U.S. patent application number 11/751470 was filed with the patent office on 2009-02-19 for removing debris from cleaning robots.
This patent application is currently assigned to IROBOT CORPORATION. Invention is credited to John Devlin, Zivthan A. Dubrovsky, Stephen A. Hickey, Jed Lowry, Mark Schnittman, Selma Svendsen, David Swett, Chikyung Won.
Application Number | 20090044370 11/751470 |
Document ID | / |
Family ID | 38724071 |
Filed Date | 2009-02-19 |
United States Patent
Application |
20090044370 |
Kind Code |
A1 |
Won; Chikyung ; et
al. |
February 19, 2009 |
REMOVING DEBRIS FROM CLEANING ROBOTS
Abstract
A cleaning robot system includes a robot and a robot maintenance
station. The robot includes a chassis, a drive system configured to
maneuver the robot as directed by a controller, and a cleaning
assembly including a cleaning assembly housing and a driven
cleaning roller. The robot maintenance station includes a station
housing and a docking platform configured to support the robot when
docked. A mechanical agitator engages the roller of the robot with
the robot docked. The agitator includes an agitator comb having
multiple teeth configured to remove accumulated debris from the
roller as the agitator comb and roller are moved relative to one
another. The robot maintenance station includes a collection bin
arranged to receive and hold debris removed by the mechanical
agitator.
Inventors: |
Won; Chikyung; (Tewksbury,
MA) ; Hickey; Stephen A.; (Somerville, MA) ;
Schnittman; Mark; (Cambridge, MA) ; Dubrovsky;
Zivthan A.; (Waltham, MA) ; Svendsen; Selma;
(Andover, MA) ; Lowry; Jed; (Duxbury, MA) ;
Swett; David; (Waltham, MA) ; Devlin; John;
(Tewksbury, MA) |
Correspondence
Address: |
FISH & RICHARDSON PC
P.O. BOX 1022
MINNEAPOLIS
MN
55440-1022
US
|
Assignee: |
IROBOT CORPORATION
Burlington
MA
|
Family ID: |
38724071 |
Appl. No.: |
11/751470 |
Filed: |
May 21, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60747791 |
May 19, 2006 |
|
|
|
60803504 |
May 30, 2006 |
|
|
|
60807442 |
Jul 14, 2006 |
|
|
|
Current U.S.
Class: |
15/319 |
Current CPC
Class: |
A47L 9/0477 20130101;
A47L 11/4013 20130101; A47L 11/24 20130101; A47L 11/4011 20130101;
A47L 2201/028 20130101; A47L 2201/024 20130101; A47L 11/33
20130101; A47L 9/108 20130101; A47L 11/4091 20130101; A47L 2201/02
20130101; A47L 2201/04 20130101; A47L 9/106 20130101; A47L 11/4008
20130101; A47L 11/4069 20130101; A47L 11/4041 20130101; A47L
11/4025 20130101; A47L 11/4002 20130101; A47L 2201/00 20130101;
A47L 11/4044 20130101; A47L 11/4097 20130101; A47L 11/4066
20130101 |
Class at
Publication: |
15/319 |
International
Class: |
A47L 5/00 20060101
A47L005/00 |
Claims
1. A cleaning robot system comprising: a robot comprising: a
chassis; a drive system mounted on the chassis and configured to
maneuver the robot as directed by a controller in communication
with the drive system; and a cleaning assembly carried by the
chassis and comprising: a cleaning assembly housing; and a driven
cleaning roller rotatably coupled to the cleaning assembly housing;
and a robot maintenance station comprising: a station housing; a
docking platform carried by the station housing and configured to
support the robot when docked; a mechanical agitator that engages
the roller of the robot with the robot docked, the agitator
comprising an agitator comb having multiple teeth configured to
remove accumulated debris from the roller as the agitator comb and
roller are moved relative to one another; and a collection bin
arranged to receive and hold debris removed by the mechanical
agitator.
2. The cleaning robot system of claim 1 wherein the robot
maintenance station further comprises: a station evacuation port
configured to mate with the robot when the robot is received in the
robot maintenance station for maintenance; and a motorized vacuum
pump in fluid communication with the collection bin and the station
evacuation port, the motorized vacuum pump configured to draw air
into the vacuum pump and to evacuate accumulated debris removed by
the mechanical agitator into the collection bin.
3. The cleaning robot system of claim 1 wherein robot further
comprises a downward facing cleaning agitator, and the docking
platform further comprises a locking assembly configured to secure
the received robot to the platform so that the mechanical agitator
does not force the robot from the platform.
4. The cleaning robot system of claim 1 wherein the mechanical
agitator further comprises one or more blades configured to cut
accumulated filaments off the roller.
5. The cleaning robot system of claim 1 wherein the mechanical
agitator further comprises an actuator configured to move the
agitator of the docked robot.
6. The cleaning robot system of claim 1 further comprising a vacuum
assembly configured to evacuate cut filaments off the mechanical
agitator.
7. A cleaning robot system comprising: a robot comprising: a
chassis, a drive system mounted on the chassis and configured to
maneuver the robot as directed by a controller in communication
with the drive system; a cleaning assembly carried by the chassis
and comprising: a cleaning assembly housing; and a driven cleaning
roller rotatably coupled to the cleaning assembly housing; and a
robot cleaning bin carried by the chassis; and a robot maintenance
station comprising: a station housing configured to receive the
robot for maintenance, the station housing defining a blower port
and an evacuation port spaced from the blower port, the station
blower port and the evacuation port both arranged to be exposed to
the robot cleaning bin when the robot is received in the
maintenance station for maintenance; a collection bin carried by
the station housing and in fluid communication with the evacuation
port; and an air pump that blows air through the station blower
port into the cleaning bin while drawing air through the station
evacuation port and evacuating debris from the robot cleaning bin
into the collection bin.
8. The cleaning robot system of claim 7 wherein the robot
maintenance station comprises a mechanical agitator cleaning
assembly arranged to engage a driven cleaning agitator of the
cleaning head and comprising an agitator comb comprising multiple
teeth configured to remove accumulated debris from the driven
cleaning agitator as the agitator comb and driven cleaning agitator
are moved relative to one another, wherein a collection bin
receives accumulated debris from the agitator removed by the
mechanical agitator cleaning assembly.
9. The cleaning robot system of claim 7 wherein the robot cleaning
bin is removable from the robot and the collection bin is removable
from the maintenance station.
10. The cleaning robot system of claim 7 wherein the cleaning head
comprises a vacuuming cleaning head configured to evacuate debris
from a floor into the cleaning bin.
11. The cleaning robot system of claim 7 wherein the cleaning head
comprises a sweeping cleaning head configured to agitate debris
from the floor and sweep the debris into the cleaning bin.
12. The cleaning robot system of claim 7 wherein the maintenance
station further comprises a locking assembly configured to secure
the robot to the station blower port and the station evacuation
port, the station blower port and the station evacuation port being
substantially sealed to the cleaning bin when the robot is received
in the maintenance station for maintenance.
