# US 12,178,384 B2 · Brush for autonomous cleaning robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,384 B2 - Document ID: US12178384B2 - Status: Granted - Kind: B2 - Application number: 17/345,585 - Filed: 2021-06-11 - Published: 2022-12-15 - Granted: 2024-12-31 - Earliest claimed: 2021-06-11 - Assignees: iRobot Corporation - Applicants: iRobot Corporation - Inventors: Shipra Arora; Philip Petrides; Lauren D. Stern - Web page: https://patentgrep.com/patent/US12178384B2 ## CPC - A47L 9/0488: {Combinations or arrangements of several tools, e.g. edge cleaning tools} - A46B 7/04: interchangeably {removable bristle carriers} - A46B 9/026: {where the surface of the brush body or carrier is not in one plane, e.g. not flat (A46B9/005 takes precedence)} - A46B 13/001: {Cylindrical or annular brush bodies} - A46B 13/008: {Disc-shaped brush bodies} - A46B 13/02: power-driven {carriers} - A46B 15/0053: {Brushes fitted with ventilation suction, e.g. for removing dust (vacuum cleaner A47L7/00)} - A47L 9/0472: {Discs} - A47L 9/0477: {Rolls} - A47L 9/10: Filters (in general B01D; cyclones B04C); Dust separators; Dust removal; Automatic exchange of filters {(for machines for cleaning floors A47L11/40)} - A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles} - A46B 2200/3033: Household brush, i.e. brushes for cleaning in the house or dishes - A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection - A47L 2201/06: Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning - A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08) - A46B: BRUSHES (handles not integral with brushware B25G) ## Abstract An autonomous cleaning robot includes a drive system to move the autonomous cleaning robot about a floor surface, a cleaning head on a bottom portion of the autonomous cleaning robot, a side brush on the bottom portion of the autonomous cleaning robot, and a vacuum system in pneumatic communication with the opening. The cleaning head is configured to direct debris from the floor surface into the autonomous cleaning robot as the autonomous cleaning robot moves about the floor surface. The side brush is rotatable about a rotational axis forming a non-zero angle with a floor surface, and the side brush comprising an opening. ## Claims ### Claim 1 An autonomous cleaning robot comprising: a drive system comprising at least one drive wheel to move the autonomous cleaning robot about a floor surface; a cleaning head on a bottom portion of the autonomous cleaning robot, the cleaning head configured to direct debris from the floor surface into the autonomous cleaning robot as the autonomous cleaning robot moves about the floor surface; a side brush on the bottom portion of the autonomous cleaning robot, the side brush rotatable about a rotational axis forming a non-zero angle with the floor surface, and the side brush comprising an opening extending along and parallel to a plane that is sloped relative to a horizontal plane parallel to the floor surface; and a vacuum system in pneumatic communication with the opening. ### Claim 2 (depends on 1) The autonomous cleaning robot of claim 1, further comprising an air pathway between the opening of the side brush and the vacuum system, wherein the vacuum system is configured to draw air from an environment of the autonomous cleaning robot, through the opening, and into the vacuum system. ### Claim 3 (depends on 2) The autonomous cleaning robot of claim 2, wherein the side brush comprises a filter in the air pathway. ### Claim 4 (depends on 1) The autonomous cleaning robot of claim 1, further comprising an air pathway between the opening of the side brush and the vacuum system, wherein the vacuum system is configured to draw air from an environment of the autonomous cleaning robot, through the vacuum system, and through the opening to eject the air out of the opening of the side brush. ### Claim 5 (depends on 1) The autonomous cleaning robot of claim 1, wherein the side brush comprises: a hub rotatably mounting the side brush to the bottom portion of the autonomous cleaning robot; and a plurality of arms extending outwardly from the hub and extending away from the bottom portion of the autonomous cleaning robot, wherein a distal end of an arm of the plurality of arms defines the opening. ### Claim 6 (depends on 5) The autonomous cleaning robot of claim 5, wherein the arm is hollow and formed of a flexible material, and an interior portion of the arm forms part of an air pathway between the opening of the side brush and the vacuum system. ### Claim 7 (depends on 5) The autonomous cleaning robot of claim 5, wherein the arm is detachable from the hub. ### Claim 8 (depends on 5) The autonomous