PATENT
`Customer No. 7 4,863
`Attorney Docket No. 1007.0013-01000
`
`IN THE UNITED STATES PATENT AND TRADEMARK OFFICE
`
`Commissioner for Patents
`P.O. Box 1450
`Alexandria, VA 22313-1450
`
`Prior Application Art Unit: 3723 Prior Application Examiner: David A Redding
`
`SIR: This is a request for filing a
`~Continuation D Continuation-in-Part D Divisional Application under 37 C.F.R.
`§ 1.53(b) of pending prior Application No. 10/818,073 filed April 5, 2004 of Joseph L.
`Jones et al. for AUTONOMOUS FLOOR CLEANING ROBOT.
`
`1.
`
`2.
`
`3.
`
`4.
`
`Enclosed is a complete copy of the prior application including the oath or
`Declaration and drawings, if any, as originally filed. I hereby verify that the
`attached papers are a true copy of prior Application No. 10/818,073 as
`originally filed on April 5, 2004, which is incorporated herein by reference.
`
`D
`
`Enclosed is a Request for Non-Publication of Application and Certification
`Under 35 U.S.C. § 122(b)(2)(B)(i).
`
`A Preliminary Amendment is enclosed.
`
`The filing fee is calculated on the basis of the claims existing in the prior
`application as amended in the Preliminary Amendment filed herewith.
`
`1
`
`Shenzhen Zhiyi 1002
`
`

`

`Basic Utility Application Filing Fee
`
`Search Fee
`
`Examination Fee
`
`Number of Claims
`
`Basic
`
`Extra
`
`Page 2 of 3
`
`$310
`
`$510
`
`$210
`
`$ 310.00
`
`$ 510.00
`
`$ 210.00
`
`Total Claims
`
`19 -
`4 -
`Independent Claims
`D Presentation of Multiple Dep. Claim(s)
`Total Application Pages
`(specification, drawings, printed
`sequence or computer listing, and
`preliminary amendment)
`Subtotal
`
`58
`
`Reduction by% if small entity
`
`TOTAL APPLICATION FILING FEE
`
`20
`
`3
`
`0 x$ 50
`
`1 x $210
`
`210.00
`
`+ $370
`
`If over 100 pages, add $260
`for each additional 50 pages
`or fraction thereof.
`
`$ 1240.00
`
`-
`
`$ 1240.00
`
`5.
`
`6.
`
`7.
`
`8.
`
`9.
`
`D
`
`~
`D
`
`10. D
`
`11. ~
`
`The above Application Filing Fee is paid via credit card charge.
`
`The Commissioner is hereby authorized to charge any fees, except the
`issue fee, which may be required including fees due under 37 C.F.R.
`§ 1.16 and any other fees due under 37 C. F. R. § 1.17, or credit any
`overpayment during the pendency of this application to Deposit Account
`No. 50-4126.
`
`New acceptable drawings are enclosed.
`
`The prior application is assigned of record to: iRobot Corporation.
`
`Priority of Application No. [Text], filed on [Text] in [Country] is claimed
`under 35 U.S.C. § 119. A certified copy
`D is enclosed or D is on file in the prior application.
`Small entity status is appropriate and applies to this application.
`
`Please address all correspondence to O'BRIEN JONES PLLc, Customer
`Number 74,863.
`
`2
`
`2
`
`

`

`Page 3 of 3
`
`12. ~
`
`Also enclosed are an Application Data Sheet and an Information
`Disclosure Statement.
`
`PETITION FOR EXTENSION. If any extension of time is necessary for the filing of this
`application, including any extension in parent Application No. 10/818,073, filed April 5,
`2004, for the purpose of maintaining copendency between the parent application and
`this application, and such extension has not otherwise been requested, such an
`extension is hereby requested, and the Commissioner is authorized to charge
`necessary fees for such an extension to Deposit Account No. 50-4126. A duplicate
`copy of this paper is enclosed for use in charging the deposit account.
`
`O'BRIEN JONES PLLC
`
`Dated: August 29, 2008
`
`By: /Jill DeMello Hill, Reg. No. 42,477/
`Jill DeMello Hill
`Reg. No. 42,477
`
`3
`
`3
`
`