13. The cleaning robot system of claim 7 wherein the robot further
comprises an internal bin maintenance sensor that monitors the
contents of the robot cleaning bin for a maintenance condition, and
wherein the controller of the robot causes the robot to begin
seeking the maintenance station in order to dock and evacuate the
robot cleaning bin in response to the maintenance condition.
14. A cleaning robot system comprising: a robot comprising: a
chassis; a drive system mounted on the chassis and configured to
maneuver the robot as directed by a controller in communication
with the drive system; a cleaning head carried by the chassis and
including a mechanical agitator; and a cleaning bin carried by the
chassis; and a robot maintenance station comprising: a docking
platform configured to support the robot with the robot docked for
maintenance, an agitator comb arranged to engage the agitator of
the docked robot and configured to remove accumulated debris from
the agitator as the agitator comb and agitator are moved relative
to one another; a collection bin disposed more than one foot above
the docking platform; and an air pump that pumps air past the
agitator comb, the pumped air motivating debris removed by the
agitator comb into the collection bin.
15. The cleaning robot system of claim 14 wherein the air pump also
moves a flow of air that evacuates debris from the robot cleaning
bin.
16. The cleaning robot system of claim 14 wherein the mechanical
agitator of the robot comprises one or both of rotating bristle
brush members and a rotating pliable beater members.
17. The cleaning robot system of claim 14 wherein the agitator comb
comprises one or both of rotating bristle brush members and a
rotating pliable beater members.
18. The cleaning robot system of claim 14 wherein the agitator comb
comprises blades for severing filaments among the debris.
19. (canceled)
20. The cleaning robot system of claim 14 wherein the agitator comb
is rotated relative to the mechanical agitator of the robot.
21. A cleaning robot system comprising: a robot comprising: a
chassis; a drive system mounted on the chassis and configured to
maneuver the robot as directed by a controller in communication
with the drive system; a driven cleaning head rotatably carried by
the chassis; and a cleaning bin carried by the chassis and
configured to receive debris from the cleaning head during
cleaning; and a robot docking station comprising: a docking station
housing configured to receive the robot in a docked configuration
for robot maintenance; a debris collection bin; and a motorized
vacuum pump that draws air and debris from the robot cleaning bin
to deposit the debris into the debris collection bin; wherein the
collection bin and vacuum pump are removable from the docking
station housing as an assembly that also includes a graspable
handle and forms a manually operable vacuum cleaner.
22. The cleaning robot system of claim 21 wherein the housing of
the docking station fluidly connects the motorized vacuum pump to
the robot cleaning head to evacuate the robot cleaning head into
the collection bin of the manually operable vacuum cleaner.
23. The cleaning robot system of claim 21 wherein the housing of
the docking station fluidly connects a vacuum cleaner cleaning head
of the docking station to the robot cleaning head to evacuate the
robot cleaning bin into the collection bin of the manually operable
vacuum cleaner.
24. The cleaning robot system of claim 23 wherein the robot
cleaning head comprises a mechanical agitator and the station
cleaning head comprises at least one agitator comb, the housing of
the docking station mechanically connecting the agitator comb of
the cleaning head to the mechanical agitator of the robot cleaning
head to remove accumulated debris from the mechanical agitator.
25. The cleaning robot system of claim 24 wherein the mechanical
agitator comprises one or both of rotating bristle brush members
and a rotating pliable beater members.
26. The cleaning robot system of claim 24 wherein the agitator comb
comprises one or both of rotating bristle brush members and a
rotating pliable beater members.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This U.S. patent application claims priority under 35 U.S.C.
.sctn. 119(e) to U.S. provisional patent applications 60/747,791,
filed on May 19, 2006, 60/803,504, filed on May 30, 2006, and
60/807,442, filed on Jul. 14, 2006. The entire contents of the
aforementioned applications are hereby incorporated by
reference.
TECHNICAL FIELD
[0002] This disclosure relates to cleaning systems for coverage
robots.
BACKGROUND
[0003] Autonomous robots are robots which can perform desired tasks
in unstructured environments without continuous human guidance.
Many kinds of robots are autonomous to some degree. Different
robots can be autonomous in different ways. An autonomous coverage
robot traverses a work surface without continuous human guidance to
perform one or more tasks. In the field of home, office and/or
consumer-oriented robotics, mobile robots that perform household
functions such as vacuum cleaning, floor washing, lawn cutting and
other such tasks have become commercially available.
SUMMARY
[0004] In one aspect, a cleaning robot system includes a robot and
a robot maintenance station. The robot includes a chassis, a drive
system mounted on the chassis and configured to maneuver the robot
as directed by a controller in communication with the drive system,
and a cleaning assembly carried by the chassis. The cleaning
assembly includes a cleaning assembly housing and a driven cleaning
roller rotatably coupled to the cleaning assembly housing. The
robot maintenance station includes a station housing and a docking
platform carried by the station housing and configured to support
the robot when docked. A mechanical agitator engages the roller of
the robot with the robot docked. The agitator includes an agitator
comb having multiple teeth configured to remove accumulated debris
from the roller as the agitator comb and roller are moved relative
to one another. The robot maintenance station includes a collection
bin arranged to receive and hold debris removed by the mechanical
agitator.
[0005] Implementations of this aspect of the disclosure may include
one or more of the following features. In some examples, the robot
maintenance station includes a station evacuation port configured
to mate with the robot when the robot is received in the robot
maintenance station for maintenance and a motorized vacuum pump in
fluid communication with the collection bin and the station
evacuation port. The motorized vacuum pump is configured to draw
air into the vacuum pump and to evacuate accumulated debris removed
by the mechanical agitator cleaning assembly into the collection
bin. In some examples, the robot includes a downward facing
cleaning agitator and the docking platform includes a locking
assembly configured to secure the received robot to the platform so
that the mechanical agitator cleaning assembly does not force the
robot from the platform. The mechanical agitator cleaning assembly
may include one or more blades configured to cut accumulated
filaments off the roller. The mechanical agitator cleaning assembly
may include an actuator configured to move the agitator of the
docked robot. The cleaning robot system may include a vacuum
assembly configured to evacuate cut filaments off the mechanical
agitator cleaning assembly.
[0006] In another aspect, a cleaning robot system includes a robot
and a robot maintenance station. The robot includes a chassis, a
drive system mounted on the chassis and configured to maneuver the
robot as directed by a controller in communication with the drive
system, and a cleaning assembly carried by the chassis. The
cleaning assembly includes a cleaning assembly housing and a driven
cleaning roller rotatably coupled to the cleaning assembly housing.
The robot includes a cleaning bin carried by the chassis. The robot
maintenance includes a station housing configured to receive the
robot for maintenance. The station housing defines a blower port
and an evacuation port spaced from the blower port. The station
blower port and the evacuation port are both arranged to be exposed
to the robot cleaning bin when the robot is received in the
maintenance station for maintenance. The robot maintenance includes
a collection bin carried by the station housing and in fluid
communication with the evacuation port and an air pump that blows
air through the station blower port into the cleaning bin while
drawing air through the station evacuation port and evacuating
debris from the robot cleaning bin into the collection bin.
