Abstract: An example autonomous moving device includes a housing in which at least one moving part and a first actuator for providing power to the moving part are accommodated; a first charger which is disposed to be adjacent to at least a portion of the surface of the housing and which is for the wireless charging of electric power used by the device; a second actuator for causing air to flow; a first opening, formed at one side of the housing, for discharging the air toward the first charger in order to remove foreign material from the first charger or around the first charger; and a first duct connected to the first opening from the second actuator.

Abstract: A cleaning assembly includes a cleaning device, a mounting base, and a swing arm. The cleaning device is movable in a vertical direction, and a positioning part is provided on the cleaning device. The mounting base is located at one side of the cleaning device. The swing arm has one end pivotally connected to the mounting base and another end connected to the positioning part. The swing arm is configured to swing with a vertical movement of the positioning part.

Abstract: A coupling mechanism for removably coupling a storage cart to a surface maintenance machine includes a cart-side connector connectable to the storage cart and a machine-side connector connectable to the surface maintenance machine. The coupling mechanism includes a connecting rod engageable with the machine-side connector. The coupling mechanism includes a bracket assembly positioned between the cart-side connector and the machine-side connector. The bracket assembly can receive the connecting rod to engage therewith to facilitate a first relative movement between the connecting rod and a portion of the bracket assembly in a direction perpendicular to a floor surface on which the surface maintenance machine is traveling, and a pivoting of the bracket assembly about a pivot axis passing through the connecting rod.

Abstract: A nozzle for a cleaner has a nozzle housing including a suction flow path configured to allow air and dust to flow therethrough. A water tank is mounted on the nozzle housing to store water. The nozzle also has first and second rotation cleaning units arranged on a lower side of the nozzle housing. Each of the first and second rotation cleaning units include a rotation plate coupled to a mop. The nozzle includes a first driving device that has a first driving motor to drive the first rotation cleaning unit. The nozzle also includes a second driving device that has a second driving motor to drive the second rotation cleaning unit. Further, the nozzle has a water discharge port provided at a bottom of the nozzle housing to supply water in the water tank to each of the first and second rotation cleaning units.

Abstract: A surface cleaning apparatus includes a housing including an upright handle assembly and a base mounted to the upright handle assembly and adapted for movement across a surface to be cleaned. The surface cleaning apparatus is further provided with a fluid delivery system comprising a fluid dispenser configured to dispense fluid to a brushroll and at least one fluid delivery channel forming a portion of a fluid delivery pathway. The fluid delivery channel can extend adjacent to a portion of the suction nozzle assembly. An interference wiper interfaces with a portion of the brushroll to remove excess liquid from the brushroll.

Abstract: A vacuum cleaner includes a housing having a suction nozzle opening, a source of suction in fluid communication with the suction nozzle opening for generating a working air stream through the housing, and a multiply-adjustable debris collecting blade coupled along the rear of the suction nozzle opening for collecting debris.

Abstract: An extraction cleaner for a floor surface includes an extraction nozzle. The extraction nozzle that defines a fluid flow path having an elongated nozzle opening, and includes one or more stiffening elements that stiffens the walls around the nozzle opening to prevent collapsing or deformation of the extraction nozzle during use.

Abstract: A surface cleaning apparatus comprises a floor cleaning unit comprising a surface cleaning head and an upright section moveably mounted to the surface cleaning head between a storage position and a floor cleaning position and a hand vacuum cleaner removably mounted to the upright section. The upright section is connected to the surface cleaning head by a rotatable coupling. When the surface cleaning unit is mounted to the upright section, the surface cleaning unit and the upright section define an upright assembly, the upright assembly having a handle wherein, when the upright assembly is in the inclined use position, the handle is steeringly connected to the surface cleaning head whereby a user may rotate the handle clockwise or counterclockwise with respect to the surface cleaning head to assist in steering the surface cleaning head.

Abstract: A surface cleaning apparatus has a base configured to be moved across a surface to be cleaned, a fluid delivery system, and a fluid recovery system with a suction nozzle assembly defining a fluid flow path. A squeegee is provided in the suction nozzle assembly and is mounted within the fluid flow path to slide forwardly and rearwardly within the suction nozzle assembly as the base is moved rearwardly and forwardly, respectively.

