IP Library › Granted Patent US 12,239,280
Granted Patent B2
US 12,239,280 · App. 17/459,765 · Granted Mar 4, 2025

Brush for autonomous cleaning robot

Inventors: Thomas P. Schregardus (Somerville, MA); Travis James Gschrey (Billerica, MA)
Assignee: iRobot Corporation
A47L9/0488A47L9/009A47L9/0411A47L9/0477A47L9/2826A47L9/2852A47L2201/04A47L2201/06
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Quick Facts
Patent No.
US 12,239,280
App. No.
17/459,765
Filed
Aug 27, 2021
Granted
Mar 4, 2025
Kind
B2
Art Unit
3723
USPC
15/52.1
Abstract

An autonomous cleaning robot includes a drive configured to move the robot across a floor surface, a brush proximate a lateral side of the robot, and a motor configured to rotate the brush about an axis of rotation. The brush includes a hub configured to engage the motor of the robot and arms each extending outwardly from the hub away from the axis of rotation and each being angled relative to a plane normal to the axis of rotation of the brush. Each of the arms include a first portion extending outwardly from the hub away from the axis of rotation and a second portion extending outwardly from the first portion away from the axis of rotation. An angle between the first portion of each of the arms and the plane is larger than an angle between the second portion of the each of the arms and the plane.

Claims (65)

1. An autonomous cleaning robot comprising:

a drive configured to move the autonomous cleaning robot across a floor surface, the drive comprising a drive wheel having a central plane perpendicular to an axis of rotation, the central plane of the drive wheel located a first distance from a central axis of the autonomous cleaning robot, the central axis extending from a front of the autonomous cleaning robot to a rear of the autonomous cleaning robot;

a side brush having an axis of rotation located (i) proximate to a lateral side of the autonomous cleaning robot and (ii) a second distance from the central axis of the autonomous cleaning robot, the second distance being greater than the first distance, the first and second distances being measured perpendicular to the central plane of the drive wheel; and

a motor configured to rotate the side brush about the axis of rotation,

wherein the side brush comprises

a hub configured to engage the motor of the autonomous cleaning robot,

a plurality of arms each extending outwardly from the hub away from the axis of rotation of the side brush and each being angled relative to a plane normal to the axis of rotation of the side brush, wherein each of the arms comprises a first portion extending outwardly from the hub away from the axis of rotation and a second portion extending outwardly from the first portion away from the axis of rotation, an angle between the first portion of each of the arms and the plane is larger than an angle between the second portion of the each of the arms and the plane, and the second portion of each of the arms is angled relative to the first portion of each of the arms in a direction opposite a direction of rotation of the side brush, and

a plurality of bristle bundles, each of the bristle bundles attached to a respective one of the plurality of arms and extending outwardly from the respective one of the plurality of arms,

wherein a width of the side brush is between 15% and 30% of a width of a front portion of the autonomous cleaning robot.

2. The autonomous cleaning robot of claim 1 , wherein the width of the side brush is between 20% and 30% of the width of the front portion of the autonomous cleaning robot.

3. The autonomous cleaning robot of claim 1 , wherein the width of the side brush is between 25% and 30% of the width of the front portion of the autonomous cleaning robot.

4. The autonomous cleaning robot of claim 1 , further comprising at least one additional brush, each brush of the at least one additional brush configured to rotate about a respective axis of rotation that is parallel to the floor surface and substantially normal to a forward drive direction of the autonomous cleaning robot, wherein the axis of rotation of the side brush is positioned forward of the at least one additional brush.

5. The autonomous cleaning robot of claim 4 , wherein the at least one additional brush comprises two rollers, each roller of the two rollers having a width that spans in a lateral direction from a first end of the respective roller to a second end of the respective roller, the lateral direction being substantially perpendicular to the forward drive direction of the autonomous cleaning robot, and the respective widths of the two rollers being equal.

6. The autonomous cleaning robot of claim 4 , wherein a width of the at least one additional brush is at least 90% of the width of the front portion of the autonomous cleaning robot, wherein the axis of rotation of the side brush is positioned between an axial end of the at least one additional brush and the lateral side of the autonomous cleaning robot.

7. The autonomous cleaning robot of claim 4 , wherein the width of the side brush is between 5% and 40% of a width of the at least one additional brush.

8. The autonomous cleaning robot of claim 4 , wherein the width of the side brush overlaps with a width of the at least one additional brush.

9. The autonomous cleaning robot of claim 8 , wherein an amount between 0.5 cm and 5 cm of the width of the side brush overlaps with a first width of a first brush of the at least one additional brush and the same amount of the width of the side brush overlaps with a second width of a second brush of the at least one additional brush.