[0007] Implementations of this aspect of the disclosure may include
one or more of the following features. In some examples, the robot
maintenance station includes a mechanical agitator cleaning
assembly arranged to engage a driven cleaning agitator of the
cleaning head. The mechanical agitator cleaning assembly includes
an agitator comb having multiple teeth configured to remove
accumulated debris from the driven cleaning agitator as the
agitator comb and driven cleaning agitator are moved relative to
one another. A collection bin receives accumulated debris from the
agitator removed by the mechanical agitator cleaning assembly. The
robot cleaning bin may be removable from the robot and the
collection bin may be removable from the maintenance station. In
some implementations, the cleaning head includes a vacuuming
cleaning head configured to evacuate debris from the floor into the
cleaning bin. In some implementations, the cleaning head includes a
sweeping cleaning head configured to agitate debris from the floor
and sweep the debris into the cleaning bin. The maintenance station
may include a locking assembly configured to secure the robot with
the station blower port and the station evacuation ports. The
station blower port and the station evacuation ports are
substantially sealed to the cleaning bin when the robot is received
in the maintenance station for maintenance. In some
implementations, the robot includes an internal bin maintenance
sensor that monitors the contents of the robot cleaning bin for a
maintenance condition. The controller of the robot causes the robot
to begin seeking the maintenance station in order to dock and
evacuate the robot cleaning bin in response to the maintenance
condition.
[0008] In another aspect, a cleaning robot system includes a robot
and a robot maintenance station. The robot includes a chassis, a
drive system mounted on the chassis and configured to maneuver the
robot as directed by a controller in communication with the drive
system, a cleaning head carried by the chassis and including a
mechanical agitator, and a cleaning bin carried by the chassis. The
robot maintenance station includes a docking platform configured to
support the robot with the robot docked for maintenance and an
agitator comb arranged to engage the agitator of the docked robot
and configured to remove accumulated debris from the agitator as
the agitator comb and agitator are moved relative to one another.
The robot maintenance station includes a collection bin disposed
more than one foot above the docking platform and an air pump that
pumps air past the agitator comb. The pumped air motivates debris
removed by the agitator comb into the collection bin.
[0009] Implementations of this aspect of the disclosure may include
one or more of the following features. In some examples, the air
pump also moves a flow of air that evacuates debris from the robot
cleaning bin. The mechanical agitator may include one or both of
rotating bristle brush members and a rotating pliable beater
members. The agitator comb may include one or both of rotating
bristle brush members and a rotating pliable beater members. In
some examples, the agitator comb includes blades for severing
filaments among the debris. In other examples, the agitator comb
includes slicker teeth for severing filaments among the debris. The
agitator comb may be rotated relative to the mechanical
agitator.
[0010] In yet another aspect, a cleaning robot system includes a
robot and a robot docking station. The robot includes a chassis, a
drive system mounted on the chassis and configured to maneuver the
robot as directed by a controller in communication with the drive
system, a driven cleaning head rotatably carried by the chassis,
and a cleaning bin carried by the chassis and configured to receive
debris from the cleaning head during cleaning. The robot docking
station includes a docking station housing configured to receive
the robot in a docked configuration for robot maintenance, a debris
collection bin, and a motorized vacuum pump that draws air and
debris from the robot cleaning bin to deposit the debris into the
debris collection bin. The collection bin and vacuum pump are
removable from the docking station housing as an assembly that also
includes a graspable handle and forms a manually operable vacuum
cleaner.
[0011] Implementations of this aspect of the disclosure may include
one or more of the following features. In some examples, the
housing of the docking station fluidly connects the motorized
vacuum pump to the robot cleaning head to evacuate the robot
cleaning head into the collection bin of the manually operable
vacuum cleaner. In some implementations, the housing of the docking
station fluidly connects the a vacuum cleaner cleaning head of the
docking station to the robot cleaning head to evacuate the robot
cleaning bin into the collection bin of the manually operable
vacuum cleaner. In some examples, the robot cleaning head includes
a mechanical agitator and the vacuum cleaner cleaning head includes
at least one agitator comb. The housing of the docking station
mechanically connecting the agitator comb of the vacuum cleaner
cleaning head to the mechanical agitator of the robot cleaning head
to remove accumulated debris from the mechanical agitator. The
mechanical agitator may include one or both of rotating bristle
brush members and a rotating pliable beater members. The agitator
comb may include one or both of rotating bristle brush members and
a rotating pliable beater members.
[0012] The details of one or more implementations of the disclosure
are set fourth in the accompanying drawings and the description
below. Other features, objects, and advantages will be apparent
from the description and drawings, and from the claims.
DESCRIPTION OF DRAWINGS
[0013] FIG. 1 is a perspective view of a maintenance station and a
coverage robot.
[0014] FIG. 2 is a perspective view of a maintenance station.
[0015] FIG. 3 is a perspective view of a maintenance station and a
coverage robot.
[0016] FIGS. 4-5 are exploded views of maintenance stations.
[0017] FIG. 6A is a top view of a coverage robot.
[0018] FIG. 6B is a bottom view of a coverage robot.
[0019] FIG. 7 is a side view of a locking assembly.
[0020] FIG. 8 is a perspective view of a cleaning assembly of a
maintenance station.
[0021] FIG. 9 is a perspective view of a coverage robot with bin
evacuation ports.
[0022] FIGS. 10A-10B are side views of a coverage robot docking
with a maintenance station.
[0023] FIG. 11A is a perspective view of a coverage robot docking
with a maintenance station.
[0024] FIG. 11B is a side view of a coverage robot docking with a
maintenance station.
[0025] FIG. 12A is a perspective view of a coverage robot docking
with a maintenance station.
[0026] FIG. 12B is a side view of a coverage robot docking with a
maintenance station.
[0027] FIG. 12C is a schematic side view of a coverage robot having
a cleaning bin cover panel operating to clean a floor.
[0028] FIG. 12D is a schematic side view of a coverage robot having
a cleaning bin cover panel docked with a maintenance station.
[0029] FIG. 13A is a perspective view of a coverage robot docking
with a maintenance station.
[0030] FIG. 13B is a side view of a coverage robot docking with a
maintenance station.
[0031] FIG. 14A is a perspective view of a coverage robot docking
with a maintenance station.
[0032] FIG. 14B is a perspective view of a coverage robot docking
with a maintenance station.
[0033] FIG. 14C is a side view of a coverage robot docking with a
maintenance station.
[0034] FIG. 15A is a perspective view of a coverage robot docking
with a maintenance station.
[0035] FIG. 15B is a side view of a coverage robot docking with a
maintenance station.
[0036] FIG. 16A is a perspective view of a coverage robot docking
with a maintenance station.
[0037] FIG. 16B is a side view of a coverage robot docking with a
maintenance station.
[0038] FIG. 17A is a perspective view of a coverage robot docking
with a maintenance station.
[0039] FIG. 17B is a perspective view of a coverage robot docking
with a maintenance station.
[0040] FIG. 17C is a side view of a coverage robot docking with a
maintenance station.
[0041] FIG. 18A is a top view of a roller cleaning system.
[0042] FIG. 18B is a perspective view of a roller cleaning
system.