cleaning robot of claim 5, wherein at least part of the arm extends beyond an outer perimeter of the bottom portion of the autonomous cleaning robot such that the distal end of the arm and the opening are positioned outside of the outer perimeter of the bottom portion of the autonomous cleaning robot. ### Claim 9 (depends on 1) The autonomous cleaning robot of claim 1, wherein the side brush comprises a plurality of openings comprising the opening, and wherein the vacuum system is in pneumatic communication with each of the plurality of openings. ### Claim 10 (depends on 1) The autonomous cleaning robot of claim 1, wherein the vacuum system is in pneumatic communication with a vacuum inlet of the cleaning head. ### Claim 11 (depends on 1) The autonomous cleaning robot of claim 1, wherein the vacuum system is a first vacuum system, and the autonomous cleaning robot comprises a second vacuum system in pneumatic communication with a vacuum inlet of the cleaning head. ### Claim 12 (depends on 1) The autonomous cleaning robot of claim 1, further comprising one or more rollers removably attached to the cleaning head, the autonomous cleaning robot being configured to rotate the one or more rollers about a roller axis that is parallel with the floor surface. ### Claim 13 (depends on 1) The autonomous cleaning robot of claim 1, wherein the opening of the side brush is at least partially directed in a horizontal direction. ### Claim 14 (depends on 1) The autonomous cleaning robot of claim 1, wherein the side brush comprises a plurality of openings comprising the opening, the vacuum system being in pneumatic communication with each opening of the plurality of openings. ### Claim 15 (depends on 14) The autonomous cleaning robot of claim 14, wherein the side brush comprises a plurality of tubes extending outward from a central portion of the side brush, and each tube of the plurality of tubes define a respective opening of the plurality of openings. ### Claim 16 (depends on 1) The autonomous cleaning robot of claim 1, wherein the side brush comprises a tube comprising the opening, at least a portion of the tube angled in a circumferential direction about the rotational axis. ### Claim 17 (depends on 1) The autonomous cleaning robot of claim 1, wherein the rotational axis is laterally offset from the cleaning head, and at least a portion of the side brush is configured to extend laterally beyond a lateral side of the autonomous cleaning robot. ### Claim 18 (depends on 1) The autonomous cleaning robot of claim 1, wherein the cleaning head comprises a vacuum inlet, and the vacuum system is configured to generate an airflow to direct the debris on the floor surface toward the side brush such that, as the side brush rotates, the side brush contacts the debris to direct the debris toward the cleaning head to cause the cleaning head to direct the debris through the vacuum inlet into the autonomous cleaning robot. ### Claim 19 An autonomous cleaning robot comprising: a drive system to move the autonomous cleaning robot about a floor surface; a cleaning head on a bottom portion of the autonomous cleaning robot, the cleaning head configured to direct debris from the floor surface into the autonomous cleaning robot as the autonomous cleaning robot moves about the floor surface; and a side brush on the bottom portion of the autonomous cleaning robot, the side brush comprising a plurality of tubes extending outward from a central portion of the side brush that are configured to contact the floor surface, each tube defining a respective air flow channel from an opening at an end of the respective tube to the central portion of the side brush, the opening extending along and parallel to a plane that is sloped relative to a horizontal plane parallel to the floor surface. ### Claim 20 (depends on 19) The autonomous cleaning robot of claim 19, wherein each tube is configured such that the respective opening is at least partially directed in a horizontal plane. ### Claim 21 (depends on 20) The autonomous cleaning robot of claim 20, wherein the autonomous cleaning robot is configured to force air through each air flow channel of the side brush to move debris horizontally away from the side brush. ### Claim 22 (depends on 20) The autonomous cleaning robot of claim 20, wherein the autonomous cleaning robot is configured to force air through each air flow channel of the side brush to move debris horizontally toward the side brush. ### Claim 23 (depends on 22) The autonomous cleaning robot of claim 22, wherein the autonomous cleaning robot is configured to force air through each air flow channel of the side brush to move debris into the side brush.