US 12,220,096 B2
Robotic vacuum cleaning system
Duane Leigh Gilbert, Jr., Goffstown, NH (US); Faruk Halil Bursal, Lexington, MA (US); Richard Joseph Therrien, Duxbury, MA (US); and Russell Walter Morin, Burlington, MA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Oct. 14, 2022, as Appl. No. 17/966,317.
Application 17/966,317 is a continuation of application No. 16/531,471, filed on Aug. 5, 2019, granted, now 11,471,020.
Application 16/531,471 is a continuation of application No. 15/590,411, filed on May 9, 2017, granted, now 10,433,696.
Application 15/590,411 is a continuation of application No. 14/947,826, filed on Nov. 20, 2015, granted, now 9,675,224.
Application 14/947,826 is a continuation of application No. 14/588,077, filed on Dec. 31, 2014, granted, now 9,320,400.
Application 14/588,077 is a continuation of application No. 14/302,469, filed on Jun. 12, 2014, granted, now 8,955,192.
Application 14/302,469 is a continuation of application No. 13/460,261, filed on Apr. 30, 2012, granted, now 8,881,339.
Claims priority of provisional application 61/481,147, filed on Apr. 29, 2011.
Prior Publication US 2023/0042453 A1, Feb. 9, 2023
Int. Cl. A47L 11/40 (2006.01); A47L 7/02 (2006.01); A47L 9/04 (2006.01); A47L 9/06 (2006.01); A47L 11/24 (2006.01); B25J 11/00 (2006.01); A47L 9/28 (2006.01)
CPC A47L 11/4041 (2013.01) [A47L 7/02 (2013.01); A47L 9/0477 (2013.01); A47L 9/066 (2013.01); A47L 11/24 (2013.01); A47L 11/4013 (2013.01); A47L 11/4027 (2013.01); A47L 11/4061 (2013.01); A47L 11/4063 (2013.01); B25J 11/0085 (2013.01); A47L 9/0494 (2013.01); A47L 9/0666 (2013.01); A47L 9/2821 (2013.01); A47L 11/40 (2013.01); A47L 2201/00 (2013.01); A47L 2201/028 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01); Y10S 901/01 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A mobile cleaning robot comprising:
a body;
a drive system connected to the body and operable to move the mobile cleaning robot within an environment;
a vacuum system connected to the body and operable to produce an air stream to extract debris from a flooring surface of the environment;
a cleaning head connected to the body, the cleaning head comprising:
a housing at least partially defining an inlet and an outlet; and
a roller supported by the housing and rotatable with respect to the housing to move debris from the inlet to the outlet, the roller and the housing together movable with respect to the body and the flooring surface;
a frame connected to the body, the cleaning head connected to the frame and movable with respect to the frame; and
a linkage connected to the frame and connected to the housing, the linkage configured to enable movement of the roller and the housing with respect to the body.