10. The autonomous cleaning robot of claim 4 , wherein the side brush is offset from a transverse axis extending through a center of the at least one additional brush.

11. The autonomous cleaning robot of claim 1 , wherein a center of the side brush is mounted between 1 cm and 5 cm from the lateral side of the autonomous cleaning robot, and wherein an overall width of the autonomous cleaning robot is between 20 cm and 40 cm.

12. The autonomous cleaning robot of claim 1 , wherein the side brush extends beyond the lateral side of the autonomous cleaning robot and a forward surface of the autonomous cleaning robot by the same amount, the same amount being between 0.25 cm and 2 cm.

13. The autonomous cleaning robot of claim 1 , wherein a center of the side brush is mounted between 1 cm and 5 cm from a forward surface of the autonomous cleaning robot.

14. The autonomous cleaning robot of claim 1 , wherein the side brush extends beyond the lateral side of the autonomous cleaning robot and a forward surface of the autonomous cleaning robot by between 0.25 cm and 2 cm.

15. The autonomous cleaning robot of claim 1 , wherein the side brush extends beyond both the lateral side of the autonomous cleaning robot and a forward surface of the autonomous cleaning robot.

16. The autonomous cleaning robot of claim 1 , wherein the width of the side brush is between 2 cm and 12 cm and an area of coverage of the side brush is between 5% and 20% of an area of the floor surface covered by the autonomous cleaning robot.

17. The autonomous cleaning robot of claim 1 , wherein the lateral side is a first lateral side, and the autonomous cleaning robot further comprises a second lateral side, wherein the first and second lateral sides extend along longitudinal axes defining the width of the front portion of the autonomous cleaning robot.

18. The autonomous cleaning robot of claim 17 , further comprising a front surface extending from the first lateral side to the second lateral side, the front surface and the first lateral side defining a first corner portion, and the front surface and the second lateral side defining a second corner portion, the side brush being located in the first corner portion such that an area swept by the side brush is the same on a side of the autonomous cleaning robot proximate to the first corner portion as in front of the autonomous cleaning robot proximate to the first corner portion.

19. The autonomous cleaning robot of claim 1 , wherein the width of the front portion of the autonomous cleaning robot is measured from the lateral side of the autonomous cleaning robot to an opposite lateral side of the autonomous cleaning robot at a location that passes through the axis of rotation of the side brush along a direction substantially parallel to the front portion of the autonomous cleaning robot.

20. The autonomous cleaning robot of claim 1 , wherein a first portion of each of the arms is angled relative to a second portion of each of the arms in a direction opposite a direction of rotation of the side brush.

21. The autonomous cleaning robot of claim 1 , wherein the lateral side is a first lateral side of the autonomous cleaning robot, a second lateral side of the autonomous cleaning robot is opposite to the first lateral side, and the central axis is centered between the first and second lateral sides.

22. A side brush mountable to an autonomous cleaning robot, the side brush comprising:

a hub configured to engage a motor of the autonomous cleaning robot such that the hub rotates about an axis of rotation to agitate debris on a floor surface when the motor is driven, a height between a top of the hub and a bottom of the hub defining a first height measured in a direction parallel to the axis of rotation;

a plurality of arms each extending outwardly from the hub away from the axis of rotation and each being angled relative to a plane normal to the axis of rotation of the side brush, wherein a first portion of each of the arms is angled relative to a second portion of each of the arms in a direction about the axis of rotation, a first angle between the first portion of each of the arms and the plane is larger than a second angle between the second portion of the each of the arms and the plane, the first angle and the second angle are less than 180 degrees, a height between the bottom of the hub and a bottom of the plurality of arms defines a second height measured in a direction parallel to the axis of rotation, and the second height is greater than the first height; and

a plurality of bristle bundles, each of the bristle bundles attached to a respective one of the plurality of arms and extending outwardly from the respective one of the plurality of arms,

wherein a width of the side brush is between 15% and 30% of a width of a front portion of the autonomous cleaning robot.

23. The side brush of claim 22 , wherein the second portion of each arm is angled radially outward relative to the first portion of each arm.

24. The side brush of claim 23 , wherein the first portion of each arm spans a predetermined axial distance parallel to the axis of rotation.

25. The side brush of claim 22 , wherein the direction is opposite to a direction of rotation of the side brush.

26. The side brush of claim 22 , wherein the hub defines a monolithic structure.

27. The side brush of claim 26 , wherein the top of the hub defines an annular recess for collecting debris.

28. The side brush of claim 22 , wherein the second portion of each of the arms is angled relative to the first portion of each of the arms in a direction opposite a direction of rotation of the side brush.

29. The side brush of claim 22 , wherein the first height is at least 0.25 cm.

30. The side brush of claim 29 , wherein the plurality of arms are resilient arms to allow relative movement between the plurality of bristle bundles and the hub.

