Autonomous coverage robot sensing

• US 8,438,695 B2
• Filed: 12/08/2011
• Issued: 05/14/2013
• Est. Priority Date: 05/09/2007
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Gilbert, Duane L. Jr., Williams, Marcus R., Okerholm, Andrea M., Kristant, Elaine H., Longo, Sheila A., Kee, Daniel E., Strauss, Marc D.
• Primary Examiner(s): SCRUGGS, ROBERT J
• Application Number:
  US13/314,398
• Publication Number:
  US 20120265343A1
• Time in Patent Office: 523 Days
• Field of Search: 153/19, 153/20, 153/21, 152/45, 154/01, 154/03, 153/39
• US Class Current: 15/319
• CPC Class Codes: A47L 11/125 with supply of cleaning agents
• CPC Class Codes: A47L 11/145 with supply of cleaning agents
• CPC Class Codes: A47L 11/161 with supply of cleaning agents
• CPC Class Codes: A47L 11/201 with supply of cleaning agents
• CPC Class Codes: A47L 11/282 having rotary tools
• CPC Class Codes: A47L 11/292 having rotary tools A47L11/30 takes precedence
• CPC Class Codes: A47L 11/30 by suction
• CPC Class Codes: A47L 11/302 having rotary tools
• CPC Class Codes: A47L 11/34 Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
• 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 11/4025 Means for emptying
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4044 Vacuuming or pick-up tools; Squeegees
• 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 11/408 Means for supplying cleaning or surface treating agents
• 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 9/00 Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
• 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 9/2805 : Parameters or conditions being sensed
• 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 2240/12 : Speed
• CPC Class Codes: B60L 2240/421 : Speed
• CPC Class Codes: B60L 2240/423 : Torque
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 2270/145 : Structure borne vibrations
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• 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 1/0242 : 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: 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: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.

Claims

1. An autonomous robot comprising:

a body;

right and left driven wheels coupled to the body, the robot maneuverable over a cleaning surface by the right and left driven wheels;

a vacuum assembly configured to suction waste from the cleaning surface;

a collection volume disposed within the body, the collection volume in fluid communication with the vacuum assembly for collecting waste suctioned by the vacuum assembly, and the body defining a first opening through which the collected waste is removable from the collection volume;

a seal movable to interrupt at least a portion of the fluid communication between the vacuum assembly and the collection volume; and

a biased-to-drop suspension system coupled to the driven wheels, the biased-to-drop suspension system having a top position and a bottom position, and the seal being coupled to the suspension system and movable to interrupt at least a portion of the fluid communication between the vacuum assembly and the collection volume as the biased-to-drop suspension system moves from the top position to the bottom position.

2. The autonomous robot of claim 1, wherein the seal is movable in response to removal of the driven wheels from the cleaning surface.

3. The autonomous robot of claim 2, wherein the seal is movable in response to an electrical signal indicative of the position of the driven wheels.

4. The autonomous robot of claim 2, wherein the seal is holdable in an open position, permitting fluid communication between the vacuum assembly and the collection volume, in response to the driven wheels supporting the robot on the cleaning surface.

5. The autonomous robot of claim 1, wherein the vacuum assembly comprises a fan and the seal is movable to interrupt at least a portion of the fluid communication between the fan and the collection volume.

6. The autonomous robot of claim 1, further comprising a liquid supply volume and a liquid delivery system configured to move fluid from the liquid supply volume to the cleaning surface, wherein the body defines a second opening through which cleaning liquid is deliverable to the liquid supply volume.

7. The autonomous robot of claim 6, wherein the first opening is defined substantially opposite the second opening such that waste is removable from the collection volume while liquid is deliverable to the liquid supply volume.

8. The autonomous robot of claim 6, wherein the body defines a first door and a second door, the first door movable to expose the first opening through which waste is removable from the collection volume, and the second door movable to expose the second opening through which cleaning liquid is deliverable to the liquid supply volume.

9. The autonomous robot of claim 6, wherein all or a portion of the liquid supply volume is a flexible bladder surrounded by the collection volume.

10. The autonomous robot of claim 6, wherein an overall height of the robot is less than about 18 centimeters, a width of the robot is less than about 26 centimeters, and the robot weighs less than 3 kg with the liquid supply volume full of cleaning fluid.

11. The autonomous robot of claim 10, wherein the liquid supply volume is at least about 20 percent of the volume of the robot.

12. An autonomous robot comprising:

a body;

right and left driven wheels coupled to the body, the robot maneuverable over a cleaning surface by the right and left driven wheels;

a collection volume disposed within the body, the collection volume in fluid communication with the cleaning surface collecting waste removed from the cleaning surface as the robot maneuvers over the cleaning surface, and the body defining an opening through which the collected waste is removable from the collection volume;

a seal movable, in response to removal of the driven wheels from the cleaning surface, to interrupt at least a portion of the fluid communication between the collection volume and the cleaning surface; and

a biased-to-drop suspension system coupled to the driven wheels, the biased-to-drop suspension system having a top position and a bottom position, and the seal being coupled to the suspension system movable to interrupt at least a portion of the fluid communication between the collection volume and the cleaning surface as the biased-to-drop suspension system moves from the top position to the bottom position.

13. The autonomous robot of claim 12, wherein the seal is movable in response to an electrical signal indicative of the position of the driven wheels.

14. The autonomous robot of claim 12, wherein the seal is movable in response to removal of the driven wheels from the cleaning surface.

15. The autonomous robot of claim 12, wherein the seal is holdable in an open position, permitting fluid communication between a vacuum assembly and the collection volume, in response to the driven wheels supporting the robot on the cleaning surface.

16. The autonomous robot of claim 15, wherein the vacuum assembly comprises a fan and the seal is movable to interrupt at least a portion of the fluid communication between the fan and the collection volume.

17. The autonomous robot of claim 12, further comprising a liquid supply volume and a liquid delivery system configured to move fluid from the liquid volume to the cleaning surface, wherein the body defines a second opening through which cleaning liquid is deliverable to the liquid supply volume.

18. The autonomous robot of claim 17, wherein an overall height of the robot is less than about 18 centimeters, a width of the robot is less than about 26 centimeters, and the robot weighs less than 3 kg with the liquid supply volume full of cleaning fluid.

19. The autonomous robot of claim 17, wherein the liquid supply volume is at least about 20 percent of the volume of the robot.