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公开(公告)号：US20080282494A1
公开(公告)日：2008-11-20
申请号：US11633886
申请日：2006-12-04
申请人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A.C. Dubrovsky
发明人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A.C. Dubrovsky
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y10S901/01 , Y10S901/50
摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.
摘要翻译： 一种覆盖机器人，包括底盘，设置在底盘上的多个驱动轮组件和由底盘承载的清洁组件。 每个驱动轮组件包括驱动轮组件壳体，可旋转地联接到壳体的轮子和由驱动轮组件壳体承载并可操作以驱动车轮的轮驱动马达。 清洁组件包括清洁组件壳体，可旋转地联接到清洁组件壳体的清洁头，以及通过清洁组件壳体并可操作以驱动清洁头的清洁驱动马达。 车轮组件和清洁组件各自独立地并且可独立地从底盘的各个容器中作为完整单元移除。
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公开(公告)号：US20120173064A1
公开(公告)日：2012-07-05
申请号：US13314414
申请日：2011-12-08
申请人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivhthan A.C. Dubrovsky
发明人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivhthan A.C. Dubrovsky
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y10S901/01 , Y10S901/50
摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.
摘要翻译： 一种覆盖机器人，包括底盘，设置在底盘上的多个驱动轮组件和由底盘承载的清洁组件。 每个驱动轮组件包括驱动轮组件壳体，可旋转地联接到壳体的轮子和由驱动轮组件壳体承载并可操作以驱动车轮的轮驱动马达。 清洁组件包括清洁组件壳体，可旋转地联接到清洁组件壳体的清洁头，以及通过清洁组件壳体并可操作以驱动清洁头的清洁驱动马达。 车轮组件和清洁组件各自独立地并且可独立地从底盘的各个容器中作为完整单元移除。
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公开(公告)号：US20140026354A1
公开(公告)日：2014-01-30
申请号：US14037008
申请日：2013-09-25
申请人： Chikyung Won , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A. Dubrovsky , Selma Svendsen
发明人： Chikyung Won , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A. Dubrovsky , Selma Svendsen
IPC分类号： A47L11/40
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y10S901/01 , Y10S901/50
摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.
摘要翻译： 一种覆盖机器人，包括底盘，设置在底盘上的多个驱动轮组件和由底盘承载的清洁组件。 每个驱动轮组件包括驱动轮组件壳体，可旋转地联接到壳体的轮子和由驱动轮组件壳体承载并可操作以驱动车轮的轮驱动马达。 清洁组件包括清洁组件壳体，可旋转地联接到清洁组件壳体的清洁头，以及通过清洁组件壳体并可操作以驱动清洁头的清洁驱动马达。 车轮组件和清洁组件各自独立地并且可独立地从底盘的各个容器中作为完整单元移除。
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公开(公告)号：US08584307B2
公开(公告)日：2013-11-19
申请号：US13314414
申请日：2011-12-08
申请人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A. C. Dubrovsky
发明人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A. C. Dubrovsky
IPC分类号： A47L5/00
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y10S901/01 , Y10S901/50
摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.
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公开(公告)号：US08584305B2
公开(公告)日：2013-11-19
申请号：US11633886
申请日：2006-12-04
申请人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A. C. Dubrovsky
发明人： Chikyung Won , Selma Svendsen , Paul E. Sandin , Scott Thomas Burnett , Deepak Ramesh Kapoor , Stephen A. Hickey , Robert Rizzari , Zivthan A. C. Dubrovsky
IPC分类号： A47L9/28
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y10S901/01 , Y10S901/50
摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.
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公开(公告)号：US08359703B2
公开(公告)日：2013-01-29
申请号：US12211938
申请日：2008-09-17
申请人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
发明人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
IPC分类号： A47L9/28
摘要： An autonomous coverage robot includes a body having at least one outer wall, a drive system disposed on the body and configured to maneuver the robot over a work surface, and a cleaning assembly carried by the body. The cleaning assembly includes first and second cleaning rollers rotatably coupled to the body, a suction assembly having a channel disposed adjacent at least one of the cleaning rollers, and a container in fluid communication with the channel. The container is configured to collect debris drawn into the channel. The suction assembly is configured to draw debris removed from the work surface by at least one of the cleaning rollers into the channel, and the container has a wall common with the at least one outer wall of the body.
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公开(公告)号：US09320398B2
公开(公告)日：2016-04-26
申请号：US12540884
申请日：2009-08-13
申请人： Patrick Alan Hussey , Robert Paul Roy , Rogelio Manfred Neumann , Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
发明人： Patrick Alan Hussey , Robert Paul Roy , Rogelio Manfred Neumann , Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
CPC分类号： A47L9/0477 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/0488 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4011 , A47L11/4013 , A47L11/4027 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.
