Technical field

[0001] The present invention pertains to autonomous cleaning devices. More particularly, the invention relates to autonomous cleaning devices for cleaning the outer body surface of automotive vehicles.

Prior art

State of the art

[0002] Traditionally automotive vehicles are cleaned manually using washing instruments that include pressure gun to spray high-pressure fluid on to the vehicle body. Additionally, a cleaning liquid or chemical may be sprayed on to the surface to remove any contaminants. Further, automatic vehicle washes are also available that do not need any manual cleaning efforts. The automatic car washes generally have rotating brushes to clean the surface of the vehicle. The automatic vehicle wash may include washing brushes that are arranged such that they move along the surface of a stationary vehicle. In addition, some vehicle washes include washing lines in which the vehicle is pulled through the wash by means of a conveyor belt. Additionally, set of rotating brushes are fixed in a non-moving platform along the length of conveyor belt. The vehicle may be passed through these rotating brushes to clean the surface.

[0003] All these conventional washing devices are bulky and require a person to spend huge amount of time for cleaning the vehicle. Further, due to their bulky structure they may not be able to clean the vehicle body effectively if the profile has irregular surface. In recent years, research on autonomous cleaning devices such as a robot vacuum cleaner that are capable of cleaning operation without a user's manipulation or that can be operated remotely have been developed. These autonomous cleaning device include a power source, controllers, drive unit and a cleaning unit that may scrape dust using a rotating brush thus performing perform cleaning operation. Similar to the traditional cleaning devices they are also relatively large as they are mostly made like a robotic structure and are mostly designed as a fixed system requiring the vehicle to be taken to the vehicle wash.

[0004] Thus, there is a need for a cleaning device that is compact in design and that can clean the car effectively without any manual intervention. Further, there is a need for a car cleaning system that can be portable and that can be used wherever needed without need for bulky infrastructure.

Summary of the invention

[0005] An object of the present invention is to solve the disadvantages described above of known vehicle cleaning devices. In particular, the object of the present invention to provide an autonomous cleaning system that can effectively clean the surface of the vehicle.

[0006] Another object of the invention is to provide cleaning device that is robust, compact, and capable of cleaning the entire vehicle surface. Further, it is object of the present invention to provide a cost effective autonomous cleaning device without the need of additional and bulky infrastructure.

[0007] In an embodiment of the present invention, an autonomous cleaning device for cleaning a surface of a vehicle comprises a cleaning device body having at least one mounting portion arranged facing the surface, a cleaning system comprising a cleaning unit configured to clean the surface, where the cleaning system is mounted in the at least one mounting portion. The autonomous cleaning device further comprises a propulsion system movably supporting the cleaning device body. Further, the propulsion system comprises a surface engaging portion configured to engage the surface to manoeuvre the autonomous cleaning device. In addition the autonomous cleaning device further comprises a controller configured to control the autonomous cleaning device, the controller is configured to identify a cleaning area on the surface and then control the propulsion system and cleaning system to traverse and clean said cleaning area. Further, the surface engaging portion comprises a plurality of nano-adhesion structures that are configured to be activated by applying a tensile force to provide a gripping effect against the surface and further deactivated by relaxing the tensile force, and wherein the propulsion system is configured to manoeuvre over the surface by alternatively activating and deactivating said gripping effect. The technical effect of the nano-adhesion structure is that the nano-adhesion structures provide gripping effect allowing the autonomous cleaning device can be directly placed on the vehicle surface. In addition, the gripping structure allows the autonomous cleaning device to be used on the vehicle surface without the use of additional holding means such as adhesive, magnetic holder etc., further, avoiding any physical damage to the vehicle body. Further, the cleaning device may be able to clean the surface of the vehicle without the need of manual intervention.

[0008] In an embodiment of the present invention, the propulsion system further comprises an actuator for applying said tensile force. The actuator may be able to apply the required force uniformly across the nano-adhesion structures. In addition, they may enable application of required force in an automated manner based on the requirement.

[0009] In an embodiment of the present invention, the actuator is an electromechanical actuator. The electro-mechanical actuator may be able to control the application of the tensile force precisely reducing unnecessary force application. Further, this may enable optimal utilization of the components thus increasing the operational efficiency. Further, it may enable automation of the operation of the engagement and disengagement.

