Autonomous floor-cleaning robot

• US 20040049877A1
• Filed: 12/16/2002
• Published: 03/18/2004
• Est. Priority Date: 01/03/2002
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Sandin, Paul E., Nugent, David M., Jones, Joseph L., Mack, Newton E.
• Granted Patent: US 6,883,201 B2
• Time in Patent Office: Days
• US Class Current: 15/319
• CPC Class Codes: A47L 11/282 having rotary tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 5/30 with driven dust-loosening tools, e.g. rotating brushes
• CPC Class Codes: A47L 5/34 with height adjustment of nozzles or dust-loosening tools
• CPC Class Codes: A47L 7/02 with driven tools for special purposes with floor-polishing tools A47L11/20
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0411 driven by electric motor
• CPC Class Codes: A47L 9/0477 Rolls
• CPC Class Codes: A47L 9/0494 Height adjustment of dust-loosening tools
• CPC Class Codes: A47L 9/1409 Rigid filtering receptacles dust collecting receptacles for cyclones A47L9/1683
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: A47L 9/32 Handles

Abstract

An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem.

Claims

1. An autonomous floor-cleaning robot, comprising:

a housing infrastructure including a chassis;

a power subsystem for providing the energy to power said autonomous floor-cleaning robot;

a motive subsystem operative to propel said autonomous floor-cleaning robot for cleaning operations;

a control module operative to control the said autonomous floor-cleaning robot to effect said cleaning operations; and

a self-adjusting cleaning head subsystem including

a deck mounted in pivotal combination with said chassis,

a brush assembly mounted in combination with said deck and powered by said motive subsystem to sweep up particulates during cleaning operations,

a deck adjusting subassembly mounted in combination with said motive subsystem for said brush assembly, said deck, and said chassis that is automatically operative in response to a change in torque in said brush assembly to pivot said deck with respect to said chassis, and

means coupled to said brush assembly for collecting particulates swept up by said brush assembly.

2. The autonomous floor-cleaning robot of claim 1 wherein said brush assembly is a dual-stage brush assembly comprising first and second counter-rotating brushes.

3. The autonomous floor-cleaning robot of claim 2 wherein said first and second brushes are asymmetric, said second brush having an outer diameter greater than the outer diameter of said first brush.

4. The autonomous floor-cleaning robot of claim 2 wherein said first brush is a flapper brush configured for mounting in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, said flapper brush including a plurality of spaced-apart cleaning strips.

5. The autonomous floor-cleaning robot of claim 4 wherein said plurality of spaced-apart cleaning strips are arranged in a chevron pattern.

6. The autonomous floor-cleaning robot of claim 4 wherein each of said plurality of spaced-apart cleaning strips are segmented.

7. The autonomous floor-cleaning robot of claim 6 wherein said plurality of segmented cleaning strips comprises six segmented cleaning strips.

8. The autonomous floor-cleaning robot of claim 7 wherein said segmented cleaning strips comprise five segments.

9. The autonomous floor-cleaning robot of claim 6 further comprising a bail having a castellated configuration with portions thereof press fit inserted in said deck in such a manner so that said bail forms a shield over said dual-stage brush assembly;

and wherein said castellated configuration of said bail defines the segmentation of said plurality of spaced-apart cleaning strips.

10. The autonomous floor-cleaning robot of claim 2 wherein said second brush is a main brush that comprises:

a central member;

a protective member mounted in combination with said central member and having end caps configured for mounting said main brush in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, respectively.

11. The autonomous floor-cleaning robot of claim 10 where said protective member includes integral ribs configured and operative to impede the ingestion of matter by said main brush.

12. The autonomous floor-cleaning robot of claim 11 further comprising a plurality of bristles set in combination with said central member to extend beyond said integral ribs and the outer diameter defined by said end caps.

13. The autonomous floor-cleaning robot of claim 11 where each bristle has a diameter of approximately 0.01 inches, a length of approximately 0.9 inches, and a free end having a rounded configuration.

14. The autonomous floor-cleaning robot of claim 1 wherein said brush assembly is a dual-stage brush assembly comprising a flapper brush and a main brush,

said flapper brush configured for mounting in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, respectively, and including a plurality of spaced-apart segmented cleaning strips arranged in a chevron pattern, and

said main brush including a central member, a protective member mounted in combination with said central member and having end caps configured for mounting said main brush in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, respectively, and a plurality of bristles set in combination with said central member to extend beyond the outer diameter defined by said end caps.

