# US 9,038,233 B2 · Autonomous floor-cleaning robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,038,233 B2 - Document ID: US9038233B2 - Status: Granted - Kind: B2 - Application number: 13/714,546 - Filed: 2012-12-14 - Published: 2013-07-11 - Granted: 2015-05-26 - Earliest claimed: 2002-01-03 - Assignees: iRobot Corporation - Applicants: iRobot Corporation - Inventors: Joseph L Jones; Newton E Mack; David M Nugent; Paul E Sandin - Web page: https://patentgrep.com/patent/US9038233B2 ## CPC - A47L 9/2826: {the condition of the floor} - A47L 5/30: with driven dust-loosening tools, e.g. rotating brushes - A47L 5/34: with height adjustment of nozzles or dust-loosening tools - A47L 7/02: with driven tools for special purposes (with floor-polishing tools A47L11/20) - A47L 9/009: {Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles} - A47L 9/0411: {driven by electric motor} - A47L 9/0477: {Rolls} - A47L 9/0494: {Height adjustment of dust-loosening tools} - A47L 9/1409: {Rigid filtering receptacles (dust collecting receptacles for cyclones A47L9/1683)} - A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles} - A47L 9/2894: {Details related to signal transmission in suction cleaners} - A47L 9/32: Handles - A47L 11/282: having rotary tools - A47L 11/4061: {Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated} - A47L 11/4066: {Propulsion of the whole machine} - A47L 2201/00: Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation - 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) ## Abstract A floor cleaning robot comprises a housing, wheels, and a motor driving the wheels to move the robot across a floor, a control module disposed within the housing and directing movement of the robot across the floor, a sensor for detecting and communicating obstacle information to the control module so that the control module can cause the robot to react to the obstacle, a removable bin disposed at least partially within the housing and receiving particulates, a first rotating member directing particulates toward the bin, and a second rotating member cooperating with the first rotating member to direct particulates toward the bin. The removable bin receives particulates directed thereto by the first and second rotating members and the particulates pass from the first rotating member to the removable bin without passing through a filter. ## Claims ### Claim 1 A self-propelled floor-cleaning robot comprising a housing defining a housing perimeter; a powered primary brush assembly disposed within the housing perimeter and positioned to engage a floor surface, the primary brush assembly being configured to rotate about an axis generally parallel to the floor surface; a cliff detector carried by the housing and configured to direct a beam toward the floor surface and to respond to a falling edge of the floor surface; and a powered side brush extending beyond the housing perimeter and positioned to brush floor surface debris from beyond the housing perimeter, the side brush being configured to rotate about an axis generally perpendicular to the floor surface and to rotate in a direction to direct debris toward the robot along a projected direction of movement of the powered primary brush assembly, the side brush having bundles of bristles and being positioned such that the bundles of bristles pass between the cliff detector and the floor surface during a rotation of the side brush around the axis, the bundles of bristles being separated by a gap, the gap being configured to prevent occlusion of the cliff detector beam during at least part of the rotation of the side brush around the axis; a particulate receptacle positioned to receive and collect particulates brushed from the floor surface by the primary brush assembly and the powered side brush; an obstacle detector responsive to obstacles encountered by the robot; and a control circuit in electrical communication with a motor drive and configured to control the motor drive to maneuver the robot about detected obstacles across the floor surface during a floor-cleaning operation. ### Claim 2 (depends on 1) The floor cleaning robot of claim 1, further comprising multiple side brushes spaced apart and extending beyond the housing perimeter and positioned to brush floor surface debris from beyond the housing perimeter. ### Claim 3 (depends on 1) The floor cleaning robot of claim 1, further comprising a vacuum with a vacuum inlet disposed in the underside of the housing and rearward of the primary brush assembly. ### Claim 4 (depends on 3) The floor cleaning robot of claim 3, further comprising a particulate receptacle positioned to receive and collect particulates ingested through the vacuum inlet. ### Claim 5 (depends on 3) The floor cleaning robot of claim 3, wherein the vacuum inlet comprises an elongated slot extending across the central region of the underside of the housing. ### Claim 6 (depends on 5) The floor cleaning robot of claim 5, further comprising: a first resilient blade extending from the underside of the housing immediately rearward of the vacuum inlet slot and having a distal edge configured to wipe the floor surface; and a second resilient blade extending from the underside of the housing immediately forward of the vacuum inlet slot. ### Claim 7 (depends on 1) The floor cleaning robot of claim 1, further