[0010] In an embodiment of the present invention, the controller controls the actuator for applying the tensile force on the nano-adhesion structures. This enables the automatic cleaning device control the operation of the actuator and subsequently the nano-adhesion structures based on the requirement and coordinate the operation.

[0011] In an embodiment of the present invention, the propulsion system comprises at least a set of caterpillar wheels configured to rotate about an axis that is substantially perpendicular to a forward direction of travel of the autonomous cleaning device. The caterpillar wheels may enable uniform distribution of weight across surface. This further helps the propulsion system to grip the surface more effectively as the area of contact is more.

[0012] In an embodiment of the present invention, the propulsion system comprises plurality of propulsion units connected by means of a linear movement motor assembly. This may enable the autonomous cleaning device to carry two functions simultaneously by means of individual propulsion unit for example one of the propulsion unit may be gripping the surface while the other unit may be used manoeuvre over the surface. The linkages may further enable relative movement between the propulsion units. Further, the linkages may enable the autonomous cleaning device to reach different contours and difficult to access areas of the surface.

[0013] In an embodiment of the present invention, the linear movement motor assembly includes linkages having a fulcrum assembly. The fulcrum assembly may enable the autonomous cleaning device to move relative to the linkages, thus, providing more degrees of freedom.

[0014] In an embodiment of the present invention, the cleaning unit comprises nano-bristles configured to trap contaminant while cleaning the surface. The nano-bristles may trap the dust particles, thus providing effective cleaning of the surface. Further, the nano-bristles prevent damages to the surface of the vehicle by avoiding rigorous rubbing, as the nano bristles do not exert high pressure on to the surface.

[0015] In an embodiment of the present invention, the cleaning unit is configured to engage the surface at an oblique angle of attack. The arrangement enables the cleaning unit to effectively clean the surface. Further, it allows ease of operation as frictional losses are reduced. Further, the arrangement enables cleaning of the cleaning unit using external cleaning devices.

[0016] In an embodiment of the present invention, the cleaning unit is operably connected to a stepper motor. The stepper motor allows the cleaning device to control the rate of rotation thus enable effective and robust cleaning of the surface. Further, the stepper motor provides excellent low speed torque thus providing high efficiency during cleaning. [0017] In an embodiment of the present invention, the cleaning system further comprises a debris collection means configured to collect the contaminants cleaned by the cleaning pad. The debris collection means prevents the duct or contaminant cleaned by the cleaning unit from getting scattered across the surface. Further, the debris collection means enables easy gathering and disposal of the contaminants from the surface.

[0018] In an embodiment of the present invention, the nano-adhesion structure is a gecko gripper system. The gecko gripper system works using van der Waals forces and can hold and move with no additional force application.

[0019] In an embodiment of the present invention, the autonomous cleaning device further comprises a detection system configured to detect the presence of contaminant on the surface. The detection system enables the autonomous cleaning device to identify the pattern and location of contaminant enabling for initiating and control the cleaning.

[0020] In an embodiment of the present invention, the controller is configured to identify the cleaning area based on contaminant detected by the detection system. This may help the controller to tune, organize and implement effective controls to clean the surface.

[0021] In an embodiment of the present invention, the system of autonomous cleaning device further comprises a power unit configured to provide electric power to various components. The power unit may be configured to power the components of the cleaning device without the need of external power source. Further, the power unit may provide ease of mobility to the cleaning device as the need for a power connection such as a power cable or similar connections is circumvented.

[0022] In an embodiment of the present invention, the system of autonomous cleaning device further comprises a charging system configured to the charge the power system. The charging system may enable the cleaning device prevent downtime due to non-availability of power. Brief Description of the figures

[0023] To complete the description and to provide a better understanding of the invention, a set of drawings is provided. Said drawings form an integral part of the description and illustrate an embodiment of the invention, which should not be construed as restricting the scope of the invention, but only as an example of how the invention can be carried out. The drawings comprise the following characteristics.

[0024] Figure 1 shows an autonomous cleaning device arranged on a vehicle, according to an embodiment of the present invention.

[0025] Figure 2 shows a schematic layout of an autonomous cleaning device, according to an embodiment of the present invention.

[0026] Figure 3 shows work flow schematics of the autonomous cleaning device, according to an embodiment of the present invention.

[0027] Figure 4 shows a top view of the autonomous cleaning device, according to an embodiment of the present invention.

[0028] Figure 5 shows a side view of the autonomous cleaning device of Figure 4, according to an embodiment of the present invention.