15. The autonomous floor-cleaning robot of claim 14 wherein said protective member includes integral ribs configured and operative to impede the ingestion of matter by said main brush.

16. The autonomous floor-cleaning robot of claim 15 wherein said flapper brush and said main brush are asymmetric, said main brush having an outer diameter greater than the outer diameter of said flapper brush;

and further wherein said flapper brush and said main brush are counter-rotating with respect to one another.

24. The autonomous floor-cleaning robot of claim 1 wherein said deck adjusting subassembly comprises:

a motor cage mounted in rotatable combination with said deck, said motive subsystem for said brush assembly being non-rotatably secured within said motor cage;

a pulley fixedly secured to said motor cage;

an anchor member fixedly secured to said chassis in alignment with said pulley; and

a pulley cord secured to said anchor member and said pulley in tension therebetween with said deck in the non-pivoted position with respect to said chassis;

wherein, in response to a a change in torque in said brush assembly, said motor cage is automatically rotated in such a manner that the pulley climbs up said pulley cord, causing said deck to pivot with respect to said chassis.

25. The autonomous floor-cleaning robot of claim 24 wherein said deck adjusting subassembly further comprises complementary cage stops affixed to said motor cage and said deck in such a manner that the complementary cage stops are in abutting engagement with said deck in the non-pivoted position with respect to said chassis.

26. The autonomous floor-cleaning robot as in claims 1 or 17 further comprising a side brush assembly mounted in combination with said chassis and powered by said motive subsystem to entrain particulates outside the periphery of said housing infrastructure and to direct such particulates towards said self-adjusting cleaning head subsystem.

27. The autonomous floor-cleaning robot of claim 26 wherein said side brush assembly comprises:

a shaft having one end thereof rotatably connected to said motive subsystem for torque transfer thereto;

a hub connected to the other end of said shaft;

brush means connected to said hub that is operative to entrain particulates outside the periphery of said housing infrastructure and to direct such particulates towards said self-adjusting cleaning head subsystem.

28. The autonomous floor-cleaning robot of claim 27 wherein said brush means comprises:

opposed brush arms extending outwardly from said hub; and

a set of bristles set in the free end of each said brush arm.

29. The autonomous floor-cleaning robot of claim 28 wherein each said brush arm has an L-shaped configuration, with the longer leg of said L-shaped configuration having a constant width and said set of bristles set in the free end thereof.

30. The autonomous floor-cleaning robot of claim 1 wherein said particulate collecting means comprises a removable dust cartridge configured for integration in combination with said deck so as to be coupled to said brush assembly and said vacuum assembly.

31. The autonomous floor-cleaning robot of claim 1 wherein said removable dust cartridge comprises:

a floor member;

a ceiling member;

sidewall members joining together said floor member and said ceiling member so that said floor and ceiling members extend beyond said sidewalls to define an open end; and

a curved arcuate member disposed in combination with said floor, ceiling, and sidewall members, said curved arcuate member defining the rear external sidewall structure of said autonomous floor-cleaning robot.

32. The autonomous floor-cleaning robot of claim 31 wherein the free end of said floor member is angled and includes a plurality of projections with interact with said brush assembly to remove entrained debris therefrom.

33. The autonomous floor-cleaning robot of claim 31 further comprising an backwall member mounted between said floor and ceiling members in abutting engagement with said sidewall members wherein:

said floor member, said ceiling member, said sidewalls, and said backwall member in combination defining a first storage chamber that is positioned to receive particulates from said brush assembly; and

said floor member, said sidewall members, said curved arcuate member, and said backwall member in combination defining a second storage chamber that is coupled to said vacuum assembly for receiving particulates therefrom.

34. The autonomous floor-cleaning robot of claim 33 wherein said backwall member has an baffled configuration.

35. The autonomous floor-cleaning robot of claim 31 further comprising a replaceable filter that is snap fitted in combination with said floor member.

36. The autonomous floor-cleaning robot of claim 31 further comprising a latch member mounted to said ceiling member and configured to latch with said deck to integrate said removable dust cartridge in combination with said deck.

