Robotic vacuum

  • US 9,220,386 B2
  • Filed: 04/30/2012
  • Issued: 12/29/2015
  • Est. Priority Date: 04/29/2011
  • Status: Active Grant
First Claim
Patent Images

1. An autonomous mobile robot for cleaning a cleaning surface comprises:

  • a chassis having a drive system mounted therein in communication with a control system;

    a cleaning head assembly having a lower cage and mounted to the chassis;

    a debris collection bin mounted to the chassis;

    a vacuum airway having a vacuum inlet and an airway outlet positioned adjacent the debris collection bin, and configured to deliver debris from the cleaning head assembly to the debris collection bin, the vacuum airway extending between the cleaning assembly and the debris collection bin and being in fluid communication with an impeller disposed within the debris collection bin; and

    a cleaning head module connected to the chassis and having a front roller including a front shape-changing resilient tube and an adjacent rear roller including a rear shape-changing resilient tube rotatably opposing therewith beneath the vacuum inlet,wherein a surface of the front shape-changing tube and a surface rear shape-changing tube are separated by a narrowest air gap of less than 1 cm, such that the vacuum draw directed from the vacuum airway is concentrated within the narrowest air gap.

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