[0029] Figure 6 shows a bottom view of the autonomous cleaning device of Figure 4 showing a cleaning system, according to an embodiment of the present invention.

[0030] Figure 7 shows a cross sectional view of the autonomous cleaning device of Figure 4 showing a cleaning system and a propulsion system, according to an embodiment of the present invention.

[0031] Figure 8 shows nano-adhesion structures of the propulsion system, according to an embodiment of present invention.

[0032] Figure 9a shows perspective view of an autonomous cleaning device, according to another embodiment of the present invention.

[0033] Figure 9b shows another perspective view of the autonomous cleaning device of Figure 9a, according to an embodiment of the present invention.

[0034] Figure 10 shows a cross sectional view the autonomous cleaning device of figure 9a, according to an embodiment of the present invention. [0035] Figure 11 shows an exploded view of a propulsion system of the autonomous cleaning device of figure 9a, according to an embodiment of the present invention.

[0036] The features, variants and different embodiments of the invention can be associated with one another, in various combinations, provided that they are not incompatible or mutually exclusive. In particular, variants of the invention can be envisaged that comprise only a selection of the features described below in isolation from the other features described, if this selection of features is sufficient to provide a technical advantage or to distinguish the invention from the prior art.

[0037] In particular, all of the variants and all of the embodiments described can be combined with each other if there is no technical reason preventing this combination. In the figures, elements common to a number of figures keep the same reference sign.

Detailed description of the invention

[0038] Hereinafter, embodiments of the present invention will below be explained in details by ways of examples with reference to the accompanied drawings. Throughout the description, same or similar reference numerals represent same or similar parts. The following description of the embodiments with reference to the drawings is intended to explain the general inventive concept of the present application, instead of limiting to the present invention.

[0039] In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details.

[0040] Traditionally, vehicle-cleaning systems have been designed to clean the surface of the vehicle. These devices are designed such that they can clean the surface of the vehicle using various cleaning means. In addition, they are predominantly controlled using physical hardware that are arranged remotely to the cleaning means. The purpose of these cleaning devices is to help clean the vehicle by reducing the manual cleaning effort. Figure 1 shows an autonomous cleaning device according to an embodiment of the present invention. As shown in said Figure 1, the autonomous cleaning device is shown arranged on a roof of the vehicle for cleaning a surface of the vehicle. The autonomous cleaning device is configured to move over the surface of the vehicle and clean the vehicle. Further, as seen the autonomous cleaning device does not require external hardware like power cables or control system connected physically to the autonomous cleaning device, this enable the cleaning device to clean the manoeuvre over the surface with any hindrance and effectively clean the vehicle surface.

[0041] Figure 2 shows a schematic layout of the autonomous cleaning device according to the embodiments of the present invention. The autonomous cleaning device 100 may be configured to clean the surface of the vehicle by moving over the surface and perform cleaning of the surface. The autonomous cleaning device 100 may be configured such that it can be manoeuvre over the surface of the vehicle with ease without falling of the surface. Further, the autonomous cleaning device 100 can also perform cleaning while manoeuvring over the surface of the side body panel. As seen in the Figure 2, the autonomous cleaning device comprises a controller that may be configured to control the operation of the autonomous cleaning device. The controller may be an Electronic Control Unit (ECU) configured to interface with various components of the autonomous cleaning device. The controller may further include a memory for storing data and instruction. Further, the autonomous cleaning device comprises a detection system 50 configured to detect the presence of contaminant on the surface. The autonomous cleaning device may include multiple detection systems such as sensors and/or cameras or other devices that may scan or gather information regarding the profile and/or presence of contaminants on the surface. As shown in Figure 2, the detection system 50 is in operational communication with the controller and sends data such as an image or data pertaining to condition of the surface of the automotive vehicle. The data sent by the detection system 50 may be used in real time or may be stored in the memory of the controller. The controller may process the data received from multiple detection systems to produce a single consolidated image/data.

[0042] Further, the autonomous cleaning device comprises a propulsion system that may be configured to manoeuvre the autonomous cleaning device over the surface of the vehicle. The propulsion system 30 may additionally include at least one nano-adhesion structures 36 that may be actuated by an actuator 40. The controller based on the data received from the detection system 50 may be configured to control the propulsion system 30. The autonomous cleaning device in addition comprises a cleaning system 20 that may be configured to clean the surface of the vehicle. The cleaning system 20 may include a cleaning unit 22 that is configured to clean the contaminants from the surface of the vehicle. Further, a debris collection means 26 may be provided to collect the debris/contaminants cleaned by the cleaning unit 22. The propulsion system 30 and the cleaning system 20 may be controlled by the controller simultaneously or sequentially to clean the surface of the vehicle.

