Compact autonomous coverage robot

  • US 8,347,444 B2
  • Filed: 09/26/2011
  • Issued: 01/08/2013
  • Est. Priority Date: 05/09/2007
  • Status: Active Grant
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First Claim
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1. A household autonomous coverage robot comprising:

  • a chassis having a substantially rectangular forward portion and a substantially semicircular rearward portion, the forward portion having a front edge and the rearward portion defined by a radius of a profile circle;

    a robot body contoured substantially along the shape of the chassis and having a curved rearward portion;

    a rectangular bumper disposed along a front edge of the robot body and along lateral sides of the robot body such that the rectangular bumper is about three forwardmost sides of the chassis;

    a battery carried by the chassis;

    a cleaning assembly powered by the battery and mounted forward of the battery, on the forward portion of the chassis, the cleaning assembly comprising a roller brush motor and a roller brush rotatable by the roller brush motor, each of the roller brush and the roller brush motor being between sides of the rectangular bumper, and the roller brush being adjacent the front edge of the chassis and below the roller brush motor;

    a bin rearward of the cleaning assembly to receive debris agitated by the cleaning assembly;

    an idler wheel within the profile circle and disposed along a transverse axis; and

    a drive system carried by the rearward portion of the chassis and powered by the battery to maneuver the robot over a cleaning surface, the drive system comprising right and left drive wheels differentially driven by corresponding right and left motors, the right and left drive wheels defining a drive axis parallel to the transverse axis and substantially along or rearward of a parallel diameter of the profile circle such that(i) the roller brush and roller brush motor are held above the cleaning surface forward of the idler wheel to clean corners ahead of the robot and(ii) the center of gravity of the robot is between the drive axis and the idler wheel, the center of gravity of the robot determined by a variable mass of debris within the bin, a mass of the roller brush motor, and a mass of the battery.

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