Robotic Floor Cleaning Apparatus with Shell Connected to the Cleaning Assembly and Suspended over the Drive System

• US 20110153081A1
• Filed: 12/22/2010
• Published: 06/23/2011
• Est. Priority Date: 04/24/2008
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Pirjanian, Paolo, Dooley, Michael, Romanov, Nikolai
• Granted Patent: US 9,725,013 B2
• Time in Patent Office: Days
• US Class Current: 700/255
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• 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 11/4036 Parts or details of the 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 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• 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 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/14 Acceleration
• CPC Class Codes: B60L 2240/32 Driving direction
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/463 Torque
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2240/62 Vehicle position
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 3/106 : for maintaining or recovering the adhesion of the drive wheels
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 50/66 : Arrangements of batteries
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: B60L 58/21 : having the same nominal voltage
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 2201/0203 : Cleaning or polishing vehicle
• 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

Abstract

A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Claims

1. A robotic cleaner, comprising:

a drive assembly comprising one or more wheels for moving the robotic cleaner;

a microcontroller operatively coupled to the drive assembly for control of movement of the robotic cleaner;

a cleaning assembly configured to clean a floor;

a shell rigidly connected to the cleaning assembly and pivotably connected to the drive assembly, wherein the shell is configured to pivot with respect to the one or more wheels; and

a detection mechanism for detecting when the shell pivots with respect to the one or more wheels.

2. The robotic cleaner of claim 1, wherein the shell is sloped upward, with respect to the floor, from the cleaning assembly toward the one or more wheels, whereby the shell and detection mechanism are configured to detect a collision of the robotic cleaner with an overhanging obstacle.

3. The robotic cleaner of claim 1, wherein the detection mechanism comprises a switch configured to signal detection of movement of the shell with respect to the one or more wheels by a predefined displacement.

4. The robotic cleaner of claim 1, wherein the switch comprises a spring configured to bias the shell upward with respect to the one or more wheels.

5. The robotic cleaner of claim 4, wherein the spring exerts a force on the shell at a position vertically aligned with a longitudinal axis of the robotic cleaner, the longitudinal axis centrally traversing the cleaning assembly and drive assembly.

6. The robotic cleaner of claim 1, wherein the one or more wheels comprise two wheels sharing a common axis of rotation at all times, thereby allowing the two wheels to pivot together with respect to the shell.

7. The robotic cleaner of claim 1, wherein the shell comprises an elastomeric pad configured to contact the floor when the shell is fully displaced downward.