37. The autonomous floor-cleaning robot of claim 1 wherein said motive subsystem comprises:

first and second wheel subassemblies independently mounted in combination with said chassis at opposed ends of the transverse diameter of said chassis, each said wheel subassembly being configured for pivotal motion with respect to said chassis; and

each said wheel subassembly including a wheel and a motor coupled to said motor for transferring torque to said wheel for rotation thereof;

wherein said wheels of said first and second wheel subassemblies are operable at the same speed to propel said autonomous floor-cleaning robot in a straight line forward or aft, at different speeds to effect turning patterns for said autonomous floor-cleaning robot, and at the same speed in opposite directions to cause said autonomous floor-cleaning robot to turn in place.

38. The autonomous floor-cleaning robot of claim 1 further comprising a bumper mounted in displaceable combination with said chassis at the forward end thereof centered about the foreaft axis of said chassis.

39. The autonomous floor-cleaning robot of claim 1 further comprising a cover complementary in configuration with said chassis and configured to be attached in combination therewith wherein said autonomous floor-cleaning robot has a generally cylindrical configuration that is generally symmetrical along the fore-aft axis.

40. The autonomous floor-cleaning robot of claim 1 further comprising a sensor subsystem disposed in combination with said autonomous floor-cleaning robot and operative to:

(a) provide signals to said command and control module to regulate the normal cleaning operations of said autonomous floor-cleaning robot; and

(b) detect situations that could adversely affect the normal cleaning operations of said autonomous floor-cleaning robot and provide signals in response to said detections so that said autonomous floor-cleaning robot can implement an appropriate response via said command and control unit.

17. An autonomous floor-cleaning robot comprising:

a housing infrastructure including a chassis;

a power subsystem for providing the energy to power said autonomous floor-cleaning robot;

a motive subsystem operative to propel said autonomous floor-cleaning robot for cleaning operations;

a control module operative to control said autonomous floor-cleaning robot to effect cleaning operations;

a self-adjusting cleaning head subsystem including

a deck mounted in pivotal combination with said chassis,

a brush assembly mounted in combination with said deck and powered by said motive subsystem to sweep up particulates during cleaning operations,

a vacuum assembly disposed in combination with said deck adjacent to said brush assembly and powered by said motive subsystem independently of said brush assembly to ingest particulates during cleaning operations,

a deck adjusting subassembly mounted in combination with said motive subsystem for said brush assembly, said deck, and said chassis that is automatically operative in response to a change in torque in said brush assembly to pivot said deck with respect to said chassis, and

means coupled to said brush assembly and said vacuum assembly for collecting particulates swept up by said brush assembly and ingested by said vacuum assembly.

18. The autonomous floor-cleaning robot of claim 17 wherein said vacuum assembly includes:

a vacuum inlet having a predetermined width and gap, said vacuum inlet being separate from and independent of the brush sweep area defined by said brush assembly;

a vacuum compartment formed in said deck to include a compartment floor, a contiguous compartment wall, and an aperture formed through said compartment floor;

a removable compartment cover configured to be press fitted in sealed combination with said vacuum compartment and said vacuum inlet, said compartment cover and said vacuum compartment in press fitted combination defining a vacuum chamber;

an impeller mounted in combination with said deck so that the inlet of said impeller is positioned within said aperture, said impeller being operatively connected to said motive subsystem to receive torque therefrom; and

a vacuum channel integrated in sealed combination with said impeller for removal of collected particulates from said vacuum chamber.

19. The autonomous floor-cleaning robot of claim 18 wherein said vacuum inlet comprises:

a first blade having a generally rectangular configuration and a lateral dimension that defines said predetermined width of said vacuum inlet, one lateral edge of said first blade being attached to the lower surface of said deck and extending into and sealed in combination with said contiguous compartment wall so that said first blade is angled forwardly with respect to said deck; and

a second blade having a generally rectangular configuration that is complementary to the configuration of said first blade, one lateral edge of said second blade being disposed in sealed combination with said removable compartment cover;

wherein said first and second blades in combination define said vacuum inlet having said predetermined width and gap.

20. The autonomous floor-cleaning robot of claim 19 wherein the free lateral edge of said first blade has a castellated configuration to mitigate the pushing of particulates by said vacuum inlet during cleaning operations, said castellated configuration defining a plurality of castellated segments along said free lateral edge.

21. The autonomous floor-cleaning robot of claim 20 further comprising a plurality of protrusions having a predetermined height, said plurality of protrusions being aligned with and extending from said castellated segments;

and wherein in combination the planar surface of said second blade abuts against said protrusions of said first blade to form said predetermined gap of said vacuum inlet.

