Autonomous coverage robot

Abstract

A surface treatment robot including a robot body, a differential drive system mounted on the robot body and configured to maneuver the robot over a cleaning surface, a liquid applicator carried by the robot body, and a collection assembly carried by the robot body and configured to remove waste from the cleaning surface. The robot body has a forward portion and a rear portion, with the forward portion preceding the rear portion as the robot moves in a forward direction over the cleaning surface. The liquid applicator is configured to dispense a liquid to the cleaning surface such that at least a portion of the liquid is dispensed rear of the collection assembly as the robot moves in the forward direction.

1 . A surface treatment robot comprising:
 a robot body having a forward portion and a rear portion, the forward portion preceding the rear portion as the robot moves in a forward direction over a cleaning surface;   a differential drive system mounted on the robot body and configured to maneuver the robot over a cleaning surface;   a liquid applicator carried by the robot body, the liquid applicator configured to dispense a liquid to the cleaning surface;   a collection assembly carried by the robot body and configured to remove waste from the cleaning surface, wherein the liquid applicator dispenses at least a portion of the liquid rear of the collection assembly as the robot moves in the forward direction.   
     
     
         2 . The surface treatment robot of  claim 1  wherein the liquid applicator dispenses between about 30 percent and about 70 percent of the liquid forward of the collection assembly and at least about 30 percent of the liquid rear of the collection assembly. 
     
     
         3 . The surface treatment robot of  claim 2  wherein the liquid applicator dispenses about 60 percent of the liquid forward of the collection assembly and about 40 percent of the liquid rear of the collection assembly. 
     
     
         4 . The surface treatment robot of  claim 1  wherein the liquid applicator comprises a spray nozzle arranged to dispense liquid rear of the collection assembly as the robot moves in the forward direction. 
     
     
         5 . The surface treatment robot of  claim 1  wherein the liquid applicator comprises a drip assembly configured to drip liquid rear of the collection assembly as the robot moves in the forward direction. 
     
     
         6 . The surface treatment robot of  claim 1  wherein the collection assembly is a vacuum assembly comprising a collection region and a suction region in fluid communication with the collection region. 
     
     
         7 . The surface treatment robot of  claim 6  further comprising a collection volume carried by the robot body and in fluid communication with the vacuum assembly to collect waste removed by the vacuum assembly. 
     
     
         8 . The surface treatment robot of  claim 1  wherein the collection assembly comprises a surface agitation assembly. 
     
     
         9 . The surface treatment robot of  claim 8  wherein the surface agitation assembly comprises one or more of the following: a stationary brush, a rotating brush, a woven cloth, a nonwoven cloth, a sponge, and a compliant blade. 
     
     
         10 . The surface treatment robot of  claim 9  further comprising a humidity sensor, wherein the surface agitation assembly comprises an active scrubbing element configured to act on the cleaning surface based at least in part on detection of humidity on the cleaning surface. 
     
     
         11 . The surface treatment robot of  claim 1  wherein the differential drive system comprises right and left drive wheels and the collection assembly is disposed rear of the right and left drive wheels. 
     
     
         12 . The surface treatment robot of  claim 1  further comprising a wetting assembly carried by the robot body, at least a portion of the wetting assembly disposed rear of the collection assembly and rear of the liquid applicator as the robot moves in the forward direction, wherein at least a portion of the wetting assembly contacts the cleaning surface as the robot moves in the forward direction. 
     
     
         13 . The surface treatment robot of  claim 12  wherein the wetting assembly comprises a compliant blade extending in a direction substantially parallel to the cleaning surface. 
     
     
         14 . The surface treatment robot of  claim 12  wherein the wetting assembly comprises a plurality of bristles extending from the robot body, toward the cleaning surface. 
     
     
         15 . The surface treatment robot of  claim 14  wherein at least some of the plurality of bristles and the cleaning surface define an oblique angle therebetween. 
     
     
         16 . The surface treatment robot of  claim 15  wherein the oblique angle is an acute angle in the direction toward the forward portion of the robot. 
     
     
         17 . A method of surface treatment comprising:
 maneuvering a surface treatment robot over a cleaning surface, the robot having a forward portion and a rear portion, the forward portion preceding the rear portion over the cleaning surface as the robot moves in a forward direction, the robot comprising a liquid applicator and a collection assembly;   dispensing a liquid from the liquid applicator to the cleaning surface; and   collecting waste into the collection assembly from the cleaning surface, wherein at least a portion of the liquid is dispensed rear of the collection assembly as the robot moves in the forward direction.   
     
     
         18 . The method of  claim 17  wherein dispensing liquid from the liquid applicator to the cleaning surface comprises dispensing between about 30 percent and about 70 percent of the liquid forward of the collection assembly and at least about 30 percent of the liquid rear of the collection assembly. 
     
     
         19 . The method of  claim 18  wherein dispensing liquid from the liquid applicator to the cleaning surface comprises dispensing about 60 percent of the liquid forward of the collection assembly and about 40 percent of the liquid rear of the collection assembly. 
     
     
         20 . The method of  claim 17  wherein maneuvering the surface treatment robot comprises returning to a portion of the cleaning surface to collect the liquid dispensed rear of the collection assembly.