Abstract: A vacuum cleaner canister assembly supported on a cushion of air. A generally concentric series of ridges and channels surround a domed pocket in the base of the canister assembly. Air discharged into the pocket escapes under the ridges and flows into the channels so as to be distributed about the base of the assembly. The pocket is located generally beneath the center of mass and on the centerline of the assembly. A collection chamber also accumulates collected particulate so as to be located generally proximate the center of mass. An inlet tube at the front of the assembly is angled downwardly towards the floor to reduce the load on the canister assembly from the weight of the hose.

Abstract: A multi-function cleaning tool for use with a suction cleaner having a suction source includes a nozzle body rotatably coupled to a housing assembly, where the nozzle body includes multiple suction nozzles and/or agitators that are configured to clean different portions of a surface to be cleaned, such as a stairway.

Abstract: The invention relates to a cleaner-head for a vacuum cleaner. The cleaner-head has a housing, this housing being connected to a hinged soleplate assembly which can be opened and closed to provide access to the inside of the housing. In accordance with the invention, the soleplate assembly is a clip-on assembly which a user can manually un-clip from the housing, as required, to detach the soleplate assembly for separate cleaning or replacement.

Abstract: A cleaning device agitator system having an agitator and one or more cleaning members. The agitator has first and second ends, a longitudinal axis and one or more agitating devices. One or more friction surfaces may project from the spindle. The cleaning members are adjacent the agitator and adapted to move between a first position and a second position. In at least the second position, the cleaning members engage the agitator, such as by engaging the friction surfaces, to remove debris. Agitator and cleaning members may be incorporated into a cleaning head having an inlet nozzle and a chamber in which the agitator rotates, and there may be an activation mechanism using, for example, a resilient member to move the cleaning members. An overload protection device may be provided, and may adjust its sensitivity depending on whether the cleaning devices are in the first or second position.

Abstract: A cleaning appliance of the canister type includes separating apparatus for separating dirt from a dirt-bearing fluid flow, a floor engaging rolling assembly, and a steering mechanism for steering the cleaning appliance as it is maneuvered over a floor surface and for pivoting the separating apparatus relative to the rolling assembly.

Abstract: A cleaner head for a cleaning appliance includes a housing having an upper surface and an underneath surface in which at least on suction opening is formed. The underneath surface has opposing side edges each having a first part which lies adjacent the suction opening or openings and forms a sharply-defined edge with the upper surface and an upwardly curved second part which is located rearwardly of the suction opening or openings. This arrangement is advantageously used in vacuum cleaners or other cleaning appliances in which a ball-type support allows an increased level of steerability involving lateral movement of the cleaner head across the surface to be cleaned. The upwardly curved side edges of the underneath surface of the cleaner head reduce the amount of effort required to achieve the steering by presenting a smoothly curved surface to the carpet or other floor covering.

Abstract: An autonomous coverage robot includes a body having at least one outer wall, a drive system disposed on the body and configured to maneuver the robot over a work surface, and a cleaning assembly carried by the body. The cleaning assembly includes first and second cleaning rollers rotatably coupled to the body, a suction assembly having a channel disposed adjacent at least one of the cleaning rollers, and a container in fluid communication with the channel. The container is configured to collect debris drawn into the channel. The suction assembly is configured to draw debris removed from the work surface by at least one of the cleaning rollers into the channel, and the container has a wall common with the at least one outer wall of the body.

Abstract: A floor cleaning device that is manually trainable for subsequent automatic operation. Prior to automatic operation, a user trains the cleaning device by manually manipulating the device through one or more desired cleaning paths. After training of the device, the device is configured to automatically initiate subsequent cleaning operations in accordance with the trained routine(s). Preferably, the training routine includes user specification of one of a number of cleaning modalities that are supported by the flooring cleaning device. In addition to automatic navigation, the floor cleaning device is configured to initiate a desired cleaning modality as a function of the device's position with respect to one or more of the trained routine(s).

Abstract: A new drum vacuum cleaner has a 0.02 to 0.035 inch thick stainless steel wall that that substantially surrounds a molded inner tank that extends downwardly from a tank collar. The lower end of the wall is positioned between an inward-facing edge of a recess on a wheeled base and an outward-facing edge on the molded inner tank, and is supported on a supporting face on the base that also supports the tank. The upper end of the wall is positioned within a downward-opening slot in the tank collar. When the molded inner tank is connected to the base, the metal wall is trapped in place between the tank collar and the base, providing an exposed stainless steel section that is at least three inches in height and can extend to within less than 1? of the vacuum cleaner head.

