Coverage robots and associated cleaning bins

  • US 8,528,157 B2
  • Filed: 05/21/2007
  • Issued: 09/10/2013
  • Est. Priority Date: 05/19/2006
  • Status: Active Grant
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First Claim
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1. An autonomous coverage robot comprising:

  • a chassis;

    a drive system mounted on the chassis and configured to maneuver the robot;

    a cleaning assembly carried by the chassis and comprising;

    a cleaning assembly housing; and

    at least one driven sweeper coupled to the cleaning assembly housing;

    a controller carried by the chassis;

    a removable bin attached to the chassis and configured to receive debris agitated by the driven sweeper, the removable bin comprising;

    an emitter disposed on an interior surface of the bin; and

    a receiver disposed on the interior surface of the bin, and configured to receive a signal emitted by the emitter, the emitter and the receiver disposed such that a threshold level of accumulation of debris in the bin attenuates emissions received by the receiver from the emitter;

    anda bin controller monitoring a signal from the detector and initiating a bin full routine upon determining a bin debris accumulation level requiring service, wherein the emitter and the receiver are disposed proximate to one another on the same interior surface of the bin, the removable bin further comprising;

    a vacuum assembly having an at least partially separate entrance path into the bin; and

    a plurality of teeth disposed substantially along a mouth of the bin between a sweeper bin portion and a vacuum bin portion housing the vacuum assembly, the teeth configured to strip debris from the rotating sweeper brush, the debris being allowed to accumulate in the sweeper bin portion.

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