Autonomous floor-cleaning robot

• US 6,883,201 B2
• Filed: 12/16/2002
• Issued: 04/26/2005
• Est. Priority Date: 01/03/2002
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Sandin, Paul E., Nugent, David M., Jones, Joseph L., Mack, Newton E.
• Primary Examiner(s): Till, Terrence R.
• Application Number:
  US10/320,729
• Publication Number:
  US 20040049877A1
• Time in Patent Office: 862 Days
• Field of Search: 153/19, 153/39, 700/245
• 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 comprises a self-adjusting cleaning head subsystem that includes a dual-stage brush assembly having counter-rotating, asymmetric brushes and an adjacent, but independent, vacuum assembly such that the cleaning capability and efficiency of the self-adjustable cleaning head subsystem is optimized while concomitantly minimizing the power requirements thereof. The autonomous floor-cleaning robot further includes a side brush assembly for directing particulates outside the envelope of the robot into the self-adjusting cleaning head subsystem.

Claims

1. A floor-cleaning robot, comprising:

a housing structure including a chassis,

a motive system operable to generate movement of the robot across a surface during floor-cleaning,

a vacuum system disposed at least in part within the chassis and operable to ingest particulates and thereby provide floor-cleaning,

a primary brush assembly operable to collect particulates from the surface during floor-cleaning.

a side brush assembly operable to cooperate with the vacuum system or the primary brush assembly to direct particulates outside the periphery of the housing structure, which would be otherwise outside the range of the vacuum system or the primary brush assembly, toward the vacuum system during floor-cleaning,

a removable dust cartridae operable to be removably integrated into the housing in communication with the vacuum system or the primary brush assembly, and operable to store particulates ingested by the vacuum system or collected by the primary brush assembly,

a sensor system operable to generate signals representative of conditions encountered by the robot during floor-cleaning, and

a control system, in communication with the motive system and responsive to signals generated by the sensor system to control movement of the robot,

wherein the sensor system comprises a cliff detector operable to generate a cliff signal upon detection of a cliff, and

the control system is responsive to the cliff signal to control movement of the robot upon detection of a cliff to enable the robot to escape from the cliff and to continue movement.

2. The robot of claim 1 wherein the control system is responsive to the cliff signal to reduce velocity of movement of the robot upon detection of a cliff.

3. The robot of claim 2 wherein the control system is responsive to the cliff signal to change direction of movement of the robot upon detection of a cliff.

4. The robot of claim 1 wherein:

the sensor system comprises an obstacle detection sensor operable to generate an obstacle signal upon detection of an obstacle, and

the control system is responsive to the obstacle signal to control movement of the robot upon detection of an obstacle.

5. The robot of claim 1 wherein:

the obstacle detection sensor comprises a tactile sensor, and

the control system is responsive to the obstacle signal generated by the tactile sensor to cause the robot to execute an escape behavior and continue movement.

6. The robot of claim 1 wherein:

the control system is configured to operate the robot in, and to select from any of a plurality of modes, the plurality of modes comprising;

a spot-coverage mode whereby the robot provides coverage of a spot on the floor,

an obstacle following mode whereby the robot travels adjacent to an obstacle, and

a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering an obstacle.