`

`PATENT
`Customer No. 7 4,863
`Attorney Docket No. 1007.0013-01000
`
`IN THE UNITED STATES PATENT AND TRADEMARK OFFICE
`
`Parent Group Art Unit: 3723
`
`Parent Examiner: David A Redding
`
`In re 37C.F.R.§1.53(b) Continuation
`Application of U.S. Application No. 10/818,073
`
`Inventors: Joseph L. JONES et al.
`
`Application No.: To be Assigned
`
`Filed: August 29, 2008
`
`For: AUTONOMOUS FLOOR CLEANING
`ROBOT
`Commissioner for Patents
`P.O. Box 1450
`Alexandria, VA 22313-1450
`
`Sir:
`
`PRELIMINARY AMENDMENT
`
`Please amend the above-identified patent application as follows:
`
`Amendments to the Specification are included in this paper.
`
`Amendments to the Claims are reflected in the listing of claims in this paper.
`
`4
`
`

`

`AMENDMENTS TO THE SPECIFICATION:
`
`Please replace the first paragraph starting at page 1, line 1, with the following
`
`new paragraph:
`
`This is a division of U.S. Non-Provisional Patent Application No. 10/818,073 filed
`
`April 5, 2004, which is a continuation of U.S. Non-Provisional Patent Application No.
`
`10/320,729 filed December 16, 2002 and which claims priority to U.S. Provisional
`
`Patent Application No. 60/345,764 filed January 3, 2002, the disclosures of which are
`
`incorporated herein by reference in their entireties. The subject matter of this
`
`application is also related to commonly-owned U.S. Patent No. 6,615,439 filed January
`
`24, 2001, U.S. Patent No. 6,809,490 filed June 12, 2002, and U.S. Patent No.
`
`6,690, 134 filed January 24, 2002.
`
`2
`
`5
`
`

`

`AMENDMENTS TO THE CLAIMS:
`
`This listing of claims will replace all prior versions and listings of claims in the
`
`application:
`
`Claims 1-77. (Canceled).
`
`78.
`
`(New) A floor cleaning robot comprising:
`
`a housing;
`
`wheels and at least one motor to drive the wheels disposed at least partially
`
`within the housing and configured to move the floor cleaning robot across a floor;
`
`a control module disposed within the housing and directing movement of the floor
`
`cleaning robot across the floor;
`
`at least one sensor for detecting an obstacle and communicating obstacle
`
`information to the control module so that the control module can cause the floor
`
`cleaning robot to react to the obstacle;
`
`a removable bin disposed at least partially within the housing and configured to
`
`receive particulates;
`
`a first rotating member configured to direct particulates toward the bin; and
`
`a second rotating member configured to cooperate with the first rotating member
`
`to direct particulates toward the bin;
`
`3
`
`6
`
`

`

`wherein the removable bin is configured to receive 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, and
`
`wherein, during cleaning, the weight of the floor cleaning robot overcomes a
`
`force exerted by a member biasing one or more of the wheels to an extended position.
`
`79.
`
`(New) The floor cleaning robot of claim 78, further comprising an air
`
`moving system disposed at least partially within the housing and configured to ingest
`
`particulates and direct particulates toward the removable bin.
`
`80.
`
`(New) The floor cleaning robot of claim 79, wherein the first rotating
`
`member cooperates with the air moving system to direct particulates toward the bin.
`
`81.
`
`(New) The floor cleaning robot of claim 79, wherein air moved by the air
`
`moving system passes through a filter before exiting the housing.
`
`82.
`
`(New) The floor cleaning robot of claim 78, wherein the second rotating
`
`member is disposed at least partially within the housing and is spaced from the floor a
`
`greater distance than the first rotating member.
`
`4
`
`7
`
`

