Mobile cleaning robot with variable cleaning features

Abstract

A mobile cleaning robot can include a body movable within an environment and a debris bin located at least partially within the body. The robot can include a cleaning assembly connected to the body, where the cleaning assembly includes a first debris port connected to the debris bin and a second debris port connected to the debris bin.

What is claimed is: 
     
         1 . (canceled) 
     
     
         2 . A mobile cleaning robot comprising:
 a body movable about a flooring surface of an environment;   a debris bin located at least partially within the body;   a cleaning assembly connected to the body, the cleaning assembly including:
 a cleaning head including one or more rollers engageable with the flooring surface;
 and 
 
 a first debris port associated with the cleaning head and connected to the debris bin by a first debris path; and 
   an arm connected to the body and movable relative thereto between an extended position
 wherein the arm is engaged with the flooring surface and a retracted position wherein 
 the arm is disengaged with the flooring surface. 
   
     
     
         3 . The mobile cleaning robot of  claim 2 , wherein the arm includes a second debris port extending at least partially therethrough and connected to the debris bin by a second debris path. 
     
     
         4 . The mobile cleaning robot of  claim 3 , comprising:
 an actuator connected to the body and connected to the arm, the actuator operable to move
 the arm between the extended position and the retracted position. 
   
     
     
         5 . The mobile cleaning robot of  claim 4 , wherein the actuator is configured to allow the arm to move passively in response to engagement between the arm and the environment. 
     
     
         6 . The mobile cleaning robot of  claim 4 , comprising:
 a skid connected to a bottom portion of the arm and engageable with the flooring surface
 when the arm is in the extended position to locate the second debris port at or near the flooring surface. 
   
     
     
         7 . The mobile cleaning robot of  claim 6 , wherein the second debris port terminates closer to a cleaning assembly when the arm is in the extended position than when the arm is in the retracted position. 
     
     
         8 . The mobile cleaning robot of  claim 6 , wherein the arm includes:
 a shaft connected to the actuator; and   a fletch extending from the shaft, the second debris port extending at least partially through the fletch.   
     
     
         9 . The mobile cleaning robot of  claim 8 , wherein the second debris port is curved or swept from front to rear as the second debris port extends from the shaft to an opening at or near a tip of the fletch. 
     
     
         10 . The mobile cleaning robot of  claim 3 , comprising:
 a vacuum system independently connected to the first debris port and the second debris port such that the first debris path and the second debris path are in parallel.   
     
     
         11 . The mobile cleaning robot of  claim 2 , comprising:
 a second arm connected to the body and movable relative thereto between an extended
 position wherein the second arm is engaged with the flooring surface and a retracted 
 position wherein the second arm is disengaged with the flooring surface. 
   
     
     
         12 . A mobile cleaning robot comprising:
 a body movable about a flooring surface of an environment;   a debris bin located at least partially within the body;   a cleaning assembly connected to the body, the cleaning assembly including:
 a cleaning head including one or more rollers engageable with the flooring surface;
 and 
 
 a first debris port associated with the cleaning head and connected to the debris bin by a first debris path; and 
   an arm connected to the body and movable relative thereto between an extended position
 wherein the arm is engaged with the flooring surface and a retracted position wherein 
 the arm is disengaged with the flooring surface. 
   
     
     
         13 . The mobile cleaning robot of  claim 12 , comprising:
 a second arm connected to the body and movable relative thereto between an extended
 position wherein the second arm is engaged with the flooring surface and a retracted position wherein the second arm is disengaged with the flooring surface. 
   
     
     
         14 . The mobile cleaning robot of  claim 13 , wherein the arm includes a second debris port extending at least partially therethrough and connected to the debris bin by a second debris path. 
     
     
         15 . The mobile cleaning robot of  claim 14 , wherein the second arm includes a third debris port extending at least partially therethrough and connected to the debris bin by a third debris path. 
     
     
         16 . The mobile cleaning robot of  claim 15 , comprising:
 an actuator connected to the body and connected to the arm, the actuator operable to move
 the arm between the extended position and the retracted position. 
   
     
     
         17 . The mobile cleaning robot of  claim 16 , comprising:
 a skid connected to a bottom portion of the arm and engageable with the flooring surface
 when the arm is in the extended position to locate the second debris port at or near the flooring surface. 
   
     
     
         18 . The mobile cleaning robot of  claim 17 , wherein the arm includes:
 a shaft connected to the actuator; and   a fletch extending from the shaft, the second debris port extending at least partially through the fletch.   
     
     
         19 . The mobile cleaning robot of  claim 18 , wherein the second arm includes:
 a second shaft connected to the body, and   a second fletch extending from the shaft, the third debris port extending at least partially through the second fletch.   
     
     
         20 . The mobile cleaning robot of  claim 19 , wherein the fletch and the second fletch have different shapes. 
     
     
         21 . The mobile cleaning robot of  claim 18 , wherein the second debris port is curved or swept from front to rear as the second debris port extends from the shaft to an opening at or near a tip of the fletch.