Abstract: A device for carrying on the body of a user to generate a vacuum for medical applications, having a vacuum-producing device and a disposable vessel, with a suction tube connection leading to Ihe body, wherein the vacuum-producing device is disposed in a first housing part of the device and the vessel forms a second housing part of the device, and the housing parts are separably fixed one against the other, the device having body fastening means. The housing pans can be separably fixed to each other by a positive-action locking mechanisms and the locking mechanism having a manually operable operating element. The first and/or second housing part is constituted for manual gripping so that the device or the first or second housing part can be gripped and separated from the other housing part, and the manually operable operating element is provided in the region of the manual gripping.

Abstract: An automatic veering structure for a floor cleaning apparatus comprises a driving wheel set to control moving direction of the floor cleaning apparatus, an auxiliary wheel set and a buffer module. It also has a detection module to detect whether the auxiliary wheel set is suspended in the air and whether the buffer module bumps into an obstacle, then output a first detection signal and a second detection signal to a control module to determine whether to trigger the driving wheel set to drive the floor cleaning apparatus to veer to prevent the floor cleaning apparatus from suspending and falling, or stopping moving when encounters the obstacle. Thus the lifespan of the floor cleaning apparatus is lengthened and cleaning efficiency improves.

Abstract: A device (1) comprises at least a body (2) and a bumper (6) which is movably attached to the body so as to protect the body from shock caused by collision with an obstacle during movement of the device across a surface. The bumper is attached to the body by means of at least one spring (9) extending in a direction which is at least substantially perpendicular to the direction into which the bumper is movable with respect to the body. Furthermore, a robot cleaner comprising such a device is provided.

Abstract: A vacuum cleaner comprises a housing adapted to move along a surface to be cleaned and having a suction nozzle at a forward portion thereof, at least one agitator mounted for rotational movement within the suction nozzle and at least one ground-engaging wheel mounted rearwardly of the suction nozzle and a cord guard mounted to the housing in a position rearward of the suction nozzle and adapted to block the ingestion into the suction nozzle of a cord on the surface to be cleaned during rearward movement of the base along the surface.

Abstract: A robotic vacuum cleaner comprising sensor means for detecting physical contact with stationary objects in the environment of the vacuum cleaner. The vacuum cleaner comprises a handle (1) for carrying the vacuum cleaner by hand (3). The handle (1) can be in a second position whereby the handle (1) is located close to the body (4) of the vacuum cleaner, whereby the sensor means detect forces exerted on the handle (1) during operation of the vacuum cleaner.

Abstract: Provided is an automatic cleaner that absorbs and senses a shock more efficiently. In one embodiment, an automatic cleaner comprises: a casing comprising a cover that defines a top surface thereof and at least one portion of an edge thereof, and a base that defines a bottom surface thereof, the cover being coupled to the base and moved relative to the base; a sensing member installed on one of the cover and the base, and sensing a relative movement of the cover to the base; a driving part installed on the other of the cover and the base, and operating the sensing member according to the relative movement of the cover to the base; and a buffer member installed on one of the cover and the base, and absorbing a shock according to the relative movement of the cover to the base.

Abstract: A vacuum including a housing, a suction device disposed within the housing, a plurality of accessories operable to engage the suction device, a plurality of wheels mounted to the housing and at least one bumper disposed on the housing. The at least one bumper includes a retaining feature operable to store at least one of the accessories, and the at least one bumper is operable to protect at least one of the wheels to minimize damage thereto. At least one pocket is defined by the bumper. The pocket is adapted to store at least one of the accessories.

Abstract: A lightweight, flexible, impact-cushioning, scuff- and dent-shielding bumper is easily applied to and reversibly retained on peripheral and upward facing surfaces of an appliance such as an upright vacuum cleaner, vacuum suction head, canister vacuum cleaner, or similar appliance. In the bumper, elasticity and stiffness cooperate to conform the bumper to the appliance exterior, facilitating efficient installation and allowing the position of the bumper to be easily adjusted in a manner that would purposefully envelop portions of the appliance prone to causing damage to surrounding surfaces and the appliance itself. Contact adhesive is employed in combination with the hook component of a hook-and-loop fastener interacting directly with the body material of the bumper, permitting repeated easy removal, washing and reinstallation of the bumper or transfer thereof to another appliance not necessarily of the same design make and model.

