Modular robot

• US 8,584,307 B2
• Filed: 12/08/2011
• Issued: 11/19/2013
• Est. Priority Date: 12/02/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Won, Chikyung, Svendsen, Selma, Sandin, Paul E., Burnett, Scott Thomas, Kapoor, Deepak Ramesh, Hickey, Stephen A., Rizzari, Robert, Dubrovsky, Zivthan A. C.
• Primary Examiner(s): REDDING, DAVID A
• Application Number:
  US13/314,414
• Publication Number:
  US 20120173064A1
• Time in Patent Office: 712 Days
• Field of Search: 153/19, 153/39, 153401-3403, 700/245, 701/23
• US Class Current: 15/319
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/40 Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4013 Contaminants collecting devices, i.e. hoppers, tanks or the like
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating 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 11/4072 Arrangement of castors or wheels
• 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 5/30 with driven dust-loosening tools, e.g. rotating brushes
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0466 Rotating tools
• CPC Class Codes: A47L 9/12 Dry filters
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: A47L 9/30 Arrangement of illuminating devices
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: G05D 1/0225 : involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: H04L 1/16 : in which the return channel carries supervisory signals, e.g. repetition request signals
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/50 : Miscellaneous

Abstract

A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

Claims

1. A coverage robot comprising:

a chassis defining one or more module-receiving receptacles;

a plurality of mating connectors, each mating connector disposed in a respective module-receiving receptacle;

a top cover carried on the chassis, the cover and the chassis defining at least a portion of an enclosed volume;

an electronic controller disposed in the enclosed volume and in electrical communication with each of the plurality of mating connectors, the enclosed volume isolating the enclosed electronic controller from the one or more module-receiving receptacles;

multiple drive wheel assemblies configured to maneuver the robot over a surface, each drive wheel assembly comprising a power connector, a drive wheel assembly housing, and a wheel rotatably coupled to the drive wheel assembly housing, the drive wheel assemblies each separately and independently slidable along a respective module-receiving receptacle to electrically connect the respective power connectors to the respective mating connectors.

2. The coverage robot of claim 1, wherein each drive wheel assembly further comprises a wheel drive motor carried by the respective drive wheel assembly housing and operable to drive the respective wheel of the drive wheel assembly.

3. The coverage robot of claim 1, wherein each module-receiving receptacle defines a downward facing opening disposed toward the bottom of the robot.

4. The coverage robot of claim 3, wherein each drive wheel assembly is slidable along a respective module-receiving receptacle, in a direction substantially perpendicular to the opening disposed toward the bottom of the robot.

5. The coverage robot of claim 3, further comprising a removable cover secured to a bottom of the chassis, the cover securing each wheel assembly within a respective module-receiving receptacle.

6. The coverage robot of claim 5, wherein the removable cover defines a plurality of openings smaller than the respective downward facing openings of the module-receiving receptacles.

7. The coverage robot of claim 1, wherein each drive wheel assembly further comprises a sensor, the drive wheel assemblies each separately and independently slidable along the respective module-receiving receptacle to establish electrical communication between the sensor and the controller.

8. The coverage robot of claim 7, wherein the sensor is a wheel-surface proximity sensor configured to detect the proximity of the chassis to the surface over which the robot is maneuverable.

9. The coverage robot of claim 8, wherein the wheel-floor proximity sensor comprises an infrared emitter and detector pair, the infrared emitter arranged to emit an infrared signal toward the surface and the infrared detector arranged to detect the reflection of the emitted infrared signal off of the surface.

10. The coverage robot of claim 1, wherein the controller is configured to monitor current delivered to each electrically connected drive wheel assembly and configured illuminate a display upon detecting an overcurrent condition.

11. The coverage robot of claim 1, wherein each of the module-receiving receptacles comprises a plurality of parallel guide walls along which a respective one of the drive wheel assemblies is slidable to electrically connect a respective power connector to a respective mating connector.

12. The coverage robot of claim 11, wherein each module-receiving receptacle further comprises an end wall substantially parallel to the plurality of guide walls, the respective mating connector disposed along the end wall.

13. The coverage robot of claim 1, wherein each module receiving receptacle is disposed toward a periphery of the robot and the plurality of module receiving receptacles are axially aligned with one another.

14. The coverage robot of claim 1, further comprising a display panel in electrical communication with the controller, the display panel comprising indicia illuminable to indicate that one of the multiple drive wheel assemblies in one of the respective module-receiving receptacles is to be removed and replaced.

15. The coverage robot of claim 1, wherein the power connector of each drive wheel assembly is disposed on an outer portion of each respective drive wheel assembly housing.

16. The coverage robot of claim 1, further comprising fasteners movable in the direction of insertion of a respective drive wheel assembly to secure the drive wheel assembly in a respective module-receiving receptacle.