`

`83.
`
`(New) The floor cleaning robot of claim 78, wherein the first rotating
`
`member contacts the floor and agitates particulates and directs the particulates toward
`
`the second rotating member.
`
`84.
`
`(New) The floor cleaning robot of claim 83, wherein the second rotating
`
`member is positioned to receive particulates from the first rotating member and direct
`
`the particulates toward the removable bin.
`
`85.
`
`(New) The floor cleaning robot of claim 78, wherein the first rotating
`
`member is a brush.
`
`86.
`
`(New) The floor cleaning robot of claim 85, wherein the second rotating
`
`member includes a central member and two or more blade-like members extending
`
`therefrom.
`
`87.
`
`(New) A floor cleaning robot comprising:
`
`a housing;
`
`wheels and at least one motor disposed at least partially within the housing and
`
`configured to move the floor cleaning robot across a floor;
`
`a control module disposed within the housing and directing movement of the floor
`
`cleaning robot across the floor;
`
`5
`
`8
`
`

`

`at least one sensor for detecting an obstacle and communicating obstacle
`
`information to the control module so that the control module can cause the floor
`
`cleaning robot to react to the obstacle;
`
`a removable bin disposed at least partially within the housing and configured to
`
`receive particulates;
`
`a rotating brush configured to agitate particulates and direct particulates toward a
`
`rotating member having a central member and two or more blade-like members
`
`extending therefrom, the rotating member configured to cooperate with the rotating
`
`brush to direct particulates from the rotating brush toward the bin;
`
`wherein the removable bin is configured to receive particulates directed thereto
`
`by the rotating brush and the rotating member, and the particulates pass from the
`
`rotating brush to the removable bin without passing through a filter.
`
`88.
`
`(New) The floor cleaning robot of claim 87, further comprising an air
`
`moving system disposed at least partially within the housing and configured to ingest
`
`particulates.
`
`89.
`
`(New) The floor cleaning robot of claim 88, wherein the rotating brush
`
`cooperates with the air moving system to direct particulates toward the bin.
`
`90.
`
`(New) The floor cleaning robot of claim 88, wherein air moved by the air
`
`moving system passes through a filter before exiting the housing.
`
`6
`
`9
`
`

`

`91.
`
`(New) The floor cleaning robot of claim 87, wherein the rotating member
`
`is disposed at least partially within the housing and is spaced from the floor a greater
`
`distance than the rotating brush.
`
`92.
`
`(New) The floor cleaning robot of claim 87 wherein, during cleaning, the
`
`weight of the floor cleaning robot overcomes a force exerted by a member biasing one
`
`or more of the wheels to an extended position.
`
`93.
`
`(New) The floor cleaning robot of claim 92, wherein the second rotating
`
`member is positioned to receive particulates from the first rotating member and direct
`
`the particulates toward the removable bin.
`
`94.
`
`(New) A method for directing particulates from a floor into a bin, the
`
`method comprising:
`
`moving a housing across a floor;
`
`sensing obstacles;
`
`causing the housing to avoid the sensed obstacles;
`
`agitating particulates from the floor and directing the particulates toward a
`
`rotating member disposed at least partially within the housing and having a central
`
`member and two or more blade-like members extending therefrom;
`
`7
`
`10
`
`

`

`rotating the rotating member to direct particulates toward a removable bin
`
`disposed at least partially within the housing;
`
`generating a negative pressure to direct agitated particulates toward the
`
`removable bin;
`
`holding particulates in the removable bin; and
`
`filtering air used to direct particulates toward the rotating bin after particulates
`
`carried by the air are held by the removable bin.
`
`95.
`
`(New) A floor cleaning robot comprising:
`
`a housing;
`
`wheels and at least one motor to drive the wheels disposed at least partially
`
`within the housing and configured to move the floor cleaning robot across a floor;
`
`a control module disposed within the housing and directing movement of the floor
`
`cleaning robot across the floor;
`
`at least one sensor for detecting an obstacle and communicating obstacle
`
`information to the control module so that the control module can cause the floor
`
`cleaning robot to react to the obstacle;
`
`a removable bin disposed at least partially within the housing and configured to
`
`receive particulates;
`
`a rotating member configured to direct particulates toward the bin; and
`
`an air moving system creating a negative pressure and including an impeller
`
`configured to cooperate with the rotating member to direct particulates toward the bin;
`
`8
`
`11
`
`