comprising: a vacuum with a vacuum inlet disposed in the underside of the housing and rearward of the primary brush assembly; and a particulate receptacle positioned to receive and collect particulates ingested through the vacuum inlet, the receptacle comprising a removable dust cartridge. ### Claim 8 (depends on 1) The floor cleaning robot of claim 1, further comprising a vacuum with a vacuum inlet disposed in the underside of the housing and rearward of the primary brush assembly, the vacuum inlet comprising an elongated slot extending across the central region of the underside of the housing; and a first resilient blade extending from the underside of the housing immediately rearward of the vacuum inlet slot and having a distal edge configured to wipe the floor surface. ### Claim 9 (depends on 1) The floor cleaning robot of claim 1, further comprising at least one friction pad secured to the underside of the housing and positioned to engage the floor surface and inhibit robot motion when a forward wheel of the robot travels beyond a falling edge of the floor surface. ### Claim 10 (depends on 1) The floor cleaning robot of claim 1, wherein the obstacle detector comprises a displaceable bumper disposed at the housing perimeter, and a bumper displacement sensor responsive to displacement of the bumper with respect to the housing. ### Claim 11 (depends on 1) The floor cleaning robot of claim 1, wherein the control circuit is configured to move the robot in a wall-following mode to maneuver the robot along a wall in a direction that places the side brush against the wall. ### Claim 12 (depends on 1) The floor cleaning robot of claim 1, wherein the primary brush assembly is mounted on a deck pivotally coupled to a portion of the housing to which the wheels are mounted. ### Claim 13 (depends on 1) The floor cleaning robot of claim 1, wherein the powered side brush is configured to rotate about an axis generally angled with respect to the floor surface. ### Claim 14 (depends on 1) The floor cleaning robot of claim 1, wherein a portion of the bundles of bristles of the powered side brush passes between a portion of a drive wheel of the robot and the cleaning surface during the rotation of the side brush around the axis. ### Claim 15 A self-propelled floor-cleaning robot comprising: wheels operably connected to a motor drive to propel the robot across the floor surface; a controller in electrical communication with the motor drive and configured to control the motor drive to autonomously maneuver the robot about detected obstacles encountered on the floor surface during a floor-cleaning operation; a housing defining a housing perimeter; a cleaning head disposed within the housing perimeter and positioned to engage a floor surface; a cliff detector carried by the housing and configured to direct a beam toward the floor surface and to respond to a falling edge of the floor surface; and a powered rotating side brush extending beyond the housing perimeter and positioned to brush floor surface debris from beyond the housing perimeter toward a projected path of the cleaning head, the powered rotating side brush rotating in a direction that brushes debris toward the robot ahead of a rotating axis of the brush along the projected path of the cleaning head, the side brush having bundles of bristles and being positioned such that the bundles of bristles pass between the cliff detector and the floor surface during a rotation of the side brush around the axis, the bundles of bristles being separated by a gap, the gap being configured to prevent occlusion of the cliff detector beam during at least a portion of a rotation of the side brush around the axis; the controller being configured to move the robot in a wall-following mode to maneuver the robot along a wall in a direction that places the powered rotating side brush adjacent the wall. ### Claim 16 (depends on 15) The floor cleaning robot of claim 15, wherein the cleaning head comprises a powered primary brush assembly disposed within the housing perimeter and positioned to engage the floor surface. ### Claim 17 (depends on 15) The floor cleaning robot of claim 15, wherein the cleaning head comprises a vacuum with a vacuum inlet disposed in the underside of the housing and cooperative with the primary brush assembly. ### Claim 18 (depends on 17) The floor cleaning robot of claim 17, further comprising a particulate receptacle positioned to receive and collect particulates ingested through the vacuum inlet. ### Claim 19 (depends on 17) The floor cleaning robot of claim 17, wherein the vacuum inlet comprises an elongated slot extending across the central region of the underside of the housing. ### Claim 20 (depends on 17) The floor cleaning robot of claim 17, wherein the vacuum inlet comprises an elongated slot extending across the central region of the underside of the housing and the robot further comprises a first resilient blade extending from the underside of the housing immediately rearward of the vacuum inlet slot and having a distal edge configured to wipe the floor surface. ### Claim 21 (depends on 15) The floor cleaning robot of claim 15, further comprising a particulate receptacle positioned to receive and collect particulates ingested through the vacuum inlet wherein the receptacle comprises a removable dust cartridge.