[0043] FIG. 18C is a side sectional view of a roller cleaning
tool.
[0044] FIG. 18D is a side view of a roller cleaning tool.
[0045] FIGS. 19A-19F are schematic views a coverage robot docking
with a maintenance station for servicing.
[0046] FIGS. 20A-21B are perspective views of maintenance
stations.
[0047] FIGS. 22A-22B are side views of maintenance stations and
docked coverage robots.
[0048] FIGS. 23A-24B are perspective views of hand held maintenance
stations.
[0049] FIG. 25A is a perspective view of a maintenance station with
a trash can portion.
[0050] FIG. 25B is a schematic view of a maintenance station with a
trash can portion.
[0051] FIGS. 26A-27B are perspective views a maintenance station
connectible to a house central vacuum system.
[0052] FIGS. 27A-27C are schematic views of an upright vacuum
cleaner configured to evacuate a coverage robot bin.
[0053] Like reference symbols in the various drawings indicate like
elements.
DETAILED DESCRIPTION
[0054] Referring to FIGS. 1-5, a maintenance station 100 for
maintaining a robotic cleaner 10 includes a station housing 120 and
a platform 122 on which the robot 10 is supported during servicing.
In some examples, the maintenance station 100 defines an inner bay
124 enclosing the platform 122 for housing the robot 10 during
servicing or for storage. A door 130 pivotally attached near the
bottom of the maintenance station 100 encloses an opening 126 into
the inner bay 124. The door 130 may be used as a ramp that the
robot 10 maneuvers up to reach the platform 122 (e.g., as shown in
FIG. 3). In some examples, the platform 120 includes an elevator
configured to elevate the robot 10 up into the station 100 to a
servicing position. The elevator may be a timing belt, four-bar
linkage, walking beam, or other mechanical device. The elevator is
most appropriate for robots having a brush or other mechanical
cleaning implement primarily accessible via a lower surface of the
robot. In such a case, the elevator elevates the robot 10 by a
sufficient amount (e.g., at least one brush diameter, and
preferably two brush diameters) such that mechanical servicing
members and their driving apparatus can work beneath the robot. In
examples where the platform 120 is not enclosed, e.g. FIG. 1, the
platform 122 is inclined extending upward from the ground, allowing
the robot 10 to maneuver up the platform 120 to a servicing
position.
[0055] The maintenance station 100 may include a user interface 140
disposed on the housing 120. In some implementations, the user
interface 140 is removably attachable to the housing 120 and
configured to wirelessly (e.g., via radio frequencies--"RF"-- or
infrared emissions--"IR") communicate to a communication module
1400 on the maintenance station 100, and/or to a compatible
communication facility on the robot 10.
[0056] The communication module 1400 includes an emitter 1403 and a
detector 1405 configured to emit and detect RF and/or IR signals,
which are preferably modulated and encoded with information.
Information to be transmitted from the communication module 1400
includes directional signals having a defined area of effect or
direction (e.g., homing signals detectable by the robotic cleaner
10 and used to locate and/or drive towards the source of the homing
signal), and command signals having encoded content including
remote commands (e.g., command or cleaning scheduling information
detectable by the robot 10 or navigation devices for the robot 10).
The user interface 140 includes buttons 142 and a display 144
allowing a user to input commands or instructions which are then
processed by a controller 170 of the maintenance station 100 (or by
the robot 10). The display 144 alerts the user to the status of the
maintenance station 100 and provides visual feedback in response to
commands and instructions inputted by the user. Preferably, the
user interface 140 is removable and remotely operable external from
the maintenance station 100 using the communication module 1400. In
some examples, the user interface 140 is permanently installed on
the maintenance station 100. Examples of indicators and controls
that may be included on the user interface 140 include power
on/off, a station bin full indicator, indicator for the robot on
carpet or hardwood (allowing orbit self-adjusting to the surface
demands), control to clean only the room the robot 10 or station
100 is placed in, return to station control, pause/resume cleaning,
zone control, and scheduling.
[0057] The maintenance station 100 includes a collection bin 150
attached to the housing 120. The collection bin 150 is different
from a (sweeper, vacuum, or combination) cleaner bin 50 located in
the robot 10 in that its primary purpose is to collect and
accumulate from the cleaner bin of a mobile robot 10. The
collection bin 150 is three to ten times the volumetric capacity of
the mobile robot bin 50. As shown in the examples illustrated in
FIGS. 1-5, the collection bin 150 may be integral with the housing
120 (FIG. 1), removably attached to a top portion of the housing
120 to be disengaged substantially parallel to the ground (FIG. 3),
removably attached to a front or overhanging portion of the housing
120 to be disengaged substantially parallel to the ground from
underneath the overhang (FIG. 4), or removably attached to the top
of the housing to be disengaged in a vertical direction (FIG.
5).
[0058] In the example shown in FIG. 5, the cleaning bin 150 is
received by a bin receptacle 152 defined by the housing 120. A
station cover 110 pivotally attached to the housing 120 encloses
the bin receptacle 152. In some cases, the top of the housing 120
defines the bin receptacle 152 and receives the station cover 110.
In other cases, the rear or side of the housing 120 defines the bin
receptacle 152 and receives the station cover 110. In some
examples, the station cover 110 is unhinged from the housing 120
for servicing the bin 150.
[0059] In some implementations, the maintenance station 100
includes a communication port 180. The port 180 may be installed
along a bottom side edge of the maintenance station 100 so as not
to interfere with nearby internal components. Example
configurations of the port 180 include RS232 serial, USB, Ethernet,
etc. The primary purpose of the communication port is (i)
permitting "flashing" of microcontroller code for controlling the
maintenance station 100 and (ii) permitting accessories to the
maintenance station 100 (such as an auxiliary brush cleaner
discussed herein) to be connected to and controlled along with the
maintenance station 100 and robot 10.
[0060] Referring to FIG. 3, the maintenance station 100 includes a
bin connecter 112 configured to mate with a corresponding bin
connector 154 on the collection bin 150. The bin connectors 112,
154 provide a flow path for evacuating debris from the robot bin 50
to the maintenance station collection bin 150.
[0061] Referring to FIGS. 6A-6B, the autonomous robotic cleaner 10
includes a chassis 31 which carries an outer shell 6. FIG. 6A
illustrates the outer shell 6 of the robot 10 connected to a bumper
5. The robot 10 may move in forward and reverse drive directions;
consequently, the chassis 31 has corresponding forward and back
ends, 31A and 31B respectively. The forward end 31A is fore in the
direction of primary mobility and in the direction of the bumper 5;
the robot 10 typically moves in the reverse direction primarily
during escape, bounces, and obstacle avoidance. A cleaning head
assembly 40 is located towards the middle of the robot 10 and
installed within the chassis 31. The cleaning head assembly 40
includes a main brush 60 and a secondary parallel brush 65 (either
of these brushes may be a pliable multi-vane beater or a have
pliable beater flaps 61 between rows of brush bristles 62). A
battery 25 is housed within the chassis 31 proximate the cleaning
head 40. In some examples, the main 65 and/or the secondary
parallel brush 60 are removable. In other examples, the cleaning
head assembly 40 includes a fixed main brush 65 and/or secondary
parallel brush 60, where fixed refers to a brush permanently
installed on the chassis 31.
