# US 8,739,355 B2 · Autonomous surface cleaning robot for dry cleaning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,739,355 B2 - Document ID: US8739355B2 - Status: Granted - Kind: B2 - Application number: 11/835,356 - Filed: 2007-08-07 - Published: 2008-06-12 - Granted: 2014-06-03 - Earliest claimed: 2005-02-18 - Assignees: iRobot Corporation - Applicants: Christopher J. Morse; Andrew Ziegler; Duane Gilbert; Andrew Jones - Inventors: Christopher J. Morse; Andrew Ziegler; Duane Gilbert; Andrew Jones - Web page: https://patentgrep.com/patent/US8739355B2 ## CPC - A47L 9/009: {Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles} - A47L 5/14: cleaning by blowing-off, also combined with suction cleaning - A47L 7/0004: {Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners (floor-scrubbing machines taking-up dirty liquid by suction A47L11/30)} - A47L 11/302: {having rotary tools} - A47L 11/34: Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam - A47L 11/4002: {Installations of electric equipment} - A47L 11/4011: {Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor} - A47L 11/4016: {specially adapted for collecting fluids} - A47L 11/4041: {Roll shaped surface treating tools} - A47L 11/4044: {Vacuuming or pick-up tools; Squeegees} - A47L 11/4069: {Driving or transmission means for the cleaning tools} - A47L 11/4088: {Supply pumps; Spraying devices; Supply conduits} - A47L 9/28: Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - 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) ## Abstract An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface. ## Claims ### Claim 1 An autonomous cleaning robot comprising: a chassis comprising a fore-aft axis and a perpendicular transverse axis; a cleaning apparatus, attached to the chassis and defining a cleaning zone, comprising an air moving system, wherein the air moving system comprises a fan assembly configured to generate a negative pressure and a positive pressure, and comprising conduits applying at least one of the negative pressure and the positive pressure to a channel formed in the lower surface of the chassis of the autonomous cleaning robot; a waste storage container removably coupled to the chassis, wherein the air moving system comprises an air jet port that expels air substantially parallel with the transverse axis; and, a first debris guiding strip disposed aft of the channel, the first debris guiding strip configured to direct loose particulates moved by air expelled from the air jet port toward an air intake port and including a first portion disposed aft of the air jet port and a second portion disposed aft of the air intake port. ### Claim 2 (depends on 1) The autonomous cleaning robot of claim 1, wherein the air moving system comprises an air intake port. ### Claim 3 (depends on 2) The autonomous cleaning robot of claim 2, wherein the air intake port entrains air substantially parallel with the first axis. ### Claim 4 (depends on 2) The autonomous cleaning robot of claim 2, wherein the channel extends between the air jet port and the air intake port. ### Claim 5 (depends on 1) The autonomous cleaning robot of claim 1, wherein the first debris guiding strip extends aft of at least a portion of an aft edge of the channel. ### Claim 6 (depends on 5) The autonomous cleaning robot of claim 5, wherein the cleaning apparatus further comprises a second debris guiding strip extending at an angle to the first axis. ### Claim 7 (depends on 1) The autonomous cleaning robot of claim 1, further comprising a motive drive system attached to the chassis for transporting the chassis over a cleaning surface. ### Claim 8 (depends on 7) The autonomous cleaning robot of claim 7, further comprising a master control module attached to the chassis for controlling at least one of the motive drive system and the cleaning zone. ### Claim 9 (depends on 7) The autonomous cleaning robot of claim 7, further comprising a sensor module in communication with the master control module. ### Claim 10 (depends on 1) The autonomous cleaning robot of claim 1, further comprising a power module attached to the chassis. ### Claim 11 An autonomous cleaning robot comprising: a chassis comprising a fore-aft axis and a perpendicular transverse axis; a cleaning apparatus, attached to the chassis and defining a cleaning zone, comprising an air moving system, wherein the air moving system comprises a fan assembly configured to generate a negative pressure and a positive pressure, and comprising conduits applying at least one of the negative pressure and the positive pressure to a channel formed in the lower surface of the chassis of the autonomous cleaning robot; a waste storage container removably coupled to the chassis, wherein the air moving system comprises an air jet port and an air intake port; and a first debris guiding strip disposed aft of the channel, the first debris guiding strip configured to direct loose particulates moved by air expelled from the air jet port toward the air intake port and including a first portion disposed aft of the air jet port and a second portion disposed aft of the air intake port. ### Claim 12 (depends on 11) The autonomous cleaning robot of claim 11, wherein the air jet port expels air substantially parallel with the transverse axis. ### Claim 13 (depends on 11) The autonomous cleaning robot of claim 11, wherein the channel extends between the air jet port and the air intake port. ### Claim 14 (depends on 11) The autonomous cleaning robot of claim 11, wherein the first debris guiding strip extends aft of at least a portion of an aft edge of the channel. ### Claim 15 (depends on 14) The autonomous cleaning robot of claim 14, wherein the cleaning apparatus further comprises a second debris guiding strip extending at an angle to the first axis.