22. The autonomous floor-cleaning robot of claim 18 wherein said vacuum inlet comprises:

a first blade having a generally rectangular configuration and a lateral dimension that defines said predetermined width of said vacuum inlet, and wherein one lateral edge of said first blade being attached to the lower surface of said deck and extending into and sealed in combination with said contiguous compartment wall so that said first blade is angled forwardly with respect to said deck and the free lateral edge of said first blade has a castellated configuration to mitigate the pushing of particulates by said vacuum inlet during cleaning operations, said castellated configuration defining a plurality of castellated segments along said free lateral edge;

a second blade having a generally rectangular configuration that is complementary to the configuration of said first blade, one lateral edge of said second blade being disposed in sealed combination with said removable compartment cover; and

a plurality of protrusions having a predetermined height, said plurality of protrusions being aligned with and extending from said castellated segments; and

wherein in combination the planar surface of said second blade abuts against said protrusions of said first blade to form said predetermined gap of said vacuum inlet.

23. The autonomous floor-cleaning robot of claim 18 wherein said aperture is formed through said compartment floor so as to be offset from the geometric center thereof;

and wherein said compartment floor further includes guide ribs projecting upwardly therefrom to distribute the airflow through said predetermined gap so that a substantially constant negative pressure is maintained over said predetermined gap.

41. An autonomous floor-cleaning robot, comprising:

a housing infrastructure including a chassis wherein part of said chassis is configured as a deck;

a power subsystem for providing the energy to power said autonomous floor-cleaning robot;

a motive subsystem operative to propel said autonomous floor-cleaning robot for cleaning operations;

a control module operative to control the said autonomous floor-cleaning robot to effect said cleaning operations; and

a cleaning head subsystem including

a dual-stage brush assembly comprising first and second asymmetric brushes mounted in combination with said deck and powered by said motive subsystem to sweep up particulates during cleaning operations, said second brush having an outer diameter greater than said first brush,

and

means coupled to said brush assembly for collecting particulates swept up by said brush assembly.

42. The autonomous floor-cleaning robot of claim 41 wherein said first and second asymmetric brushes counter rotate with respect to on another.

43. The autonomous floor-cleaning robot of claim 41 wherein said first brush is a flapper brush configured for mounting in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, said flapper brush including a plurality of spaced-apart cleaning strips.

44. The autonomous floor-cleaning robot of claim 46 wherein said plurality of spaced-apart cleaning strips are arranged in a chevron pattern.

45. The autonomous floor-cleaning robot of claim 43 wherein said plurality of spaced-apart cleaning strips are segmented.

46. The autonomous floor-cleaning robot of claim 45 wherein said plurality of segmented cleaning strips comprises six segmented cleaning strips.

47. The autonomous floor-cleaning robot of claim 46 wherein said segmented cleaning strips comprise five segments.

48. The autonomous floor-cleaning robot of claim 45 further comprising a bail having a castellated configuration with portions thereof press fit inserted in said deck in such a manner so that said bail forms a shield over said dual-stage brush assembly;

and wherein said castellated configuration of said bail defines the segmentation of said plurality of spaced-apart cleaning strips.

49. The autonomous floor-cleaning robot of claim 41 wherein said second brush is a main brush that comprises:

a central member;

a protective member mounted in combination with said central member and having end caps configured for mounting said main brush in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, respectively.

50. The autonomous floor-cleaning robot of claim 49 where said protective member includes integral ribs configured and operative to impede the ingestion of matter by said main brush.

51. The autonomous floor-cleaning robot of claim 50 further comprising a plurality of bristles set in combination with said central member to extend beyond said integral ribs and the outer diameter defined by said end caps.

52. The autonomous floor-cleaning robot of claim 51 where each bristle has a diameter of approximately 0.01 inches, a length of approximately 0.9 inches, and a free end having a rounded configuration.

53. The autonomous floor-cleaning robot of claim 41 wherein said dual-stage brush assembly comprises a flapper brush and a main brush,

said flapper brush configured for mounting in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, respectively, and including a plurality of spaced-apart segmented cleaning strips arranged in a chevron pattern, and

said main brush including a central member, a protective member mounted in combination with said central member and having end caps configured for mounting said main brush in rotatable combination with said deck and said motive subsystem for said dual-stage brush assembly, respectively, and a plurality of bristles set in combination with said central member to extend beyond the outer diameter defined by said end caps.

54. The autonomous floor-cleaning robot of claim 53 wherein said protective member includes integral ribs configured and operative to impede the ingestion of matter by said main brush.