[0062] Installed along either side of the chassis 31 are
differentially driven wheels 45 that mobilize the robot 10 and
provide two points of support. The forward end 31A of the chassis
31 includes a caster wheel 35 which provides additional support for
the robot 10 as a third point of contact with the floor and does
not hinder robot mobility. Installed along the side of the chassis
31 is a side brush 20 configured to rotate 360 degrees when the
robot 10 is operational. The rotation of the side brush 20 allows
the robot 10 to better clean areas adjacent the robot's side by
brushing and flicking debris beyond the robot housing in front of
the cleaning path, and areas otherwise unreachable by the centrally
located cleaning head assembly 40. A removable cleaning bin 50 is
located towards the back end 31B of the robot 10 and installed
within the outer shell 6.
[0063] Referring to FIG. 7, a lock assembly 260 may be installed on
the platform 122 for securing the robotic cleaner 10 to the
platform 122 via a corresponding lock assembly 72 on a bottom side
of robot chassis 31. Referring to FIG. 7, in some implementations,
a clip catch 74 is installed on the bottom of the robot chassis 31
and configured to mate with a clip 262 on the maintenance station
100. The clip 262 engages the catch 74 to lock the robot 10 in
place during servicing of the bin 50 and/or brushes or rollers 60,
65. In order to service brushes or rollers 60, 65 in particular, if
the robot 10 is elevated and the brushes 60, 65 available for
service at the bottom of the robot 10, the upward force of
rotating, reciprocating, or traversing cleaning tools as discussed
herein may lift a relatively light weight robot (e.g., a 3-15 lb
robot will be lifted by this much upward force). Accordingly, when
the robot 10 is elevated or brought to a brush service position,
the mating locking assemblies hold the robot 10 against this upward
force. Referring to FIG. 8, in some implementations, the lock
assembly 260 includes two protrusions or pegs 264 received by the
robot lock assembly 72 to anchor the robot 10. The lock assembly
260 may provide communication (e.g. via the pegs 264) between the
robot 10 and the maintenance station 100.
[0064] Once contacts on the underside of the robotic cleaner 10
connect with the contacts 264 on the platform 122, the maintenance
station 100 may emit a command signal to the robotic cleaner 10 to
cease driving. Alternatively, the robot's microcontroller and
memory may exercise primary control of the maintenance station and
robot combination. In response to the command signal, the robotic
cleaner 10 stops driving forward and emits a return signal to the
maintenance station 100 indicating that the drive system has shut
down. The maintenance station 100 then commences a locking routine
that mobilizes the locking assembly 260 to lock and secure the
robotic cleaner 10 to the platform 122. Again, alternatively, the
robot 10 may command the maintenance station to engage its
locks.
[0065] Referring to FIG. 8, a cleaning assembly 300 is carried by
the housing 120 and includes a bin evacuation (vacuuming) assembly
400 and a mechanical brush or roller cleaning assembly 500. The bin
evacuation assembly 400 is secured to the platform 122 and
positioned to engage an evacuation port assembly 80 of the cleaning
bin 50, as shown in FIG. 9. The evacuation port assembly 80 may
include a port cover 55. In some implementations, the port cover 55
includes a panel or panels 55A, 55B which may slide (or be
otherwise translated) along a side wall of the chassis 31 and under
or over side panels of the outer shell 6 to open the evacuation
port assembly 80. The evacuation port assembly 80 is configured to
mate with the corresponding evacuation assembly 400 on the
maintenance station 100. In some implementations, the evacuation
port assembly 80 is installed along an edge of the outer shell 6,
on a top most portion of the outer shell 6, on the bottom of the
chassis 31, or other similar placements where the evacuation port
assembly 80 has ready access to the contents of the cleaning bin
50. In some implementations, the evacuation assembly 400 includes a
manifold 410 defining a plurality of evacuation ports 80A, 80B, 80C
that are distributed across the entire volume of the cleaning bin
50, e.g., center evacuation port 480A and two side evacuation ports
480B and 480C on either side. The evacuation ports 480A, 480B, 480C
on the station 100 are configured to mate with corresponding
evacuation ports 80A, 80B, 80C on the robot cleaning bin 50,
preferably with a substantially air-tight vacuum seal. In some
examples, the evacuation port assembly 80 is disposed on a top or
bottom side of the cleaning bin 50. While evacuating from a
top-side evacuation port assembly 80, a suction placed on at least
one of the evacuation ports 80A, 80B, 80C tends to first draw
loosely packed material off a top layer of debris, followed by
successive layers of debris. Bin symmetry may aid bin
evacuation.
[0066] Referring to FIGS. 10A-10B, when the robot 10 maneuvers onto
the platform 122 to dock with the station 100 for servicing, the
robot 10 is guided or aligned so that the evacuation port assembly
80 on the robot cleaning bin 50 engages the station evacuation
assembly 400. The robot 10 may be guided by a homing signal, tracks
on the platform 122, guide rails, a lever, or other guiding
devices. The evacuation assembly 400 disengages the port cover 55
on the robot cleaning bin 50, in some examples, when the robot 10
docks with the station 100. In some implementations, each
evacuation port 480A, 480B, 480C draws debris out of the cleaning
bin 50. In other implementations, one or more evacuation ports
480A, 480B, 480C blow air into the cleaning bin 50, while one or
more evacuation ports 480A, 480B, 480C draw debris out of the
cleaning bin 50. For example, evacuation ports 480B and 480C blow
air into the cleaning bin 50, while evacuation port 480A draws
debris out of the cleaning bin 50. The evacuation manifold 410 is
connected to a debris line that directs evacuated debris to the
station bin 150. A filter 910 may be disposed at the intake of a
vacuum 900 that provides suction for the evacuation assembly
400.
[0067] Referring to FIGS. 11A-12B, in some implementations, the
robot 10 includes a port cover 55 accessible on a top side on the
robot 10 providing access to the cleaning bin 50. FIGS. 11A-11B
illustrate an example where the robot 10 docks with the forward
chassis end 31A facing toward the station 100. Upon docking, either
the robot 10 or the station 100 opens the port cover 55 to evacuate
debris up out of the top of the robot bin 50 and into the station
bin 150. FIGS. 12A-12B illustrate an example where the robot 10
docks with the rear chassis end 31B facing toward the station 100
to evacuate debris up out of the top of the robot bin 50 and into
the station bin 150. In both examples, the robot 10 maneuvers under
a portion of the station 100, which gains access to a top portion
of the robot bin 50. As shown in FIG. 12C, a robot 10 cleans along
the floor in the manner described herein, driven and supported by
wheels 35, 45. Within the outer shell 6, the primary brush 60 turns
in a direction opposite to forward travel, and the parallel
secondary brush 65 catches debris agitated by the primary brush 60
and ejects it up and over the primary brush 60 into the bin 50. A
squeegee vacuum may trail the primary brush 60, part of the bin 50.