[0043] Figure 3 shows a process flow schematics depicting the working methodology of the autonomous cleaning device, according to an embodiment of the present invention. As seen in Figure 3, the controller is in operational communication with the detection system 50, cleaning system 20 and the propulsion system 30. The controller in step 302 receives data from the detection system 50 pertaining to the condition of the surface. The controller may be configured to compare said received image/ data with an image/data that may have been stored in the memory of the controller. Based on the result of the comparative evaluation the controller may identify the area that needs to be cleaned. The data stored in the memory may be information pertaining to the overall structure and dimension of the vehicle that may be stored in the memory of the controller. Further, the controller may be configured to compute the cleaning requirement based on said data, and in addition may identify the location of the surface that needs to be cleaned. [0044] Further, the controller may be configured to identify if the autonomous cleaning device 100 needs to be maneuvered on the surface to reach said cleaning area. As seen in Figure 3, in step 304, the controller controls the propulsion system 30 to manoeuvre the autonomous cleaning device 100 to reach the cleaning area. Further, the controller may decide if a gripping effect is needed or not. Subsequently, in step 304a the controller may actuate the actuator 40 to induce a gripping effect. As shown in the Figure 3, in step 304b the actuation of the actuator 40 activates the gripping effect. Similarly, deactivating the actuators in step 304a’ will subsequently de-activate the gripping effect in step 304b’. The controller may control the actuator to alternatively apply and release the gripping effect for manoeuvring the autonomous cleaning device.

[0045] Further, the controller identifies the cleaning if cleaning of the surface is to be initiated or not. Subsequently, in step 306 the controller activates the cleaning system to clean the identified area. The controller may initiate the propulsion system 30 and the cleaning system 20 sequentially to manoeuvre the autonomous cleaning device to reach the specific area on the surface of the vehicle and then clean said area. Alternatively, the controller may be programmed to clean the entire surface of the vehicle instead of a specific area. The steps involved to clean the entire surface may involve the same steps as discussed above using said components.

[0046] Figure 4 shows a top view of an autonomous cleaning device 100 according to an embodiment of the present invention. The autonomous cleaning device 100 according an embodiment of the present invention comprises a cleaning device body 10 having at least one mounting portion 10a that is arranged facing the surface. The cleaning device body 10 may be a frame or a housing that may be configured to securely hold the components of the autonomous cleaning device 100. Further, suitable mounting provisions may be provided in the cleaning device body 10 to mount said components. The autonomous cleaning device 100 further comprises a cleaning system 20 that comprises a cleaning unit 22 for cleaning the surface. As seen in Figure 4, the cleaning system 20 may be mounted in the at least one mounting portion 10a by means of suitable mounting provisions. The at least one mounting portion 10a may be formed as a cut out portion formed in the housing. Alternatively, the at least one mounting portion 10a may be formed as a separate mounting provision provided on the housing. Further, the at least one mounting portion 10a may be configured to operably mount the cleaning system 20 in the housing. Further, the cleaning unit 22 may be mounted such that it can be operated without any interference and further making sure that there is no fouling between the cleaning unit 22 and the cleaning device body 10 and/or other components.

[0047] In an embodiment of the present invention as shown in Figure 4-7, the cleaning system 20 may be designed as a roller that may be mounted in the at least one mounting portion 10a. The cleaning unit 22 comprising nano-bristles 24 that may be provided on an outer periphery of the roller. For cleaning the surface, the roller may be rotated using a motor such that the nano-bristles 24 of the cleaning unit 22 engages the surface. The dust and other contaminants are picked by said nano-bristles and may be then dumped in a debris collection means (not shown). The debris collection means may be placed close to the cleaning unit 22 to enable the debris collection means. Further, the debris collection means may use a scrapping unit and/or a vacuum system to enable for collecting the contaminants from the cleaning unit.

