can extend downward from the top portion <NUM> and that the outer wall <NUM> can extend downward beyond the inner wall <NUM>. <FIG> also shows that the hoop wall <NUM> of the outer hoop <NUM> can extend downward from the top portion <NUM> and that the hoop wall <NUM> can form the hoop cavity <NUM> together with the top portion <NUM> and the outer wall <NUM>. Similarly, <FIG> shows that the hoop wall <NUM> of the inner hoop <NUM> can extend downward from the top portion <NUM> and that the hoop wall <NUM> can form the hoop cavity <NUM> together with the top portion <NUM> and the outer wall <NUM>.

<FIG> illustrates a bottom isometric view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a bottom isometric view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a bottom isometric view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a bottom isometric view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> shows orientation indicators Right and Left. <FIG> are discussed below concurrently.

<FIG> shows a spring assembly <NUM> of the robot <NUM>, which can be attached to the body <NUM> and can engage the bumper <NUM> to bias the bumper <NUM> away from the body <NUM> and the outer shell <NUM>. As shown in <FIG>, the spring assembly <NUM> can include coil springs 168a and 168b and a flat spring <NUM>. The flat spring <NUM> can be a relatively long and flat biasing element that includes arms 172a and 172b. The flat spring <NUM> can be comprised of resilient materials, such as spring steel, or the like. The flat spring <NUM> can be secured to the body <NUM> and the arms 172a and 172b can extend outward from the body <NUM> to contact the bumper <NUM> to bias the bumper <NUM> away from the body <NUM> and the outer shell <NUM>. The coil springs 168a and 168b can be configured to absorb large impacts to limit force transmission to the robot <NUM>.

Also shown in <FIG> are bump switches 174a and 174b (collectively referred to as bump switches <NUM>), which can each be a push-button switch, rocker switch, toggle switch, or the like. The switches <NUM> can be configured to independently be engaged and activated by movement of the bumper <NUM> with respect to the body <NUM>, the outer shell <NUM>, and at least one of the switches <NUM>. In some examples, the bump switches <NUM> can include a ramp engageable with the bumper <NUM> to transfer vertical force to a horizontal movement of the switch <NUM>.

As shown in <FIG>, the switch 174a can extend radially beyond the body <NUM> to contact the bumper <NUM> (when the bumper <NUM> is secured to the outer shell <NUM> and the body <NUM>) such that radially inward movement of the bumper <NUM> causes the switch 174a to move radially inward with respect to the body <NUM> to activate. The switch 174b can be similarly configured.

As shown in <FIG>, the arms 172a and 172b can be biased to extend away from the body <NUM> as can the coil springs <NUM>. In this way, the spring assembly <NUM> can work together to bias the bumper <NUM> away from the body <NUM> and the outer shell <NUM>. <FIG> also shows that the switches 174a and 174b can be spaced away from each other, which can allow a bump of the bumper <NUM> on the right side, for example, to trigger only the right switch 174a and a bump on the left side to trigger only the left switch 174b. Such an arrangement can help the controller <NUM> determine a location of the object contacting the bumper <NUM>.

<FIG> illustrates a top isometric cross-sectional view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused top isometric cross-sectional view of the portion of an autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> and <FIG> are discussed below concurrently.

The autonomous cleaning robot <NUM> of <FIG> and <FIG> can be consistent with the autonomous cleaning robot <NUM> of <FIG>; further details are discussed with respect to <FIG> and <FIG>. For example, <FIG> shows how the inner wall <NUM> of the bumper <NUM> can rest on the inner ramp 126a when the bumper is in a neutral position (biased away from the outer shell <NUM>).

More specifically, as shown in <FIG>, the inner wall <NUM> can include an edge <NUM> configured to engage the ramp surface <NUM> of the ramp 126a when the bumper <NUM> is secured to the outer shell <NUM> and the body <NUM>. The edge <NUM> can engage the ramp surface <NUM> such that when a vertical force Fv is applied to the bumper <NUM>, such as the top portion of the bumper <NUM>, the ramp surface <NUM> can guide the edge <NUM>, and therefore the inner wall <NUM> and the bumper <NUM>, to translate in a direction D1 (substantially parallel with the ramp surface <NUM>). The direction D1 can have a horizontal component such that when the force Fv is sufficiently high, the bumper <NUM> can translate inward and contact one or more of the switches 174a and 174b to indicate to the controller <NUM> that a bump has occurred. In this way, the bumper <NUM> and the outer shell <NUM> can be configured to work together to translate vertical forces to horizontal movement of the bumper <NUM> to activate one or more of the switches <NUM>, allowing the controller to detect vertical bumps. This controller <NUM> can thereby alter operation of the robot <NUM> to avoid obstacles and can help the robot <NUM> from becoming wedged (such as under furniture). These features can therefore help the robot <NUM> avoid mission failures without sensors additional to the horizontal bump switches <NUM>, helping to save manufacturing costs.

