Electrostatic discharge systems for autonomous mobile robots

#This specification relates to electrostatic discharge systems, in particular, for autonomous mobile robots.

#Autonomous mobile robots include mobile floor cleaning robots that travel along floor surfaces to clean the floor surfaces. As a mobile floor cleaning robot travels along a floor surface, different portions of the robot contact the floor surface. This contact between the robot and the floor surface, through the triboelectric effect, can cause the robot to accumulate electric charge.

#An autonomous mobile robot can include an electrostatic discharge member, such as a brush with fibers. The electrostatic discharge member can release electric charge accumulated on the robot as a result of the robot's travel across a floor surface. The electric charge can be released in a controlled manner to prevent the electric charge from otherwise being abruptly discharged in an uncontrolled manner. The electrostatic discharge member can protect sensitive electrical circuitry of the robot from abrupt electrostatic discharge.

#FIG. 1A is a schematic side view of an autonomous mobile robot with an electrostatic discharge assembly during a cleaning operation.

#FIG. 1B is a schematic side view of the robot of FIG. 1A, schematically depicting an accumulation of electric charge on the robot.

#FIGS. 2A-2E are bottom, front perspective, rear bottom perspective, rear, and side views, respectively, of the robot of FIG. 1A.

#Referring to FIG. 1A, an autonomous mobile robot 100 autonomously moves about a floor surface 10 in an environment, e.g., a room, an office, or other enclosed space. For example, the robot 100 is an autonomous mobile floor cleaning robot that performs a cleaning operation in which the robot 100 is propelled across the floor surface 10 while the robot 100 cleans the floor surface. During the cleaning operation, referring to FIG. 1B, the robot 100 accumulates electric charge (e.g., negative charge 102) due to contact between exterior portions of the robot 100 and the floor surface 10. Several regions of contact 101a-101e (shown in FIG. 1A) between the robot 100 and the floor surface 10 cause the robot 100 to accumulate electric charge. As described herein, the robot 100 includes an electrostatic discharge assembly 102 that dissipates the electric charge 102 to mitigate any risk of damage to electrical circuitry 106 of the robot 100 that may occur as a result of abrupt discharge of the electric charge 102.

#FIGS. 2A-2E depict an example of the robot 100. Referring to FIG. 2A, the robot 100 includes a robot housing infrastructure 108. The housing infrastructure 108 can define the structural periphery of the robot 100. In some examples, the housing infrastructure 108 includes a chassis, cover, bottom plate, and bumper assembly. The robot 100 is a household robot that has a small profile so that the robot 100 can fit under furniture within a home. For example, a height H1 (shown in FIG. 1A) of the robot 100 relative to the floor surface is, for example, no more than 13 centimeters. A bottom horizontal surface 152 (shown in FIG. 1A) of the robot housing 108 is no more than 0.7 cm from the floor surface. The robot 100 is also compact. An overall length L1 (shown in FIG. 1A) of the robot 100 an overall width W1 (shown in FIG. 2A) are each between 30 and 60 centimeters, e.g., between 30 and 40 centimeters, 40 and 50 centimeters, or 50 and 60 centimeters.

#The robot 100 includes a drive system 110 including one or more drive wheels. The drive system 110 further includes one or more electric motors including electrically driven portions forming part of the electrical circuitry 106. The housing infrastructure 108 supports the electrical circuitry 106, including at least a controller 109, within the robot 100.