[0048] In an embodiment as shown in Figure 4 and 5, the autonomous cleaning device comprises plurality of cleaning devices that may be connected by means of a linear movement motor assembly 3. The linear movement motor assembly 3 may include linkages 4 having a fulcrum assembly 5. The linkages 4 may allow the respective cleaning devices to move relative to each other. The linkages can be mechanical linkages such as link rods connected by means of universal joints or may be flexible cable joints. Further, the fulcrum 5 may allow the cleaning body to rotate or move with respect to the linkages 4 and allow multiple degrees of motion. The cleaning devices may be configured to move independently and relative to each other. In addition, the linear motor assembly 3 may include a motor that may allow the cleaning units connected by linkages to move with ease. Each of the cleaning device may comprise a separate cleaning system 20 and a separate propulsion system 30 to allow both the cleaning devices to clean the surface. Further, a common controller may be used to control the individual cleaning devices.

[0049] In an embodiment of the present invention, as shown in Figure 4-7 the propulsion system 30 may comprise at least a set of caterpillar wheels configured to rotate about an axis that is substantially perpendicular to a forward direction of travel of the autonomous cleaning device 100. Caterpillar wheels otherwise known as continuous track propulsion system that runs on a continuous band of treads or track plates driven by two or more wheels. The large surface area of the tracks distributes the weight of the vehicle better than steel or rubber tires and provide better traction. In said embodiment, the propulsion system 30 movably supports the cleaning device body 10 and manoeuvres the autonomous cleaning device 100 over the surface of the vehicle. Further, the propulsion system 30 may be configured to be able to adapt to varying surface profiles and contours to reach the entire surface of the vehicle body.

[0050] Further, as shown in Figure 7, the propulsion system 30 comprises a surface engaging portion 32 that may be configured to engage the surface and enable manoeuvring the autonomous cleaning device 100. The surface engaging portion 32 comprises a plurality of nano-adhesion structures 36. The nanoadhesion structures 36 may be configured to engage the surface to enable the autonomous cleaning device 100 to grip the surface. Further, the nano-adhesion structures 36 may be configured to be activated by applying a tensile force (TF) and provide a gripping effect against the surface. Further, the nano-adhesion structures may be deactivated by relaxing said tensile force (TF).

[0051] The controller may actuate the actuator 40 of the propulsion system to applying said tensile force (TF) (also refer step 304a of Figure 3). The controller to convert a control signal into mechanical motion may control the actuator 40. The mechanical motion may be configured to exert said tensile force (TF) that may act in a direction relatively normal to the surface. In some cases, the tensile force (TF) may be acted in a direction that is not normal to the surface and may be at an oblique angle to the surface. Further, the tensile force (TF) may be exerted on the nano-adhesion structures 36 to activate the gripping effect (also refer step 304b of Figure 3). In an embodiment of the present invention, the actuator 40 may be an electro-mechanical actuator where mechanical actuators operated by an electric motor are used to apply the tensile force (TF). In addition, the autonomous cleaning devices 100 of said embodiment may be configured such that one of the propulsion unit is engaged to the surface by means of the nano-adhesion structure 36, whilst the other cleaning unit may be maneuvered over the surface. Further, by alternatively engaging and disengaging the each of the propulsion units of respective cleaning units of the autonomous cleaning device entire surface of the vehicle can be cleaned. Further, said arrangement may enable cleaning the side surfaces as well.

[0052] Figure 8 shows shape of the nano-adhesion structure 36 where the nanoadhesion structures 36 are projecting from a base or the surface engaging portion 32. An opposite end of the nano-adhesion structure may include a foot shaped peg 38. In a deactivated condition, the nano-adhesion structures 36 are relatively straight with the foot shaped peg 38 at a relatively oblique angle with the surface. In an activated state when the actuator 40 applies a tensile force (TF), the nano-adhesion structures 36 are pressed against the surface. In this condition, the foot shaped peg 38 engages with the surface to create maximum surface contact. Due to said effect, the nano-adhesion structures 36 may be able to produce the gripping effect. Further, a walking effect is created by alternatively engaging and disengaging the nano-adhesion structures 36 to manoeuvre the autonomous cleaning device 100.

[0053] In an embodiment of the present invention, the nano-adhesion structure 36 may be a gecko gripper system. The gecko gripper system may be configured to attach to a surface through van der Waals forces. The disclosed effect may be accomplished through contact in a preload-hold-detach fashion. The gripper creates adhesion by preloading the pads with a small force normal to the surface. The application of the force or the tensile force acting on the nano-adhesion structures 36 is shown in Figure 8.