`

`wherein the removable bin is configured to receive particulates directed thereto,
`
`and the particulates pass from the first rotating member to the removable bin without
`
`passing through a filter, and
`
`wherein, during cleaning, the weight of the floor cleaning robot overcomes a
`
`force exerted by a member biasing one or more of the wheels to an extended position.
`
`96.
`
`(New) The floor cleaning robot of claim 95, wherein air moved by the air
`
`moving system passes through a filter before exiting the housing.
`
`97.
`
`(New) The floor cleaning robot of claim 95, wherein the impeller is
`
`disposed at least partially within the housing and is spaced from the floor a greater
`
`distance than the rotating member.
`
`9
`
`12
`
`

`

`REMARKS
`
`The application has been amended to insert the required reference to the parent
`
`applications, for which benefit is claimed, of this new continuing application. Original
`
`claims 1-77 have been canceled and new claims 78-97 have been added. Support for
`
`the subject matter of the new claims can be found throughout the originally-filed
`
`disclosure.
`
`Please grant any extensions of time required to enter this paper and charge any
`
`additional required fees to Deposit Account 50-4126.
`
`Respectfully submitted,
`
`O'BRIEN JONES PLLC
`
`Dated: August 29, 2008
`
`By: /Jill DeMello Hill, Reg. No. 42,477/
`Jill DeMello Hill
`Reg. No. 42,477
`
`10
`
`13
`
`

`

`Application Data Sheet
`
`Application Information
`
`Application Type::
`
`Subject Matter::
`
`Suggested Group Art Unit::
`
`CD-ROM or CD-R?::
`
`Sequence submission?::
`
`Regular
`
`Utility
`
`3723
`
`None
`
`None
`
`Computer Readable Form (CRF)?::
`
`No
`
`Title::
`
`Autonomous Floor-Cleaning Robot
`
`Attorney Docket Number::
`
`1007.0013-01000
`
`Request for Early Publication?::
`
`Request for Non-Publication?::
`
`Suggested Drawing Figure::
`
`Total Drawing Sheets::
`
`Small Entity?::
`
`Petition included?::
`
`Secrecy Order in Parent Appl.?::
`
`Applicant Information
`
`Applicant Authority Type::
`
`Primary Citizenship Country::
`
`Status::
`
`Given Name::
`
`Middle Name::
`
`Family Name::
`
`City of Residence::
`
`State or Province of Residence::
`
`Country of Residence::
`
`Street of mailing address::
`
`No
`
`No
`
`2A
`
`13
`
`No
`
`No
`
`No
`
`Inventor
`us
`Full Capacity
`
`Joseph
`
`L.
`
`JONES
`
`Acton
`
`MA
`us
`9 Redwood Road
`
`Page# 1
`
`14
`
`

`

`City of mailing address::
`
`Acton
`
`State or Province of mailing address::
`
`MA
`
`Postal or Zip Code of mailing address::
`
`01720
`
`Applicant Authority Type::
`
`Primary Citizenship Country::
`
`Status::
`
`Given Name::
`
`Middle Name::
`
`Family Name::
`
`City of Residence::
`
`State or Province of Residence::
`
`Country of Residence::
`
`Street of mailing address::
`
`City of mailing address::
`
`Inventor
`us
`Full Capacity
`
`Newton
`
`E.
`
`MACK
`
`Somerville
`
`MA
`us
`115 Elm Street, #2
`
`Somerville
`
`State or Province of mailing address::
`
`MA
`
`Postal or Zip Code of mailing address::
`
`02144
`
`Applicant Authority Type::
`
`Primary Citizenship Country::
`
`Status::
`
`Given Name::
`
`Middle Name::
`
`Family Name::
`
`City of Residence::
`
`State or Province of Residence::
`
`Country of Residence::
`
`Street of mailing address::
`
`City of mailing address::
`
`Inventor
`us
`Full Capacity
`
`David
`
`M.
`
`NUGENT
`
`Newport
`
`RI
`us
`52 Farewell Street
`
`Newport
`
`State or Province of mailing address::
`
`RI
`
`Page# 2
`
`15
`
`

