COMPACT AUTONOMOUS COVERAGE ROBOT
First Claim
1. An autonomous coverage robot comprising:
- a chassis having a substantially rectangular forward portion having a front edge and a substantially arcuate rearward portion defined by a radius forming a profile circle;
a rectangular bumper along the front edge of the chassis and along lateral sides of the chassis, the bumper movable in response to a bump in a direction of travel and in a direction perpendicular to the direction of travel;
a proximity sensor in the bumper, along a lateral side of the chassis;
bump sensors connected to the bumper, each bump sensor configured to detect movement of the bumper in a direction of travel and perpendicular to the direction of travel;
a drive system along the rearward portion of the chassis, the drive system comprising right and left differentially driven drive wheels along a drive axis substantially along or rearward of a parallel diameter of the profile circle;
an idler wheel within the profile circle, along a transverse axis parallel to the drive axis; and
a cleaning assembly along the forward portion of the chassis, the cleaning assembly comprising a roller brush adjacent the front edge of the chassis, the bumper disposed about three sides of the cleaning assembly, the cleaning assembly cantilevered above the cleaning surface forward of the idler wheel to clean corners ahead of the robot, and the proximity sensor and the bump sensors each arranged to detect a wall parallel to one of the lateral sides of the chassis when the robot turns about the drive axis.
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Accused Products
Abstract
An autonomous coverage robot includes a chassis having forward and rearward portions and a drive system carried by the chassis. The forward portion of the chassis defines a substantially rectangular shape. The robot includes a cleaning assembly mounted on the forward portion of the chassis and a bin disposed adjacent the cleaning assembly and configured to receive debris agitated by the cleaning assembly. A bin cover is pivotally attached to a lower portion of the chassis and configured to rotate between a first, closed position providing closure of an opening defined by the bin and a second, open position providing access to the bin opening. The robot includes a body attached to the chassis and a handle disposed on an upper portion of the body. A bin cover release is actuatable from substantially near the handle.
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Citations
19 Claims
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1. An autonomous coverage robot comprising:
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a chassis having a substantially rectangular forward portion having a front edge and a substantially arcuate rearward portion defined by a radius forming a profile circle; a rectangular bumper along the front edge of the chassis and along lateral sides of the chassis, the bumper movable in response to a bump in a direction of travel and in a direction perpendicular to the direction of travel; a proximity sensor in the bumper, along a lateral side of the chassis; bump sensors connected to the bumper, each bump sensor configured to detect movement of the bumper in a direction of travel and perpendicular to the direction of travel; a drive system along the rearward portion of the chassis, the drive system comprising right and left differentially driven drive wheels along a drive axis substantially along or rearward of a parallel diameter of the profile circle; an idler wheel within the profile circle, along a transverse axis parallel to the drive axis; and a cleaning assembly along the forward portion of the chassis, the cleaning assembly comprising a roller brush adjacent the front edge of the chassis, the bumper disposed about three sides of the cleaning assembly, the cleaning assembly cantilevered above the cleaning surface forward of the idler wheel to clean corners ahead of the robot, and the proximity sensor and the bump sensors each arranged to detect a wall parallel to one of the lateral sides of the chassis when the robot turns about the drive axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An autonomous coverage robot comprising:
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a chassis having a substantially rectangular forward portion having a front edge and a substantially arcuate rearward portion defined by a radius forming a profile circle; a rectangular bumper along the front edge of the chassis and along lateral sides of the chassis, the bumper movable in response to a bump; a proximity sensor in the bumper; bump sensors connected to the bumper, each bump sensor configured to detect movement of the bumper in a direction of travel and perpendicular to the direction of travel; a drive system comprising right and left differentially driven drive wheels along a drive axis extending through the rearward portion of the chassis; an idler wheel along a transverse axis parallel to the drive axis; and a cleaning assembly along the forward portion of the chassis, the cleaning assembly comprising a roller brush rearward of the bumper, the cleaning assembly cantilevered above the cleaning surface forward of the idler wheel to clean corners ahead of the robot, and the proximity sensor and the bump sensors each arranged to detect a wall parallel to one of the lateral sides of the chassis. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification