Autonomous coverage robots

• US 9,320,398 B2
• Filed: 08/13/2009
• Issued: 04/26/2016
• Est. Priority Date: 12/02/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Hussey, Patrick Alan, Roy, Robert Paul, Neumann, Rogelio Manfred, Svendsen, Selma, Ozick, Daniel N., Casey, Christopher M., Kapoor, Deepak Ramesh, Campbell, Tony L., Won, Chikyung, Morse, Christopher John, Burnett, Scott Thomas
• Primary Examiner(s): REDDING, DAVID A
• Application Number:
  US12/540,884
• Publication Number:
  US 20100037418A1
• Time in Patent Office: 2,448 Days
• Field of Search: 153/19, 153/39, 153/401, 153/403, 153/47, 153/52, 153/53
• US Class Current: 1/1
• 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 11/4027 Filtering or separating contaminants or debris
• 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 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• 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 9/0477 Rolls
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning 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: 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: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/50 : Miscellaneous

Abstract

An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

Claims

1. An autonomous coverage robot comprising:

a body;

a drive system disposed on the body and configured to maneuver the robot; and

a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface, the cleaning assembly comprising;

a driven cleaning roller defining a rotational center about which the cleaning roller is configured to rotate;

a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, the cleaning bin comprising;

a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller, the cleaning bin body having a holding portion in pneumatic communication with the cleaning bin entrance for receiving debris; and

a roller scraper disposed on the cleaning bin body for engaging the cleaning roller, the roller scraper being positioned such that, during operation of the robot, the roller scraper engages a downwardly rotating portion of the cleaning roller; and

an air mover operable to move air into the cleaning bin entrance;

wherein the roller scraper is disposed at a lower edge of the cleaning bin entrance during the operation of the robot and arranged to engage the cleaning roller above its rotational center, the lower edge being substantially linear, substantially parallel to the cleaning roller, and of a length sufficient to substantially span the cleaning roller.

2. The robot of claim 1, wherein the roller scraper is disposed an interference distance D of between about 0.25 mm and about 3 mm into an outer diameter of the cleaning roller.

3. The robot of claim 2, wherein the roller scraper is disposed an interference distance D of about 0.75 mm into the outer diameter of the cleaning roller.

4. The robot of claim 1, wherein the air mover is disposed inside the cleaning bin body substantially near an upper rear portion of the cleaning bin body.

5. The robot of claim 4, wherein the air mover defines a longitudinal axis disposed at an angle of between about 15°

and about 75°

with respect to a longitudinal axis defined by the cleaning bin body.

6. The robot of claim 1, further comprising an air mover guard disposed between the air mover and the holding portion of the cleaning bin, the air mover guard comprising a filter for filtering debris from air passing therethrough.

7. The robot of claim 6, wherein the air mover guard is removably attached to the cleaning bin body and defines an asymmetric shape, wherein the air mover guard is received by the cleaning bin body in a single orientation.

8. The robot of claim 1, wherein the air mover comprises at least one cleaning roller.

9. The robot of claim 1, wherein the cleaning assembly comprises:

a cleaning assembly housing; and

first and second driven cleaning rollers rotatably coupled to the cleaning assembly housing, the first cleaning roller comprising bristles and the second cleaning roller comprising flexible flaps;

wherein the roller scraper is disposed to engage the first cleaning roller.

10. The robot of claim 1, wherein the cleaning assembly further comprises an air guide configured to direct an air flow of the air mover over the cleaning roller and into the cleaning bin entrance.

11. The robot of claim 10, wherein the air guide is arranged to direct the flow of air along a path substantially tangent to the cleaning roller and coincident with a point slightly above the rotational center of the cleaning roller.

12. The robot of claim 1, wherein the cleaning bin comprises an access door comprising the roller scraper, the access door being disposed at the cleaning bin entrance and being hingedly attached to the cleaning bin body.

13. The robot of claim 1, wherein the air mover is configured to draw air from below the robot, past the cleaning roller, and through the cleaning bin entrance and the holding portion.

14. A cleaning bin for a coverage robot, the cleaning bin comprising:

a cleaning bin body having a cleaning bin entrance, the cleaning bin body having a holding portion in pneumatic communication with the cleaning bin entrance for receiving debris;

an air mover disposed on the cleaning bin body and configured to draw air into the cleaning bin entrance; and

a roller scraper disposed on the cleaning bin body for engaging a cleaning roller of the robot above a rotational center of the cleaning roller, the roller scraper being positioned such that, during operation of the robot, the roller scraper engages a downwardly rotating portion of the cleaning roller;

wherein the roller scraper is positioned so as to be disposed at a lower edge of the cleaning bin entrance during the operation of the robot, the lower edge being substantially linear, substantially parallel to the cleaning roller, and of a length sufficient to substantially span the cleaning roller.

15. The cleaning bin of claim 14, wherein the air mover is disposed inside the cleaning bin body substantially near an upper rear portion of the cleaning bin body.

16. The cleaning bin of claim 15, wherein the air mover defines a longitudinal axis disposed at an angle of between about 15°

and about 75°

with respect to a longitudinal axis defined by the cleaning bin body.

17. The cleaning bin of claim 14, further comprising an air mover guard disposed between the air mover and the holding portion of the cleaning bin, the air mover guard comprising a filter for filtering debris from air passing therethrough.

18. The cleaning bin of claim 17, wherein the air mover guard is removably attached to the cleaning bin body and defines an asymmetric shape, wherein the air mover guard is received by the cleaning bin body in a single orientation.

19. The cleaning bin of claim 14, further comprising an access door comprising the roller scraper, the access door being disposed at the cleaning bin entrance and being hingedly attached to the cleaning bin body.

20. The cleaning bin of claim 14, wherein the air mover is configured to draw air from below the robot, past the cleaning roller, and through the cleaning bin entrance and the holding portion.

21. A cleaning bin for a coverage robot, the cleaning bin comprising:

a cleaning bin body having a cleaning bin entrance, the cleaning bin body having a holding portion in pneumatic communication with the cleaning bin entrance for receiving debris;

an air conduit in pneumatic communication with the holding portion, the air conduit establishing pneumatic communication with an air mover of the robot while received by the robot, the air mover being configured to draw air into the cleaning bin entrance; and

an access door disposed at the cleaning bin entrance and hingedly attached to the cleaning bin body, the access door comprising a roller scraper for engaging a cleaning roller of the robot above a rotational center of the cleaning roller, the roller scraper being positioned such that, during operation of the robot, the roller scraper engages a downwardly rotating portion of the cleaning roller;

wherein the roller scraper is positioned so as to be disposed at a lower edge of the cleaning bin entrance during the operation of the robot, the lower edge being substantially linear, substantially parallel to the cleaning roller, and of a length sufficient to substantially span the cleaning roller.

22. The cleaning bin of claim 21, wherein the air mover is configured to draw air from below the robot, past the cleaning roller, and through the cleaning bin entrance and the holding portion.