`

`Postal or Zip Code of mailing address::
`
`02840
`
`Applicant Authority Type::
`
`Primary Citizenship Country::
`
`Status::
`
`Given Name::
`
`Middle Name::
`
`Family Name::
`
`City of Residence::
`
`State or Province of Residence::
`
`Country of Residence::
`
`Street of mailing address::
`
`City of mailing address::
`
`Inventor
`us
`Full Capacity
`
`Paul
`
`E.
`
`SANDIN
`
`Randolph
`
`MA
`us
`98 Wilmarth Road
`
`Randolph
`
`State or Province of mailing address::
`
`MA
`
`Postal or Zip Code of mailing address::
`
`02368
`
`Correspondence Information
`
`Correspondence Customer Number::
`
`74,863
`
`Representative Information
`
`Representative Customer Number::
`
`74,863
`
`Domestic Priority Information
`
`Application::
`This Application
`
`Continuity Type::
`Continuation under
`37 CFR § 1.53(b)
`
`Parent Application::
`10/818,073
`
`Parent Filing Date::
`April 5, 2004
`
`Page# 3
`
`16
`
`

`

`. ~
`
`AUTONOMOUS FLOOR-CLEANING ROBOT
`
`Cross-Reference to Related Applications
`
`This application for U.S. Patent is a continuation of, and claims priority from, U.S.
`
`Patent Application Serial No. 10/320,729 filed December 16, 2002, entitled
`
`Autonomous Floor-Cleaning Robot and U.S. Provisional Application Serial No.
`
`60/345,764 filed January 3, 2002, entitled Cleaning Mechanisms for Autonomous
`
`5 Robot. The subject matter of this application is also related to commonly-owned, co(cid:173)
`
`pending U.S. patent application serial numbers 09/768,773, filed January 24, 2001,
`
`entitled Robot Obstacle Detection System; 10/167,851, filed June 12, 2002, entitled
`
`Method and System for Robot Localization and Confinement; and, 10/056,804, filed
`
`January 24, 2002, entitled Method and System for Multi-Mode Coverage for an
`
`10 Autonomous Robot.
`
`Background of the Invention
`
`(1) Field of the Invention
`
`The present invention relates to cleaning devices, and more particularly, to an
`
`autonomous floor-cleaning robot that comprises a self-adjustable cleaning head
`
`subsystem that includes a dual-stage brush assembly having counter-rotating,
`
`asymmetric brushes and an adjacent, but independent, vacuum assembly such that the
`
`15
`
`cleaning capability and efficiency of the self-adjustable cleaning head subsystem is
`
`optimized while concomitantly minimizing the power requirements thereof. The
`
`autonomous floor-cleaning robot further includes a side brush assembly for directing
`
`particulates outside the envelope of the robot into the self-adjustable cleaning head
`
`subsystem.
`
`(2) Description of Related Art
`
`20
`
`Autonomous robot cleaning devices are known in the art. For example, U.S. Patent
`
`Nos. 5,940,927 and 5,781,960 disclose an Autonomous Surface Cleaning Apparatus and
`
`a Nozzle Arrangement for a Self-Guiding Vacuum Cleaner. One of the primary
`
`17
`
`

`

`requirements for an autonomous cleaning device is a self-contained power supply - the
`
`utility of an autonomous cleaning device would be severely degraded, if not outright
`
`eliminated, if such an autonomous cleaning device utilized a power cord to tap into an
`
`external power source.
`
`5
`
`And, while there have been distinct improvements in the energizing capabilities of
`
`self-contained power supplies such as batteries, today's self-contained power supplies
`
`are still time-limited in providing power. Cleaning mechanisms for cleaning devices
`
`such as brush assemblies and vacuum assemblies typically require large power loads to
`
`provide effective cleaning capability. This is particularly true where brush assemblies
`
`10
`
`and vacuum assemblies are configured as combinations, since the brush assembly
`
`and/or the vacuum assembly of such combinations typically have not been designed or
`
`configured for synergic operation.
`
`A need exists to provide an autonomous cleaning device that has been designed and
`
`configured to optimize the cleaning capability and efficiency of its cleaning
`
`15 mechanisms for synergic operation while concomitantly minimizing or reducing the
`
`power requirements of such cleaning mechanisms.
`
`§unmmacy oft' alhte .ITnnvennafimn
`
`One object of the present invention is to provide a cleaning device that is operable
`
`without human intervention to clean designated areas.
`
`Another object of the present invention is to provide such an autonomous cleaning
`
`20
`
`device that is designed and configured to optimize the cleaning capability and efficiency
`
`of its cleaning mechanisms for synergic operations while concomitantly minimizing the
`
`power requirements of such mechanisms.
`
`These and other objects of the present invention are provided by one embodiment
`
`autonomous floor-cleaning robot according to the present invention that comprises a
`
`25
`
`housing infrastructure including a chassis, a power subsystem; for providing the energy
`
`to power the autonomous floor-cleaning robot, a motive subsystem operative to propel
`
`the autonomous floor-cleaning robot for cleaning operations, a control module operative
`
`to control the autonomous floor-cleaning robot to effect cleaning operations, and a self(cid:173)
`
`adjusting cleaning head subsystem that includes a deck mounted in pivotal combination
`
`2
`
`18
`
`