[0054] In an alternate embodiment as shown in Figure 9a and 9b, the autonomous cleaning device 100 may include plurality of cleaning units that are connected by connecting rod assembly 34. The cleaning units may be arranged on a stable platform 20a (as shown in Figure 9) that may act as a housing for the cleaning unit. Further, said stable platform 20a may be configured to house various components of the autonomous cleaning device 100. The cleaning units may comprise a cylindrical unit having an outer periphery that defines a hollow inside portion. Further, the outer periphery of the cleaning unit may be attached to the stable platform 20a to constitute the propulsion system 30. In addition, to enable proper manoeuvrability the propulsion system 30 may constitute a contact area that may be configured to contact the surface of the vehicle. The propulsion system 30 may include nano-adhesion structures 36 embedded throughout said contact area.

[0055] According to an embodiment of the present invention as seen in Figure 9, the stable platform may have provisions to attach a circuit and other components such as the cleaning unit comprising the cleaning unit 22. The components may be mounted in the hollow inside portion of the cylindrical unit. The cleaning unit 22 may comprise nano-bristles 24 that may be configured to trap contaminant while cleaning the surface. Further, the cleaning unit 22 may be configured to engage the surface at an oblique angle of attack (a). The oblique angle of attack may allow sufficient cleaning of the surface. Further, a stepper motor 28 may be provided to drive the cleaning system such that the cleaning unit 22 is operably connected to a stepper motor 28. More specifically, the cleaning unit 22 that may be connected to the stepper motor 28 by means of a shaft or similar connection means that are adapted to transfer the rotational motion such as gear system.

[0056] Further, a ring shaped plate that may be arranged between the stable platform 20a and the propulsion system 30 may encompass the contact area. Further, actuator 40 may be assembled on said ring shaped plate. The ring shaped plate may be made of hard plastic or metal and may be configured to support the contact area having the nano-adhesion structures 36. The arrangement may further allow the ring shaped plate to be arranged within an angle of 10° to 15° in either clockwise or anti-clockwise direction. This may further enable increasing or decreasing the contact area contacting the surface. As discussed earlier, the actuator 40 may be used to actuate the nano-gripping structures 36. The nano-adhesion structures 32 are applied with tensile force (TF) to enable creation of gripping effect. Further, as seen in Figure 7, the actuator 40 may be an electromagnetic device that controls a solenoid shaft 42 to move in a reciprocating manner. Further the electromechanical device may be fixed on a top surface and may be configured to move the ring shaped plate at a fixed angle thus applying the tensile force (TF) to activate and deactivate the nano-adhesion structures 42 (as seen in Figure 7). Further, a stopper 44 may be provided at either ends of the magnetic shaft. In said embodiment, the shape of the cleaning unit is defined as being cylindrical, but it may be understood that the cleaning unit may be constructed in other shapes as well.

[0057] In an embodiment of the present invention, the cleaning system 20 further comprises a debris collection means 26 configured to collect the contaminants cleaned by the cleaning unit 22. The debris collection means 26 may be arranged near the cleaning unit 22. Further, a suction motor may be provided in debris collection means 28 to suck said contaminants and store it in a storage chamber. The storage chamber may be arranged such that the can be removed easily from the autonomous cleaning device.

[0058] In addition, the autonomous cleaning device 100 may be provided with a power unit configured to provide electric power to various components. The power unit may be an on-board battery system arranged inside the housing. Further, the autonomous cleaning system may comprise a charging system configured to the charge the power system. The charging system can be a plug and play type connection or may be designed as a docking station having terminals that may cooperate with suitable terminals of the autonomous cleaning device to charge the battery. Further, a solar operated charging system can also be designed to enable clean charging infrastructure. The solar operated charging system may include plurality of solar panels that may be provided on the housing of the autonomous cleaning device.

[0059] Unless stated otherwise, dimensions and geometries of the various structures depicted herein are not intended to be restrictive of the invention, and other dimensions or geometries are possible. Plural structural components can be provided by a single integrated structure. Alternatively, a single integrated structure might be divided into separate plural components. In addition, while a feature of the present invention may have been described in the context of only one of the illustrated embodiments, such feature may be combined with one or more other features of other embodiments, for any given application. It will also be appreciated from the above that the fabrication of the unique structures herein and the operation thereof also constitute methods in accordance with the present invention.