55. The autonomous floor-cleaning robot of claim 54 wherein said flapper brush and said main brush are asymmetric, said main brush having an outer diameter greater than the outer diameter of said flapper brush;

and further wherein said flapper brush and said main brush are counter-rotating with respect to one another.

63. The autonomous floor-cleaning robot as in claim 41 or 56 further comprising a side brush assembly mounted in combination with said chassis and powered by said motive subsystem to entrain particulates outside the periphery of said housing infrastructure and to direct such particulates towards said self-adjusting cleaning head subsystem.

64. The autonomous floor-cleaning robot of claim 63 wherein said side brush assembly comprises:

a shaft having one end thereof rotatably connected to said motive subsystem for torque transfer thereto;

a hub connected to the other end of said shaft;

brush means connected to said hub that is operative to entrain particulates outside the periphery of said housing infrastructure and to direct such particulates towards said self-adjusting cleaning head subsystem.

65. The autonomous floor-cleaning robot of claim 64 wherein said brush means comprises:

opposed brush arms extending outwardly from said hub; and

a set of bristles set in the free end of each said brush arm.

66. The autonomous floor-cleaning robot of claim 65 wherein each said brush arm has an L-shaped configuration, with the longer leg of said L-shaped configuration having a constant width and said set of bristles set in the free end thereof.

67. The autonomous floor-cleaning robot of claim 41 wherein said particulate collecting means comprises a removable dust cartridge configured for integration in combination with said deck so as to be coupled to said brush assembly and said vacuum assembly.

68. The autonomous floor-cleaning robot of claim 67 wherein said removable dust cartridge comprises:

a floor member;

a ceiling member;

sidewall members joining together said floor member and said ceiling member so that said floor and ceiling members extend beyond said sidewalls to define an open end; and

a curved arcuate member disposed in combination with said floor, ceiling, and sidewall members, said curved arcuate member defining the rear external sidewall structure of said autonomous floor-cleaning robot.

69. The autonomous floor-cleaning robot of claim 68 wherein the free end of said floor member is angled and includes a plurality of projections with interact with said brush assembly to remove entrained debris therefrom.

70. The autonomous floor-cleaning robot of claim 69 further comprising an backwall member mounted between said floor and ceiling members in abutting engagement with said sidewall members wherein:

said floor member, said ceiling member, said sidewalls, and said backwall member in combination defining a first storage chamber that is positioned to receive particulates from said brush assembly; and

said floor member, said sidewall members, said curved arcuate member, and said backwall member in combination defining a second storage chamber that is coupled to said vacuum assembly for receiving particulates therefrom.

71. The autonomous floor-cleaning robot of claim 70 wherein said backwall member has an baffled configuration.

72. The autonomous floor-cleaning robot of claim 68 further comprising a replaceable filter that is snap fitted in combination with said floor member.

73. The autonomous floor-cleaning robot of claim 68 further comprising a latch member mounted to said ceiling member and configured to latch with said deck to integrate said removable dust cartridge in combination with said deck.

74. The autonomous floor-cleaning robot of claim 41 wherein said motive subsystem comprises:

first and second wheel subassemblies independently mounted in combination with said chassis at opposed ends of the transverse diameter of said chassis, each said wheel subassembly being configured for pivotal motion with respect to said chassis; and

each said wheel subassembly including a wheel and a motor coupled to said motor for transferring torque to said wheel for rotation thereof;

wherein said wheels of said first and second wheel subassemblies are operable at the same speed to propel said autonomous floor-cleaning robot in a straight line forward or aft, at different speeds to effect turning patterns for said autonomous floor-cleaning robot, and at the same speed in opposite directions to cause said autonomous floor-cleaning robot to turn in place.

75. The autonomous floor-cleaning robot of claim 41 further comprising a bumper mounted in displaceable combination with said chassis at the forward end thereof centered about the foreaft axis of said chassis.

76. The autonomous floor-cleaning robot of claim 41 further comprising a cover complementary in configuration with said chassis and configured to be attached in combination therewith wherein said autonomous floor-cleaning robot has a generally cylindrical configuration that is generally symmetrical along the fore-aft axis.

77. The autonomous floor-cleaning robot of claim 41 further comprising a sensor subsystem disposed in combination with said autonomous floor-cleaning robot and operative to:

(a) provide signals to said command and control module to regulate the normal cleaning operations of said autonomous floor-cleaning robot; and

(b) detect situations that could adversely affect the normal cleaning operations of said autonomous floor-cleaning robot and provide signals in response to said detections so that said autonomous floor-cleaning robot can implement an appropriate response via said command and control unit.