`

`with the chassis, a brush assemt?ly mounted in combination with the deck and powered
`
`by the motive subsystem to sweep up particulates during cleaning operations, a vacuum
`
`assembly disposed in combination with the deck and powered by the motive subsystem
`
`to ingest particulates during cleaning operations, and a deck height adjusting
`
`5
`
`subassembly mounted in combination with the motive subsystem for the brush
`
`assembly, the deck, and the chassis that is automatically operative in response to a
`
`change in torque in said brush assembly to pivot the deck with respect to said chassis
`
`and thereby adjust the height of the brushes from the floor. The autonomous floor(cid:173)
`
`cleaning robot also includes a side brush assembly mounted in combination with the
`
`10
`
`chassis and powered by the motive subsystem to entrain particulates outside the
`
`periphery of the housing infrastructure and to direct such particulates towards the self(cid:173)
`
`adjusting cleaning head subsystem.
`
`lIBnie!t' IDes~niJP(Cfionn o!t' ~Ilne IDirmwfumgs
`
`A more complete understanding of the present invention and the attendant features
`
`and advantages thereof may be had by reference to the following detailed description of
`
`15
`
`the invention when considered in conjunction with the accompanying drawings wherein
`
`Figure 1 is a schematic representation of an autonomous floor-cleaning robot
`
`according to the present invention.
`
`Figure 2 is a perspective view of one embodiment of an autonomous floor-cleaning
`
`20
`
`robot according to the present invention.
`
`Figure 2A is a bottom plan view of the autonomous floor-cleaning robot of
`
`Figure 2.
`
`Figure 3A is a top, partially-sectioned plan view, with cover removed, of another
`
`embodiment of an autonomous floor-cleaning robot according to the present invention.
`
`25
`
`Figure 3B is a bottom, partially-section plan view of the autonomous floor-cleaning
`
`robot embodiment of Figure 3A.
`
`Figure 3C is a side, partially sectioned plan view of the autonomous floor-cleaning
`
`robot embodiment of Figure 3A.
`
`3
`
`19
`
`