Abstract: A collision detection apparatus is provided, which includes a main body, at least an air bag disposed at the periphery of the main body and at least a baro sensor. The air bags communicate with each other. The air bag is connected to the baro sensor to detect the pressure at different time points and the pressure variations. The apparatus judges whether a collision has occurred and the collision force is detected by the baro sensors. The time point of collision occurrence and the collision position according to the pressures of the air bags at different time points are determined.

Abstract: A bumper and dusting attachment for a vacuum cleaner head generally provides a flexible body of mesh material having fleece on its exterior surface. The body defines a medial chamber and has a first end portion, a second end portion, a top edge, a bottom edge, a back surface and a front. Padding, having a retentive memory, fills the medial chamber adding thickness to the body. A protruding lip formed in the front surface extends elongately from the first end portion to the second end portion and protrudes outwardly from the front surface when the body is fastened to a vacuum cleaner head. Cooperating strips of hook and loop fastener carried by the back surface of the body and on the vacuum cleaner head provide for releasable attachment of the body to the vacuum cleaner head.

Abstract: A vacuum cleaner base has a brush chamber having at least a portion that is transparent, a brush rotatably mounted in the brush chamber, and an elastomeric bumper that surrounds at least three sides of the brush chamber. The bumper is translucent at least where it overlaps that portion of the brush chamber that is transparent.

Abstract: An integral vacuum cleaner bumper is provided according to an embodiment of the invention. The bumper includes a bumper shell formed of an at least partially resilient material and includes an inner surface that mates to the vacuum cleaner chassis and an outer surface. The bumper shell is affixed to the vacuum cleaner chassis as an integral component of the vacuum cleaner and the outer surface of the bumper shell becomes a portion of an outer surface of the vacuum cleaner. The bumper further includes one or more cavities formed along a bottom edge region of the bumper shell, one or more corresponding magnets designed to fit into the one or more cavities, a backing plate including one or more fastener apertures, and one or more fasteners that pass through the one or more fastener apertures of the backing plate and affix the backing plate to the bumper shell.

Abstract: A wheel connection apparatus is disclosed. The wheel connection apparatus includes a first axis rotatably connected to a wheel, a second axis rotatably connected to a cleaner body, and a frame that supports the first axis and the second axis and prevents the first axis and the second axis from becoming separated from the cleaner body and the wheel, the first axis and the second axis being arranged at a predetermined distance from each other.

Abstract: A bumper device of a robot cleaner, and a robot cleaner equipped with the bumper device are disclosed. The bumper device of a robot cleaner includes: a bumper housing coupled to cover an outer circumferential surface of a main body of a robot cleaner, made of a material for restraining an expansion, and having an internal passage; an air tube insertedly installed inside the bumper housing so as to be expandable along the internal passage; and a sensing unit for sensing expansion of the air tube. Even if an impact is applied to any position of front, side and rear surfaces of the main body, it can be lessened in its transfer to the robot cleaner.

Abstract: A suction inlet unit comprises a suction inlet main body having a bottom suction inlet, a front suction inlet formed continuously with said bottom suction inlet in the front of said suction inlet main body, and a cover for covering the front suction inlet. The cover, provided at the suction inlet main body to be movable by an adjusting mechanism for adjusting an opening area size of said front suction inlet to a determined area, is configured to decrease the opening area of the front suction inlet when a front portion of the cover is contacted by a wall or furniture.

Abstract: A floor care apparatus includes a housing carrying a suction generator, a dirt collection vessel and an electroluminescent light source.

Abstract: Vacuum cleaner with a magnetic pick-up mechanism includes a housing having a front wall and a vacuum opening situated rearward of the front wall, one or more receptacles on the front wall, one or more magnets arranged in the receptacle(s) and a bumper attached to the housing and extending across the front wall and over the magnet(s). Each magnet attracts metallic objects during use of the vacuum cleaner so that the metallic objects do not enter into the vacuum opening and damage to the interior parts of the vacuum cleaner housing is prevented.