56. An autonomous floor-cleaning robot comprising:

a housing infrastructure including a chassis wherein part of said chassis is configured as a deck;

a power subsystem for providing the energy to power said autonomous floor-cleaning robot;

a motive subsystem operative to propel said autonomous floor-cleaning robot for cleaning operations;

a control module operative to control the said autonomous floor-cleaning robot to effect cleaning operations; and

a cleaning head subsystem including

a dual-stage brush assembly comprising first and second asymmetric brushes mounted in combination with said deck and powered by said motive subsystem to sweep up particulates during cleaning operations, said second brush having an outer diameter greater than said first brush,

a vacuum assembly disposed in combination with said deck aft of and immediately adjacent to said dual-stage brush assembly and powered by said motive subsystem to ingest particulates during cleaning operations,

and

means coupled to said brush assembly and said vacuum assembly for collecting particulates swept up by said brush assembly and ingested by said vacuum assembly.

57. The autonomous floor-cleaning robot of claim 56 where said vacuum assembly includes:

a vacuum inlet having a predetermined width and gap, said vacuum inlet being separate from and independent of the brush sweep area defined by said dual-stage brush assembly;

a vacuum compartment formed in said deck to include a compartment floor, a contiguous compartment wall, and an aperture formed through said compartment floor;

a removable compartment cover configured to be press fitted in sealed combination with said vacuum compartment and said vacuum inlet, said compartment cover and said vacuum compartment in press fitted combination defining a vacuum chamber;

an impeller mounted in combination with said deck so that the inlet of said impeller is positioned within said aperture, said impeller being operatively connected to said motive subsystem to receive torque therefrom; and

a vacuum channel integrated in sealed combination with said impeller for removal of collected particulates from said vacuum chamber.

58. The autonomous floor-cleaning robot of claim 57 wherein said vacuum inlet comprises:

a first blade having a generally rectangular configuration and a lateral dimension that defines said predetermined width of said vacuum inlet, one lateral edge of said first blade being attached to the lower surface of said deck and extending into and sealed in combination with said contiguous compartment wall so that said first blade is angled forwardly with respect to said deck; and

a second blade having a generally rectangular configuration that is complementary to the configuration of said first blade, one lateral edge of said second blade being disposed in sealed combination with said removable compartment cover;

wherein said first and second blades in combination define said vacuum inlet having said predetermined width and gap.

59. The autonomous floor-cleaning robot of claim 58 wherein the free lateral edge of said first blade has a castellated configuration to mitigate the pushing of particulates by said vacuum inlet during cleaning operations, said castellated configuration defining a plurality of castellated segments along said free lateral edge.

60. The autonomous floor-cleaning robot of claim 59 further comprising a plurality of protrusions having a predetermined height, said plurality of protrusions being aligned with and extending from said castellated segments;

and wherein in combination the planar surface of said second blade abuts against said protrusions of said first blade to form said predetermined gap of said vacuum inlet.

61. The autonomous floor-cleaning robot of claim 57 wherein said vacuum inlet comprises:

a first blade having a generally rectangular configuration and a lateral dimension that defines said predetermined width of said vacuum inlet, and wherein one lateral edge of said first blade being attached to the lower surface of said deck and extending into and sealed in combination with said contiguous compartment wall so that said first blade is angled forwardly with respect to said deck and the free lateral edge of said first blade has a castellated configuration to mitigate the pushing of particulates by said vacuum inlet during cleaning operations, said castellated configuration defining a plurality of castellated segments along said free lateral edge;

a second blade having a generally rectangular configuration that is complementary to the configuration of said first blade, one lateral edge of said second blade being disposed in sealed combination with said removable compartment cover; and

a plurality of protrusions having a predetermined height, said plurality of protrusions being aligned with and extending from said castellated segments; and

wherein in combination the planar surface of said second blade abuts against said protrusions of said first blade to form said predetermined gap of said vacuum inlet.

62. The autonomous floor-cleaning robot of claim 57 wherein said aperture is formed through said compartment floor so as to be offset from the geometric center thereof;

and wherein said compartment floor further includes guide ribs projecting upwardly therefrom to distribute the airflow through said predetermined gap so that a substantially constant negative pressure is maintained over said predetermined gap.