A panel 55, in this configuration, may cover the top of the
brushes, with an angled surface within the chassis 31 or panel 55
to angle debris from the brushes 60, 65 into the bin 50. Referring
to FIG. 12C, in some instances, the bin 50 includes a bin-full
detection system 700 for sensing an amount of debris present in the
bin 50. In one implementation, the bin-full detection system
includes an emitter 755 and a detector 760 housed in the bin 50 and
in communication with the controller 49.
[0068] As shown in FIG. 12D (a variation upon FIGS. 11B and 12B),
the robot 10 may follow a platform 122 into the maintenance station
100. Once within or engaged with the maintenance station 100, the
panel 55 is moved aside to expose at least the primary brush 60 (to
expose any brushes which may accumulate filaments or fuzz,
including bristle type brushes). The maintenance station 100 may
lower, or locate in predetermined positions, brush-cleaning brush
or beater 530 and optionally parallel brush or beater 535. The
brush cleaning member/mechanism 530 engages the primary cleaning
brush 65, and is driven by a motor (not shown) in the maintenance
station 100 (or uses the brush 60 motor) to clean the brush 60. The
optional parallel brush 535 may catch the debris or filaments
agitated by the brush cleaning brush 530 and eject them up and over
the brush 530 to the collection bin 150 in the maintenance station
100. As discussed herein, the collection bin 150 may be a vacuum
bin, and include a vacuum filter 910 removable with the bin; may
engage the maintenance bin via ports 154, 112, and be evacuated by
a vacuum motor 900 in the maintenance station 100. In the
configuration shown in FIG. 12D, the vacuum 900 is a high powered
vacuum (e.g., 6-12 amp) that pulls air through the filter 910,
through the collection bin 150, over and through the brushes 530,
535, and optionally directly or diverted from the cleaning bin 30
of the robot 10. Optionally, the remaining areas of the robot 10
(e.g., circuit board areas) may benefit from evacuation as well,
and are not sealed from the vacuum.
[0069] Referring to FIGS. 13A-16B, in some implementations, the
robot 10 maneuvers onto an inclined platform 122 of the station 100
to provide access to an underside of the robot 10 for servicing the
cleaning bin 50. The station 100 evacuates debris down out of the
robot bin 50 and into the station bin 150. FIGS. 13A-13B illustrate
an example where the robot 10 docks with the station 100 with the
forward chassis end 31A facing forward on the platform 122 and
debris is evacuated down out of the bottom of the robot bin 50 into
the station bin 150. FIGS. 14A-14C illustrate an example where the
robot 10 docks with the station 100 with the rear chassis end 31B
facing forward on the platform 122 and debris is evacuated down out
of the bottom of the robot bin 50 into the station bin 150. FIGS.
15A-15B illustrate an example where the robot 10 docks with the
station 100 with the rear chassis end 31B facing forward on the
platform 122 and debris is evacuated down out of the bottom of the
robot bin 50 and then up into the station bin 150. FIGS. 16A-16B
illustrate an example where the robot 10 docks with the station 100
with the forward chassis end 31A facing forward on the platform 122
and debris is evacuated down out of the bottom of the robot bin 50
and then up into the station bin 150.
[0070] Referring to FIGS. 17A-17C, in some implementations, the
robot 10 docks with the rear chassis end 31B facing toward the
station 100 to evacuate debris out of the rear of the robot bin 50
and into the station bin 150. The station bin 150 may be located
above, below, or level with the robot bin 50.
[0071] In any of the examples described, the evacuation station 100
may evacuate the robot bin to with a sweeper device (e.g. rotating
bush or sweeper arm), in conjunction with or instead of vacuuming.
In particular, the maintenance station mechanical service
structures illustrated in FIGS. 8, 12D, 18A-18C may mechanically
service brushes, flappers, beaters, or other rotating or
reciprocating cleaning agitators in situ in the robot 10 from the
top, bottom, or sides of the robot 10, and/or with the cleaning
agitators being articulated to protrude from the robot 10; and/or
wholly removed from the robot 10 as a cartridge unit or as a plain
brush; and/or with the mechanical service structures being
stationary or articulated to intrude into the shell 6 of the robot
10.
[0072] Referring to FIGS. 8 and 18A-18D, in some implementations,
the platform 122 defines an opening 123 which provides access for
the roller cleaning assembly 500 to the cleaning head assembly 40
of the robot 10 for servicing the main 65 brush and/or the
secondary brush 60 (optionally included or the robot 10). The
roller cleaning assembly 500 includes a driven linear slide guide
502 carrying a cleaning head cleaner 510 and/or a trimmer 520. In
some examples, the driven linear slide guide 502 includes a guide
mount or rail follower 503 carrying the cleaning head cleaner 510
and slidably secured to a shaft or rail 504. The rail follower 503
is driven by a motor 505 via a belt (as shown), lead screw, rack
and pinion, or any other linear motion drive. A rotator 530 rotates
the roller 60, 65 during cleaning. The maintenance station 100
includes a controller 1000 in communication with the communication
module 1400 and the cleaning assembly 300 that may control the
agitation and cleaning processes, set an order of events, and
otherwise drive the mechanical and vacuum cleaning facilities
described herein in an appropriate order.
[0073] The cleaning head cleaner 510, in some examples, includes a
series of teeth or combs 512 configured to strip filament and
debris from a roller 60, 65. In some implementations, the cleaning
head cleaner 510 includes one or more flat, semi-tubular or
quarter-tubular tools 511 having teeth 512, dematting rakes 514,
combs, or slicker combs. The tubular tool 511 may be independently
driven by one or more servo, step or other motors 505 and
transmissions (which may be a belt, chain, worm, ball screw,
spline, rack and pinion, or any other linear motion drive). In some
examples, the roller 60, 65 and the cleaning head cleaner 510 are
moved relative to one another. In other examples, the cleaning head
cleaner 510 is fixed in place while the roller 60, 65 is moved over
the cleaning head cleaner 510.
[0074] The roller 60, 65 is placed adjacent the cleaning head
cleaner 510, either while in situ in the robot 10, in a removable
cleaning head cartridge 40, or as a stand alone roller 60, 65
removed from the robot 10. If the roller 60, 65 is part of a
removable cleaning head cartridge 40, the cleaning head cartridge
40 is removed from the robot 10 and placed in the station 100 for
cleaning. Once the roller 60, 65 is positioned in the station 100
for cleaning, the station 100 commences a cleaning routine
including traversing the cleaning head 510 over the roller 60, 65
such that the teeth 512, dematting rakes 514, combs, or slicker
combs, separately or together, cut and remove filaments and debris
from the roller 60, 65. In one example, as the cleaning head 510
traverses over the roller 60, 65, the teeth 512 are actuated in a
rotating motion to facilitate removal of filaments and debris from
the roller 60, 65. In some examples, an interference depth of the
teeth 512 into the roller 60, 65 is variable and progressively
increases with each subsequent pass of the cleaning head 510.
