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 - 20 . (canceled) 
     
     
         21 . A surface treatment robot comprising:
 a robot body having a forward portion and a rear portion, with 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, the differential drive system comprising a right drive wheel and a left drive wheel, each drive wheel rotatable about a wheel axis parallel to the cleaning surface and transverse to the forward direction of movement of the robot over the cleaning surface;   a base plate detachably coupled to the robot body, and   a cleaning assembly carried by the base plate and configured to contact the cleaning surface to remove debris from the cleaning surface, wherein at least a portion of the cleaning surface is disposed forward of the wheel axis.   
     
     
         22 . The surface treatment robot of  claim 21 , wherein at least a portion of the cleaning assembly is configured to slidably contact the cleaning surface. 
     
     
         23 . The surface treatment robot of  claim 21 , wherein at least a portion of the cleaning assembly is releasably attached to the base plate. 
     
     
         24 . The surface treatment robot of  claim 21 , wherein the base plate defines at least a portion of a wheel well of each of the right and the left drive wheel. 
     
     
         25 . The surface treatment robot of  claim 21 , wherein the cleaning assembly comprises a squeegee disposed on the base plate, the squeegee formed with a longitudinal ridge disposed proximate to the cleaning surface and extending across a cleaning width for providing a liquid collection volume at a forward edge of the ridge as the robot moves in the forward direction. 
     
     
         26 . The surface treatment robot of  claim 25 , wherein an interference between the longitudinal ridge and the cleaning surface is between about 0.5 mm and about 2.5 mm. 
     
     
         27 . The surface treatment robot of  claim 25 , wherein the squeegee comprises a first edge portion and a second edge portion disposed on respective sides of the longitudinal ridge, wherein the first edge portion is releasably attached to the base plate and the second edge portion is unattached to the base plate. 
     
     
         28 . The surface treatment robot of  claim 27 , wherein the releasable attachment of the first edge portion of the squeegee to the base plate comprises an interference fit. 
     
     
         29 . The surface treatment robot of  claim 27 , wherein the first edge portion is disposed forward of the second edge portion as the robot moves over the cleaning surface in the forward direction. 
     
     
         30 . The surface treatment robot of  claim 25 , wherein a vacuum chamber is at least partially formed by the squeegee and the vacuum chamber is disposed proximate to the longitudinal ridge such that suction applied at the vacuum chamber holds the second edge portion of the squeegee in a substantially fixed position relative to the base plate. 
     
     
         31 . The surface treatment robot of  claim 30 , wherein the vacuum chamber is in fluid communication with the liquid collection volume by a plurality of suction ports defined by the squeegee. 
     
     
         32 . The surface treatment robot of  claim 22 , wherein the squeegee is at least partially pivotable about the first edge portion as the second edge portion is moved away from the base plate. 
     
     
         33 . The surface treatment robot of  claim 22 , wherein the squeegee is disposed rear of the right and left drive wheels as the robot moves in the forward direction over the cleaning surface. 
     
     
         34 . The surface treatment robot of  claim 21 , wherein a wetting assembly is disposed on the base plate. 
     
     
         35 . The surface treatment robot of  claim 34 , wherein at least a portion of the wetting assembly can be disposed rear of the squeegee as the robot moves in the forward direction over the cleaning surface. 
     
     
         36 . The surface treatment robot of  claim 21  wherein the cleaning assembly comprises a liquid applicator, and at least a portion of the liquid applicator is disposed forward of each wheel as the robot moves in the forward direction over the cleaning surface. 
     
     
         37 . The surface treatment robot of  claim 36  wherein the cleaning assembly comprises a vacuum assembly, and at least a portion of the vacuum assembly is disposed rear of each wheel as the robot moves in the forward direction over the cleaning surface. 
     
     
         38 . The surface treatment robot of  claim 21 , wherein the cleaning assembly comprises a cloth that is attachable to the base plate.