`

`Figure 4A is a top plan view of the deck and chassis of the autonomous floor(cid:173)
`
`cleaning robot embodiment of Figure 3A.
`
`Figure 4B is a cross-sectional view of Figure 4A taken along line B-B thereof.
`
`Figure 4C is a perspective view of the deck-adjusting subassembly of autonomous
`
`S
`
`floor-cleaning robot embodiment of Figure 3A.
`
`Figure SA is a first exploded perspective view of a dust cartridge for the
`
`autonomous floor-cleaning robot embodiment of Figure 3A.
`
`Figure SB is a second exploded perspective view of the dust cartridge of Figure SA.
`
`Figure 6 is a perspective view of a dual-stage brush assembly including a flapper
`
`10
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`brush and a main brush for the autonomous floor-cleaning robot embodiment of
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`Figure 3A.
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`Figure 7 A is a perspective view illustrating the blades and vacuum compartment
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`for the autonomous floor cleaning robot embodiment of Figure 3A.
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`Figure 7B is a partial perspective exploded view of the autonomous floor-cleaning
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`lS
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`robot embodiment of Figure 7 A.
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`IDhe1Unfilloo IDliescnipttioIID oft' 1tllnie liIIDviennttionn
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`Referring now to the drawings where like reference numerals identify
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`corresponding or similar elements throughout the several views, Figure 1 is a schematic
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`representation of an autonomous floor-cleaning robot 10 according to the present
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`invention. The robot 10 comprises a housing infrastructure 20, a power subsystem 30, a
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`20 motive subsystem 40, a sensor subsystem SO, a control module 60, a side brush
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`assembly 70, and a self-adjusting cleaning head subsystem 80. The power
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`subsystem 30, the motive subsystem 40, the sensor subsystem SO, the control
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`module 60, the side brush assembly 70, and the self-adjusting cleaning head
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`subsystem 80 are integrated in combination with the housing infrastructure 20 of the
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`2S
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`robot 10 as described in further detail in the following paragraphs.
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`In the following description of the autonomous floor-cleaning robot 10, use of the
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`terminology "forward/fore" refers to the primary direction of motion of the autonomous
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`floor-cleaning robot 10, and the terminology fore-aft axis (see reference
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`characters "FA" in Figures 3A, 3B) defines the forward direction of motion (indicated
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`20
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`by arrowhead of the fore-aft axis FA), which is coincident with the fore-aft diameter of
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`the robot 10.
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`Referring to Figures 2, 2A, and 3A-3C, the housing infrastructure 20 of the
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`robot 10 comprises a chassis 21, a cover 22, a displaceable bumper 23, a nose wheel
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`subassembly 24, and a carrying handle 25. The chassis 21 is preferably molded from a
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`material such as plastic as a unitary element that includes a plurality of preformed wells,
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`recesses, and structural members for, inter alia, mounting or integrating elements of the
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`power subsystem 30, the motive subsystem 40, the sensor subsystem 50, the side brush
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`assembly 70, and the self-adjusting cleaning head subsystem 80 in combination with the
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`10
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`chassis 21. The cover 22 is preferably molded from a material such as plastic as a
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`unitary element that is complementary in configuration with the chassis 21 and provides
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`protection of and access to elements/components mounted to the chassis 21 and/or
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`comprising the self-adjusting cleaning head subsystem 80. The chassis 21 and the
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`cover 22 are detachably integrated in combination by any suitable means, e.g., screws,
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`and in combination, the chassis 21 and cover 22 form a structural envelope of minimal
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`height having a generally cylindrical configuration that is generally symmetrical along
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`the fore-aft axis FA.
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`The displaceable bumper 23, which has a generally arcuate configuration, is
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`mounted in movable combination at the forward portion of the chassis 21 to extend
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`20
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`outwardly therefrom, i.e., the normal operating position. The mounting configuration of
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`the displaceable bumper is such that the bumper 23 is displaced towards the chassis 21
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`(from the normal operating position) whenever the bumper 23 encounters a stationary
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`object or obstacle of predetermined mass, i.e., the displaced position, and returns to the
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`normal operating position when contact with the stationary object or obstacle is
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`terminated (due to operation of the control module 60 which, in response to any such
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`displacement of the bumper 23, implements a "bounce" mode that causes the robot 10 to
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`evade the stationary object or obstacle and continue its cleaning routine, e.g., initiate a
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`random -- or weighted-random -- tum to resume forward movement in a different
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`direction). The mounting configuration of the displaceable bumper 23 comprises a pair
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`30
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`of rotatable support members 23RSM, which are operative to facilitate the movement of
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`the bumper 23 with respect to the chassis 21.
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`21
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`The pair of rotatable support members 23RSM are symmetrically mounted about
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`the fore-aft axis FA of the autonomous floor-cleaning robot 10 proximal the center of
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`the displaceable bumper 23 in a V -configuration. One end of each support
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`member 23RSM is rotatably mounted to the chassis 21 by conventional means, e.g.,
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`pins/dowel and sleeve arrangement, and the other end of each support member 23RSM