[0075] FIG. 18C illustrates an example semi-tubular tool 600 having
first and second ends, 601 and 602 respectively. The first end 601
of the tool 600 defines a semi-bell shaped opening 605. The
semi-tubular tool 600 includes teeth 610 disposed along an inner
surface 603. In some implementations, the semi-tubular tool 600
includes trailing comb teeth 620, which may grab and trap remaining
loose strands of hair or filaments missed or released by the teeth
610. The trailing comb teeth 620 may be more deformable, deeper,
thinner, or harder (and vice versa) than the teeth 250 to scrape or
sweep exterior surfaces of the roller 60.
[0076] FIG. 18D demonstrates a semi-tubular tool 600 in use. The
semi-bell shaped opening 605 of the tool 600 is applied toward the
roller 60 having bristles 61, facilitating entry of the roller 60
into the tool 60. In cases where the roller 60 includes inner
pliable flaps 62, the semi-bell shaped opening 605 is at least
slightly larger in diameter than the axial extension or spooling
diameter of inner pliable flaps 62. Along the length of the tool
60, the tool 60 narrows to a constant, main diameter, and the inner
pliable flaps 62 are deformed by the main inner diameter of the
tool 600. In some implementations, the tool 600 defines inner
protrusions 615 to deform the bristles 61 and/or the inner pliable
flaps 62. Any filaments or hairs collected about the spooling
diameter are positioned where they will be caught by the
approaching teeth 610 (which extend into the tool 60 to a point
that is closer to the roller axis than the undeformed flaps 62, but
farther away than an end cap 63). Two kinds of teeth 610 are shown
in FIG. 18D, triangular forward canted teeth 610A with a straight
leading profile, and shark-tooth forward canted teeth 610B with a
curved entry portion or hook, e.g., a U or J-shaped profile on the
leading edge of each tooth, opening toward the roller 60 in the
direction of tube application. Either or both teeth 610A, 610B may
be used, in groups or otherwise. After one or more passes of the
tool 600 over the roller 60, the station 100 retracts the tool 600
to a position for tool cleaning and evacuation of debris off the
tool 600 and into the station bin 150.
[0077] Referring back to FIG. 1B, in some implementations, the
robot 10 includes a communication module 90 installed on the bottom
of the chassis 31. The communication module 90 provides a
communication link between the communication module 1400 on the
maintenance station 100 and the robot 10. The communication module
90 of the robot 10, in some instances, includes both an emitter and
a detector, and provides an alternative communication path while
the robot 10 is located within the maintenance station 100. In some
implementations, the robot 10 includes a roller full (brush
service) sensor assembly 85 installed on either side of and
proximate the cleaning head 40, with a detection path extending
along the length of the brush or roller to detect accumulations of
filaments or fuzz along the length of the brush or roller. The
roller full (brush service) sensor assembly 85 provides user and
system feedback regarding a degree of filament wound about the main
brush 65, the secondary brush 60, or both. The roller full sensor
assembly 85 includes an emitter 85A for emitting modulated beams
and a detector 85B configured to detect the beams. The emitter 85A
and detector 86B are positioned on opposite sides of the cleaning
head roller 60, 65 and aligned to detect filament wound about the
cleaning head roller 60, 65. The roller full sensor assembly 85
includes a signal processing circuit configured to receive and
interpret detector output. In some examples, the roller full sensor
system 85 detects when the roller 60, 65 has accumulated filaments,
when roller effectiveness has declined, or when a bin is full (as
disclosed in U.S. Provisional Patent No. 60/741,442, filed Dec. 2,
2005, and herein incorporated by reference in its entirety),
trigging the return of the robot to a maintenance station 100, as
described herein, and notifying the robot 10 or maintenance station
100 that the brush(es) 60, 65 require service or cleaning. As
discussed herein, a head cleaning tool 600 configured to clear
debris from the cleaning roller 60, 65 in response to a timer, a
received command from a remote terminal, the roller full sensor
system 85, or a button located on the chassis/body 31 of the robot
10.
[0078] Once a cleaning cycle is complete, either via the roller
full sensor system 85 or visual observation, the user can open the
wire bale and pull out the roller(s) 60, 65. The roller(s) 60, 65
can then be wiped clean off hair and inserted back in place.
[0079] Referring to FIGS. 19A-F, in some implementations, the robot
10 includes a removable cleaning head cartridge 40, which includes
at least one cleaning roller 60, 65. When the robot 10 determines
that cleaning head or cleaning head cartridge 40 needs servicing
(e.g. via a bin service, brush service, or roller full detection
system 85, a bin full detection system, or a timer) the robot 10
initiates a maintenance routine. Step S19-1, illustrated in FIG.
19A, entails the robot 10 approaching the cleaning station 100 with
the aid of a navigation system. In one example, the robot 10
navigates to the cleaning station 100 in response to a received
homing signal emitted by the station 100. Docking, confinement,
home base, and homing technologies discussed in U.S. Pat. Nos.
7,196,487; 7,188,000 or U.S. Patent Application Publication No.
20050156562 are suitable homing technologies. In step S19-2,
illustrated in FIG. 19B, the robot 10 docks with the station 100.
In the example shown, the robot 10 maneuvers up a ramp 122 and is
secured in place by a locking assembly 260. In step S19-3,
illustrated in FIG. 19C, the dirty cartridge 40A is automatically
unloaded from the robot 10, either by the robot 10 or the cleaning
station 100, into a transfer bay 190 in the cleaning station 100.
In some examples, the dirty cartridge 40A is manually unloaded from
the robot 10 and placed in the transfer bay 190 by a user. In other
examples, the dirty cartridge 40A is automatically
unloaded/discharged from the robot 10, but manually placed in the
transfer bay 190 by the user. In step S19-4, illustrated in FIG.
19D, the cleaning station 100 exchanges a clean cartridge 40B in a
cleaning bay 192 with the dirty cartridge 40A in the transfer bay
190. In one example, the cartridges 40A, 40B are moved by
automation in the station 100. In another example, the transfer bay
190 and associated dirty cartridge 40A is automatically swapped
with the cleaning bay 192 and associated clean cartridge 40B. In
step S19-5, illustrated in FIG. 19E, the cleaning station 100
automatically transfers the clean cartridge 40B into the robot 10.
In some examples, the user manually transfers the clean cartridge
40B from the transfer bay 190 into the robot 10. In step S19-6,
illustrated in FIG. 19F, the robot 10 exits the station 100 and may
continue a cleaning mission. Meanwhile, the dirty cartridge 40A in
the station 100 is cleaned. The automated cleaning process may be
slower than by hand, require less power, clean more thoroughly, and
perform quietly (e.g. by taking many slow passes over the roller
60, 65).
[0080] Referring to FIGS. 20A-25B, a maintenance station 1100
evacuates the robot collection bin 50, but does not perform
maintenance on the cleaning head assembly 40. FIGS. 20A-21B
illustrate examples of the maintenance station 1100 including a
station base 1102 and a handheld vacuum 1110 removably secured to
the station base 1102. The base 1102 includes an evacuation
assembly 400 in communication with the handheld vacuum 1110, while
attached thereto. The handheld vacuum 1110 having a handle 1111
either manually (e.g. via operator control) or automatically
evacuates the robot bin 50, once the robot 10 docks with the
maintenance station 1100. The station base 1102 may include a
locking assembly 260 for securing and/or communicating with the
robot 10. While detached from the station base 1102, the handheld
vacuum 1110 functions as a normal vacuum cleaner. In some examples,
the handheld vacuum 1110 includes a vacuum hose 1112 and/or a
cleaning head 1105 for cleaning surfaces. The station base 1102 may
defines receptacles 1104 for receiving and storing vacuum
attachments 1114. In some implementations, the station base 1102
includes a separate station bin 1150 from the handheld vacuum
1110.