<FIG> illustrates a focused top isometric cross-sectional view of a portion of an autonomous cleaning robot 100C, in accordance with at least one example of this invention. The autonomous cleaning robot 100C can be similar to the autonomous cleaning robot <NUM> discussed above, except that the edge 176C of the inner wall <NUM> of the bumper <NUM> can be chamfered such that the edge 176C is substantially parallel to the ramp surface <NUM> during contact between the edge 176C and the and the ramp surface <NUM>. The chamfered edge 176C can help reduce friction between the edge 176C and the ramp surface <NUM> and can therefore help reduce wear of the ramp 126a and the inner wall <NUM>. Any of the edges or contact surfaces configured to contact ramps discussed herein can be modified to include such a chamfer.

<FIG> illustrates a top isometric cross-sectional view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused top isometric cross-sectional view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused top isometric cross-sectional view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused isometric cross-sectional view of a portion of the autonomous cleaning robot <NUM>, in accordance with at least one example of this disclosure. <FIG> are discussed below concurrently.

The components of the autonomous mobile cleaning robot <NUM> can be consistent with <FIG>; <FIG> shows additional details of the autonomous cleaning robot <NUM>. For example, <FIG> show that the wall <NUM> of the rear hoop 152a can engage the ramp surface <NUM> of the rear ramp 128a to help the bumper <NUM> translate toward the outer shell <NUM> in response to a vertical force applied to the bumper <NUM>.

In some examples, a rear portion of the wall 158r can be configured to engage the ramp surface <NUM> (as shown in <FIG>). In other examples, other portions, such as a front portion 158f, can be configured to engage the ramp surface <NUM>. In any of these examples, an edge of the wall <NUM> can be chamfered or rounded at a point of contact with the ramp surface <NUM> to help reduce friction between the ramp surface <NUM> and the wall <NUM> to help reduce wear of these components.

<FIG> illustrates a top isometric cross-sectional view of a portion of an autonomous mobile cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a focused top isometric cross-sectional view of a portion of the autonomous mobile cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a top isometric cross-sectional view of a portion of the autonomous mobile cleaning robot <NUM> with a bumper <NUM> attached, in accordance with at least one example of this invention. <FIG> illustrates a top isometric cross-sectional view of a portion of the autonomous mobile cleaning robot <NUM> with the bumper <NUM> detached, in accordance with at least one example of this invention. <FIG> illustrates a bottom isometric view of the bumper <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> illustrates a bottom isometric view of the bumper <NUM> of the autonomous cleaning robot <NUM>, in accordance with at least one example of this invention. <FIG> are discussed below concurrently.

The autonomous mobile cleaning robot <NUM> can be similar to those discussed above with respect to <FIG>, except that the bumper <NUM> can include one or more ramps <NUM> each configured to engage a post <NUM> to help the bumper <NUM> translate toward an outer shell <NUM> in response to a vertical force applied to the bumper <NUM>.

More specifically, the bumper <NUM> can include a ramp 1380b, as shown in <FIG> and <FIG>. The ramp 1380b can extend from a top portion <NUM> of the bumper <NUM> downward and inward (toward a center of a body <NUM> of the robot <NUM>). In some examples, the ramp 1380b can terminate at an inner wall <NUM> of the bumper <NUM>. The ramp 1380b can include a ramp surface 1382b that can be configured to engage a post 1330b to help the bumper <NUM> translate inward with respect to the outer shell <NUM> in response to a vertical force applied to the bumper <NUM>.

Also, as shown in <FIG> and <FIG>, the bumper <NUM> can include a ramp 1380a. The ramp 1380a can extend from a top portion <NUM> of the bumper <NUM> downward and inward (toward a center of the body <NUM> of the robot <NUM>). In some examples, the ramp 1380a can terminate prior to the inner wall <NUM> of the bumper <NUM>, such that a gap <NUM> is located between the ramp 1380a and the inner wall <NUM>. The ramp 1380a can include a ramp surface 1382a that can be configured to engage a post 1330a to help the bumper <NUM> translate inward with respect to the outer shell <NUM> in response to a vertical force applied to the bumper <NUM>. In some examples, the ramp surface 1382a and a portion of the post 1330a can be comprised of relatively low friction materials to help reduce wear of the ramp surface 1382a and the post 1330a, such as one or more of Polyoxymethylene, Polytetrafluoroethylene, or the like.

The following, non-limiting examples, detail certain aspects of the present subject matter to solve the challenges and provide the benefits discussed herein, among others.

Claim 1:
An autonomous mobile cleaning robot (<NUM>; <NUM>) comprising:
an outer shell (<NUM>; <NUM>) comprising a first feature connected to the outer shell; and
a bumper (<NUM>; <NUM>) movably connected to the outer shell, the bumper defining an inner surface, and the bumper comprising:
a second feature connected to the inner surface, the second feature engageable with the first feature to cause the bumper to move in a horizontal direction with respect to the outer shell in response to a vertical force applied to the bumper.