Abstract: A bumper and dusting attachment for a vacuum cleaner head generally provides a flexible body of mesh material having fleece on its exterior surface. The body defines a medial chamber and has a first end portion, a second end portion, a top edge, a bottom edge, a back surface and a front. Padding, having a retentive memory, fills the medial chamber adding thickness to the body. A protruding lip formed in the front surface extends elongately from the first end portion to the second end portion and protrudes outwardly from the front surface when the body is fastened to a vacuum cleaner head. Cooperating strips of hook and loop fastener carried by the back surface of the body and on the vacuum cleaner head provide for releasable attachment of the body to the vacuum cleaner head.

Abstract: A floor suction tool for electric vacuum cleaners includes a suction opening formed on a bottom face of a main body casing, a cover defining a front wall of the main body casing, and an abutting member projecting from a front face of the cover and functioning as a bumper between a front face of the main body casing and a wall. The cover is rotatably supported on a rotation axis formed horizontally in a direction of width of the front wall of the main body casing, the cover rotates upward to open the front face of the main body casing when a front-to-back force acts on the abutting member, and the cover rotates downward to close the front face of the main body casing when the front-to-back force ceases.

Abstract: Buffer structured castor wheel for a vacuum cleaner, which is modified and disposed appropriately for preventing the vacuum cleaner from bitting a wall and the like directly, including two or more than two castor wheel assemblies fitted to a front bottom of a vacuum cleaner body each capable of two axes rotation and having a portion protruded beyond an outline of the vacuum cleaner body.

Abstract: A suction port assembly of a vacuum cleaner. The suction port assembly has a pair of suction paths formed at a front and a rear portions of a bottom of a suction port body, respectively, so as to enhance the cleaning efficiency, and due to a presence of an elastic member formed at a front edge of the suction port body as shock-buffer, the reduction of the durability incurred by the collision with an external obstacle is prevented. Meanwhile, in case that a floorcloth is rotatably disposed on a lower surface of the bottom of the suction port body, since the suction port assembly further includes a floorcloth cover protruding from the bottom of the suction port body toward a cleaning surface, the safety of a user is guaranteed.

Abstract: A power nozzle for use with a vacuum cleaner. The power nozzle includes a housing having at least two compartments and a bottom surface, a rotary brush at least partially in a front compartment of the housing, a brush motor at least partially positioned in an back compartment of the housing, a suction opening located in the bottom surface of the housing, a set of front wheels, a set of rear wheels, and a wand connected to the housing. The bottom surface has a front end, a back end, and a non-planar shape. The bottom surface at least partially slopes downwardly at least between the front end of the bottom surface and the set of front wheels.

Abstract: A front edge cleaning device for an upright vacuum cleaner is disclosed. The front edge cleaning assembly comprises a flexible, resilient member frontally disposed on the head assembly of an upright vacuum cleaner. In one embodiment, the front edge cleaning device includes an elongated section having an upper section and a lower section with front and a rear faces, the rear face of the upper section being attached to the front wall of the vacuum cleaner and the lower section extending downwardly from the upper section and having the front face of the lower section beveled inwardly towards the rear face of the lower section to form an apical lower edge spaced apart from the floor with air openings positioned along the apical lower edge and projecting through the lower section.

Abstract: A floor scrubber (10) is disclosed including a drive lug (62) for removably connecting a scrubbing member (64) to a drive (60) and having a trough for receipt and catching of solution for passage to the surface. The mount (58) for the drive (60) is biased by a spring (67) to pivot relative to a linkage plate (46) in turn pivotably mounted to the chassis (12) at an acute angle to the forward movement direction. The vacuum assembly (92) is sandwiched in a socket (100) formed in the bottom wall of a recovery tank (90) by a mount (106) to deaden the sound generated thereby and to allow air communication is inside of the socket (100) but generally preventing entry of solution therein. The squeegee assembly (152) is biased by a gas spring (150) to engage the surface at a constant force independent of the pivotal position of the squeegee mount (148).

Abstract: A brush assembly for a vacuum cleaner includes a brush cover; a brush base connected to the brush cover, a rotary drum disposed between the brush cover and the brush base, and an edge brush integrated bumper. The edge brush integrated bumper is mounted around a joint surface between the brush cover and the brush base. The edge brush integrated bumper includes a pair of edge brush portions integrally formed with the bumper. Each edge brush portion corresponds to a side of the brush cover and brushes off dust that is not accessible to the rotary drum. The brush assembly further includes assembling position guide means and fixing means for securing bumper to the brush cover. Since the bumper and edge brushes are integrally formed in an injection molding process, the number of separate parts to the brush assembly is reduced. Also, since the bumper and edge brushes can be assembled simultaneously, productivity is increased as assembly time is decreased.