[0081] FIGS. 22A-24B illustrate an example of the maintenance
station 1100 including a handheld vacuum 1110 configured to be
received directly by the bin 50 of the robot 10 for evacuation of
debris out of the bin 50 and into the station bin 1150. In FIG.
21A, the maintenance station 1100 includes a station base 1102. In
FIGS. 21B-24B, the maintenance station 1100 does not include a
station base 1102. Instead, the handheld vacuum 1110 either
supports itself or is held by a user during bin evacuation. A house
attachment 1120 may be used to aid bin evacuation.
[0082] FIGS. 25A-25B illustrates an example of a maintenance
station 1200 configured as a trash container or other utility
"furniture". The maintenance station 1200 includes a docking
portion 1202 and a trash can portion 1210 including a trash can lid
1212. The docking portion 1202 is configured to evacuate debris
from the docked robot bin 50 directly into a trash receptacle of
the trash can portion 1210. The trash receptacle is accessible by
the user for depositing other refuse as well. In some
implementations, the trash can portion 1210 includes a trash
compactor that periodically (or upon user command) compacts refuse
in the trash can portion 1210. In such a case, the robot 10 may
follow a platform 122 into a maintenance station 100 that includes
a trash can portion 1210 (in this case, the maintenance station 100
may also be wholly enclosed in or part of the trash can 1200). Once
within or engaged with the maintenance station 100, the panel 55 is
moved aside to expose at least the primary brush 60 (to expose any
brushes which may accumulate filaments or fuzz, including bristle
type brushes). The docking portion 1202 may lower, or locate in
predetermined positions, brush-cleaning brush or beater 530. The
brush cleaning member/mechanism 530 engages the primary cleaning
brush 65 of the robot 10, and is driven by a motor (not shown) in
the maintenance station 100. The debris or filaments agitated by
the brush cleaning brush 530 are collected in the trash can portion
via ducting and hoses, entering a collection bin 150. FIG. 25B
depicts alternative or combinable variations: a variation in which
the collection bin 150 is a smaller bin accessible by opening the
trash can lid 1212 (i.e., proximate the lid 1212); and a variation
in which the collection bin 150 is replaced by or auxiliary to a
container or receptacle for ordinary bin liners 150A or, e.g., 30
liter kitchen bags. In either variation (and generally herein as a
replacement for a vacuum-bag or filter vacuum system), a cyclonic
or other circulatory bagless vacuuming system that diverts debris
using centripetal acceleration of debris may be used to divert the
debris from the vacuum filter or flow. In each case, the smaller
collection bin 150 may periodically (by timer, and/or full status
as measured by a capacity sensor; and or every time the trash can
lid 1212 is opened) be emptied into the main bin line 150, e.g., by
opening a panel or door with a solenoid, motor, clutch, linkage to
the lid 1212 and driven by lifting the lid 1212, or other actuator.
As discussed herein, the collection bin 150 may be a vacuum bin,
and include a vacuum filter 910 removable with the bin or removable
separately from the trash can portion 1210 and is evacuated by a
vacuum motor 900 in the maintenance station 100/trash can portion
1210. In the configuration shown in FIG. 25B, the vacuum 900 is a
high powered vacuum (e.g., 6-12 amp) that pulls air through the
filter 910 and via the collection bin 150, through ducting and
hoses along or within the trash can portion 1210, over and through
the brush 530, and optionally directly or diverted from the
cleaning bin 30 of the robot 10. Optionally, the remaining areas of
the robot 10 (e.g., circuit board areas) may benefit from
evacuation as well, and are not sealed from the vacuum.
[0083] FIGS. 26A-26B illustrate an example of a wall mounted
maintenance station 1300 to which the robot 10 docks for bin
evacuation. The wall mounted maintenance station 1300 may be
connected to a central vacuum system of a house or stand alone with
a station bin 1350. A door 1312 pivotally attached to a station
housing 1310 provides access to interior portions of the station
housing 1310, which may house the station bin 1350 (if not
connected to a central vacuum system), hoses, and vacuum
attachments.
[0084] FIGS. 27A-27C illustrate an example where an upright vacuum
cleaner 1400 is configured to evacuate the robot bin 50. The
upright vacuum cleaner 1400 includes a vacuum head 1410 configured
to mate with the robot bin 50 for evacuation of the bin 50. In such
a case, the robot 10 may follow a platform 122 into a maintenance
station 100 that receives the upright 1400 (in this case, the
maintenance station 100 may also be wholly enclosed in or part of
the upright 1400). Once within or engaged with the maintenance
station 100, the panel 55 is moved aside to expose at least the
primary brush 60 (to expose any brushes which may accumulate
filaments or fuzz, including bristle type brushes). The maintenance
station/upright 1400 may lower, or locate in predetermined
positions, brush-cleaning brush or beater 530. The brush cleaning
member/mechanism 530, in this case the upright's main cleaning
brush or beater, engages the primary cleaning brush 65 of the robot
10, and is driven by a motor (not shown) in the maintenance station
100/upright 1400, the same motor usually used to rotate the brush
cleaning member 530 in its role as the main beater or cleaning
brush of the upright 1400. The debris or filaments agitated by the
brush cleaning brush 530 are collected in the upright via ducting
and hoses, entering the collection bin 150 in the maintenance
station 100/upright 1400, in this case the collection bin 150 being
the same as the main cleaning bin of the upright. As discussed
herein, the collection bin 150 may be a vacuum bin, and include a
vacuum filter 910 removable with the bin or removable separately
from the upright 1400 and is evacuated by a vacuum motor 900 in the
maintenance station 100. In the configuration shown in FIG. 27C,
the vacuum 900 is a high powered vacuum (e.g., 6-12 amp) that pulls
air through the filter 910 and via the collection bin 150, through
ducting and hoses along or within the upright handle and cleaning
head assembly, over and through the brush 530, and optionally
directly or diverted from the cleaning bin 30 of the robot 10.
Optionally, the remaining areas of the robot 10 (e.g., circuit
board areas) may benefit from evacuation as well, and are not
sealed from the vacuum.
[0085] Other details and features combinable with those described
herein may be found in the following U.S. patent applications filed
concurrently herewith, entitled "COVERAGE ROBOTS AND ASSOCIATED
CLEANING BINS" having assigned Ser. No. 11/751,267; and "CLEANING
ROBOT ROLLER PROCESSING" having assigned Ser. No. 11/751,413, the
entire contents of the aforementioned applications are hereby
incorporated by reference.
[0086] A number of implementations have been described.
Nevertheless, it will be understood that various modifications may
be made without departing from the spirit and scope of the
disclosure. Accordingly, other implementations are within the scope
of the following claims.
* * * * *