31. The side brush of claim 29 , wherein the top of the hub defines a keyed recess centered on the axis of rotation for rotationally keying the side brush to a shaft of the motor.

32. An autonomous cleaning robot comprising:

a drive configured to move the autonomous cleaning robot across a floor surface, the drive comprising at least one drive wheel located a first distance from a lateral side of the autonomous cleaning robot, the at least one drive wheel having a central plane perpendicular to an axis of rotation, the first distance being less than half of a width of a front portion of the autonomous cleaning robot;

a cleaning roller having a first end and a second end opposite the first end;

a side brush (i) offset to the first end of the cleaning roller towards the lateral side of the autonomous cleaning robot such that an axis of rotation of the side brush is located a second distance from the lateral side of the autonomous cleaning robot, the second distance being less than the first distance, the first and second distances being measured perpendicular to the central plane of the at least one drive wheel, and (ii) offset in front of the cleaning roller toward the front portion of the autonomous cleaning robot; and

a motor configured to rotate the side brush about the axis of rotation,

wherein the side brush comprises

a hub configured to engage the motor of the autonomous cleaning robot,

a plurality of arms each extending outwardly from the hub away from the axis of rotation and each being angled relative to a plane normal to the axis of rotation of the side brush, wherein each of the arms comprises a first portion extending outwardly from the hub away from the axis of rotation and a second portion extending outwardly from the first portion away from the axis of rotation, an angle between the first portion of each of the arms and the plane is larger than an angle between the second portion of the each of the arms and the plane, and the second portion of each of the arms is angled relative to the first portion of each of the arms in a direction opposite a direction of rotation of the side brush, and

a plurality of bristle bundles, each of the bristle bundles attached to a respective one of the plurality of arms and extending outwardly from the respective one of the plurality of arms, and

wherein a width of the side brush is between 15% and 35% of a width of the front portion of the autonomous cleaning robot.

33. The autonomous cleaning robot of claim 32 , wherein the lateral side of the autonomous cleaning robot is closer to the first end of the cleaning roller than the second end of the cleaning roller.

34. The autonomous cleaning robot of claim 32 , wherein:

the cleaning roller is a first cleaning roller having a first width defined by a distance between the first end of the first cleaning roller and the second end of the first cleaning roller,

the autonomous cleaning robot comprises a second cleaning roller having a second width defined by a distance between a first end of the second cleaning roller and a second end of the second cleaning roller, and

the first width and second width are 65% to 90% of the width of the front portion of the autonomous cleaning robot.

35. The autonomous cleaning robot of claim 34 , wherein:

the side brush is offset to the first end of the second cleaning roller towards the lateral side of the autonomous cleaning robot,

the side brush is offset in front of the second cleaning roller towards a forward surface of the front portion of the autonomous cleaning robot,

the lateral side of the autonomous cleaning robot is closer to the first end of the second cleaning roller than the second end of the first cleaning roller, and the first width and the second width are the same.

36. The autonomous cleaning robot of claim 33 , wherein the first end of the cleaning roller is located a third distance from the lateral side of the autonomous cleaning robot, the third distance being greater than the first distance and the second distance.

37. The autonomous cleaning robot of claim 32 , wherein a first portion of each of the arms is angled relative to a second portion of each of the arms in a direction about the axis of rotation.

38. The autonomous cleaning robot of claim 37 , wherein the motor is configured to rotate the side brush a direction opposite to the direction in which the first portion of each of the arms is angled relative to the second portion of each of the arms.

Assignments (4)
NOTICE OF ASSIGNMENT OF SECURITY INTEREST IN INTELLECTUAL PROPERTY Recorded Nov 25, 2025
From: TCG SENIOR FUNDING L.L.C., AS COLLATERAL AGENT
To: SANTRUM HONG KONG CO., LIMITED, AS SUCCESSOR COLLATERAL AGENT
Reel/Frame 073707/0516 →
SECURITY INTEREST Recorded Aug 9, 2023
From: IROBOT CORPORATION
To: TCG SENIOR FUNDING L.L.C., AS COLLATERAL AGENT
Reel/Frame 064532/0856 →
SECURITY INTEREST Recorded Nov 3, 2022
From: IROBOT CORPORATION
To: BANK OF AMERICA, N.A., AS ADMINISTRATIVE AGENT
Reel/Frame 061878/0097 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jul 20, 2022
From: SCHREGARDUS, THOMAS P.; GSCHREY, TRAVIS JAMES
To: IROBOT CORPORATION
Reel/Frame 060559/0383 →
Continuity (2)
Continuation 15605299 · May 25, 2017
Related Publication 20220000325A1 · Jan 6, 2022
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