摘要翻译： 自主覆盖机器人包括主体，设置在主体上的驱动系统以及设置在主体上并构造成在机器人横穿地板表面操纵时与地板表面接合的清洁组件。 清洁组件包括驱动的清洁辊，设置在主体上用于接收由清洁辊搅动的碎屑的清洁仓和一个鼓风机。 清洁箱包括清洁箱本体，其具有邻近清洁辊设置的清洁箱入口和设置在清洁箱体上用于接合清洁辊的辊刮刀。 清洁箱本体具有与清洁仓入口气动连通的保持部分，并且空气移动器可操作以将空气移动到清洁仓入口中。
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公开(公告)号：US08600553B2
公开(公告)日：2013-12-03
申请号：US11758289
申请日：2007-06-05
申请人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
发明人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
IPC分类号： B25J19/02
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to maneuver the robot according to a heading (turn) setting and a speed setting. The bump sensor is responsive to a collision of the robot with an obstacle in a forward direction. A method of navigating an autonomous coverage robot with respect to an object on a floor includes the robot autonomously traversing the floor in a cleaning mode at a full cleaning speed. Upon sensing a proximity of the object forward of the robot, the robot reduces the cleaning speed to a reduced cleaning speed while continuing towards the object until the robot detects a contact with the object. Upon sensing contact with the object, the robot turns with respect to the object and cleans next to the object, optionally substantially at the reduced cleaning speed.
摘要翻译： 自动覆盖机器人包括驱动系统，凸块传感器和接近传感器。 驱动系统被配置为根据标题（转）设置和速度设置来操纵机器人。 碰撞传感器响应机器人与向前方向的障碍物的碰撞。 相对于地板上的物体导航自主覆盖机器人的方法包括机器人以完全清洁速度以清洁模式自主地穿过地板。 当感测到机器人向前的物体的接近度时，机器人将持续朝向物体的清洁速度降低到降低的清洁速度，直到机器人检测到与物体的接触。 当感测到与物体的接触时，机器人相对于物体转动并且清除物体的旁边，可选地基本上以降低的清洁速度。
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公开(公告)号：US08661605B2
公开(公告)日：2014-03-04
申请号：US12211938
申请日：2008-09-17
申请人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
发明人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
IPC分类号： A47L9/28
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous coverage robot includes a body having at least one outer wall, a drive system disposed on the body and configured to maneuver the robot over a work surface, and a cleaning assembly carried by the body. The cleaning assembly includes first and second cleaning rollers rotatably coupled to the body, a suction assembly having a channel disposed adjacent at least one of the cleaning rollers, and a container in fluid communication with the channel. The container is configured to collect debris drawn into the channel. The suction assembly is configured to draw debris removed from the work surface by at least one of the cleaning rollers into the channel, and the container has a wall common with the at least one outer wall of the body.
摘要翻译： 自主覆盖机器人包括具有至少一个外壁的主体，设置在主体上并构造成在工作表面上操纵机器人的驱动系统以及由身体承载的清洁组件。 清洁组件包括可旋转地联接到主体的第一和第二清洁辊，具有邻近清洁辊中的至少一个设置的通道的抽吸组件和与通道流体连通的容器。 容器被配置成收集被吸入到通道中的碎屑。 抽吸组件被构造成将至少一个清洁辊从工作表面移除到通道中，并且容器具有与主体的至少一个外壁共用的壁。
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公开(公告)号：US20100037418A1
公开(公告)日：2010-02-18
申请号：US12540884
申请日：2009-08-13
申请人： Patrick Alan Hussey , Robert Paul Roy , Rogelio Manfred Neumann , Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
发明人： Patrick Alan Hussey , Robert Paul Roy , Rogelio Manfred Neumann , Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
CPC分类号： A47L9/0477 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/0488 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4011 , A47L11/4013 , A47L11/4027 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.
摘要翻译： 自主覆盖机器人包括主体，设置在主体上的驱动系统以及设置在主体上并构造成在机器人横穿地板表面操纵时与地板表面接合的清洁组件。 清洁组件包括驱动的清洁辊，设置在主体上用于接收由清洁辊搅动的碎屑的清洁仓和一个鼓风机。 清洁箱包括清洁箱本体，其具有邻近清洁辊设置的清洁箱入口和设置在清洁箱体上用于接合清洁辊的辊刮刀。 清洁箱本体具有与清洁仓入口气动连通的保持部分，并且空气移动器可操作以将空气移动到清洁仓入口中。
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