Abstract: A suction port assembly of a vacuum cleaner. The suction port assembly has a pair of suction paths formed at a front and a rear portions of a bottom of a suction port body, respectively, so as to enhance the cleaning efficiency, and due to a presence of an elastic member formed at a front edge of the suction port body as shock-buffering means, the reduction of the durability incurred by the collision with an external obstacle is prevented. Meanwhile, in case that a floorcloth is rotatably disposed on a lower surface of the bottom of the suction port body, since the suction port assembly further includes a floorcloth cover protruding from the bottom of the suction port body toward a cleaning surface, the safety of a user is guaranteed.

Abstract: The invention provides a two-way protecting guard for a vacuum cleaner bumper that picks up magnetic metal objects in rugs or carpets prior to such objects entering the vacuum cleaner housing and that prevents damage to furniture and other objects from contact with the vacuum cleaner. The guard of the present invention covers the front and sides of the vacuum cleaner housing, while leaving the top of the housing open or easily accessible. The guard is made of a durable outer covering and contains, disposed within the outer covering, a magnet and padding. The bumper can be secured to the vacuum cleaner by a strap that can be removably fastened to the bumper, or alternatively the bumper can be directly affixed to the vacuum cleaner housing with an adhesive.

Abstract: A brush assembly for a vacuum cleaner includes a brush cover; a brush base connected to the brush cover, a rotary drum disposed between the brush cover and the brush base, and an edge brush integrated bumper. The edge brush integrated bumper is mounted around a joint surface between the brush cover and the brush base. The edge brush integrated bumper includes a pair of edge brush portions integrally formed with the bumper. Each edge brush portion corresponds to a side of the brush cover and brushes off dust that is not accessible to the rotary drum. The brush assembly further includes assembling position guide means and fixing means for securing bumper to the brush cover. Since the bumper and edge brushes are integrally formed in an injection molding process, the number of separate parts to the brush assembly is reduced. Also, since the bumper and edge brushes can be assembled simultaneously, productivity is increased as assembly time is decreased.

Abstract: A vacuum cleaner includes a housing having a nozzle that incorporates an agitator cavity. A rotary agitator is received in the agitator cavity. A light source is held in an illumination compartment carried on the housing. A first window divides the illumination compartment from the agitator cavity and a second window provides an outer facing for the illumination compartment. The light source illuminates the agitator which is viewed through the first and second windows.

Abstract: An upright vacuum cleaner includes a handle pivotally mounted to a base module, a lower portion of the handle mounts a lamp assembly which is hidden from view by the base module when the handle is in an upright, storage position and is visible above the base module when the handle is rotated to a use position. Between the front and back of the base module, a set of wheels or other projections that support the base module are mounted. The handle likewise has at a lower portion a set of wheels that mobilize the vacuum cleaner. In one embodiment, the pivot axis of the handle with respect to the base is selected so that rotation of the handle assembly from a use position to a storage position pivots a front end of the base module about the base wheels and thereby raises an agitation brush from contact with a surface to be cleaned.

Abstract: A vacuum cleaner is provided that is adapted to detect and display and/or avoid obstacles. In such vacuum cleaners the driving wheels and/or castor wheels that determine the direction of travel may be actively controlled to achieve, at the point in time of obstacle touch or obstacle sensing, a resultant velocity away from obstacles in the path of the cleaning apparatus.

Abstract: This invention relates to a vacuum cleaner having a vacuum cleaner housing and a pivotable handle with a grip portion. The handle is pivotably secured to the vacuum cleaner housing in such a manner that the turning axis of the handle is generally horizontal and perpendicular to the direction of movement of the vacuum cleaner when the vacuum cleaner is in a working position on a horizontal surface. The handle is maintained in a generally vertical position when the vacuum cleaner is in the working position. When an operator lifts the vacuum cleaner housing from the working position using the handle, the vacuum cleaner housing pivots to a substantially vertical position, with the position of the grip portion relative to the operator's hand remaining substantially unchanged during the lifting.