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`is likewise rotatably mounted to the displaceable bumper 23 by similar conventional
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`means. A biasing spring (not shown) is disposed in combination with each rotatable
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`support member 23RSM and is operative to provide the biasing force necessary to
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`return the displaceable bumper 23 (through rotational movement of the support
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`10 members 23RSM) to the normal operating position whenever contact with a stationary
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`object or obstacle is terminated.
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`The embodiment described herein includes a pair of bumper arms 23BA that are
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`symmetrically mounted in parallel about the fore-aft diameter FA of the autonomous
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`floor-cleaning robot 10 distal the center of the displaceable bumper 23. These bumper
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`arms 23BA do not per se provide structural support for the displaceable bumper 23, but
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`rather are a part of the sensor subsystem 50 that is operative to determine the location of
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`a stationary object or obstacle encountered via the bumper 23. One end of each bumper
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`arm 23BA is rigidly secured to the displaceable bumper 23 and the other end of each
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`bumper arm 23BA is mounted in combination with the chassis 21 in a manner, e.g., a
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`20
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`slot arrangement such that, during an encounter with a stationary object or obstacle, one
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`or both bumper arms 23BA are linearly displaceable with respect to the chassis 21 to
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`activate an associated sensor, e.g., IR break beam sensor, mechanical switch, capacitive
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`sensor, which provides a corresponding signal to the control module 60 to implement
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`the "bounce" mode. Further details regarding the operation of this aspect of the sensor
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`25
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`subsystem 50, as well as alternative embodiments of sensors having utility in detecting
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`contact with or proximity to stationary objects or obstacles can be found in commonly(cid:173)
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`owned, co-pending U.S. patent application No. 10/056,804, filed 24 January 2002,
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`entitled Method and System for Multi-Mode Coverage for an Autonomous Robot.
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`The nose-wheel subassembly 24 comprises a wheel 24W rotatably mounted in
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`30
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`combination with a clevis member 24CM that includes a mounting shaft. The clevis
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`mounting shaft 24CM is disposed in a well in the chassis 21 at the forward end thereof
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`22
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`on the fore-aft diameter of the autonomous floor-cleaning robot 10. A biasing
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`spring 24BS (hidden behind a leg of the clevis member 24CM in Figure 3C) is disposed
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`in combination with the clevis mounting shaft 24CM and operative to bias the nose(cid:173)
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`wheel subassembly 24 to an 'extended' position whenever the nose-wheel
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`subassembly 24 loses contact with the surface to be cleaned. During cleaning
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`operations, the weight of the autonomous floor-cleaning robot 10 is sufficient to
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`overcome the force exerted by the biasing spring 24BS to bias the nose-wheel
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`subassembly 24 to a partially retracted or operating position wherein the wheel rotates
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`freely over the surface to be cleaned. Opposed triangular or conical wings 24TW
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`10
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`extend outwardly from the ends of the clevis member to prevent the side of the wheel
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`from catching on low obstacle during turning movements of the autonomous floor(cid:173)
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`cleaning robot 10. The wings 24TW act as ramps in sliding over bumps as the robot
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`turns.
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`Ends 25E of the carrying handle 25 are secured in pivotal combination with the
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`cover 22 at the forward end thereof, centered about the fore-aft axis FA of the
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`autonomous floor-cleaning robot 10. With the autonomous floor-cleaning robot 10
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`resting on or moving over a surface to be cleaned, the carrying handle 25 lies
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`approximately flush with the surface of the cover 22 (the weight of the carrying
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`handle 25, in conjunction with arrangement of the handle-cover pivot configuration, is
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`sufficient to automatically return the carrying handle 25 to this flush position due to
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`gravitational effects). When the autonomous floor-cleaning robot 10 is picked up by
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`means of the carrying handle 25, the aft end of the autonomous floor-cleaning robot 10
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`lies below the forward end of the autonomous floor-cleaning robot 10 so that particulate
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`debris is not dislodged from the self-adjusting cleaning head subsystem 80.
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`25
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`The power subsystem 30 of the described embodiment provides the energy to
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`power individual elements/components of the motive subsystem 40, the sensor
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`subsystem 50, the side brush assembly 70, and the self-adjusting cleaning head
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`subsystem 80 and the circuits and components of the control module 60 via associated
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`circuitry 32-4, 32-5, 32-7, 32-8, and 32-6, respectively (see Figure 1) during cleaning
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`30
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`operations. The power subsystem 30 for the described embodiment of the autonomous
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`floor-cleaning robot 10 comprises a rechargeable battery pack 34 such as a NiMH
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`23
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`battery pack. The rechargeable battery pack 34 is mounted in a well formed in the
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`chassis 21 (sized specifically for mounting/retention of the battery pack 34) and retained
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`therein by any conventional means, e.g., spri