Method and apparatus for traversing corners of a floored area with a robotic surface treatment apparatus
First Claim
1. A robotic surface treatment apparatus comprising:
- a chassis; and
at least one processor to detect whether the robotic surface treatment apparatus is approaching an outside corner as the robotic surface treatment apparatus traverses along a first wall, by detecting whether the robotic surface treatment apparatus is about to pass an edge of the first wall at the outside corner formed by the edge of the first wall joining the first wall with a further wall extending away from a path of the robotic surface treatment apparatus;
wherein, if the robotic surface treatment apparatus is about to pass the edge of the first wall, the at least one processor;
controls the robotic surface treatment apparatus to be at a distance from the edge of the first wall, wherein the distance enables the robotic surface treatment apparatus to turn the outside corner; and
causes the robotic surface treatment apparatus to pivot toward the edge of the first wall, around the outside corner, and detect the further wall.
2 Assignments
0 Petitions
Accused Products
Abstract
A robotic surface treatment apparatus treats corners of rooms more effectively through intricate guidance of the apparatus through inside and outside corners. In one aspect, contact and/or non-contact sensors provide information to one or more on-board processors on the apparatus to enable selective overriding of obstacle avoidance program code and allow the apparatus to get closer to walls to facilitate treatment. In another aspect, the sensors provide information to the on-board processors to control backup motion of the apparatus to cover previously-missed areas when turning corners. In yet another aspect, the apparatus is shaped to have its treatment mechanism positioned more closely to the front of the apparatus to enable treatment more closely to walls near corners. In one embodiment, the robotic surface treatment apparatus is a robotic vacuum. The vacuum may have its cleaning brush positioned near a flat front portion of the apparatus.
9 Citations
19 Claims
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1. A robotic surface treatment apparatus comprising:
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a chassis; and at least one processor to detect whether the robotic surface treatment apparatus is approaching an outside corner as the robotic surface treatment apparatus traverses along a first wall, by detecting whether the robotic surface treatment apparatus is about to pass an edge of the first wall at the outside corner formed by the edge of the first wall joining the first wall with a further wall extending away from a path of the robotic surface treatment apparatus; wherein, if the robotic surface treatment apparatus is about to pass the edge of the first wall, the at least one processor; controls the robotic surface treatment apparatus to be at a distance from the edge of the first wall, wherein the distance enables the robotic surface treatment apparatus to turn the outside corner; and causes the robotic surface treatment apparatus to pivot toward the edge of the first wall, around the outside corner, and detect the further wall. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A processor-implemented method of controlling a robotic surface treatment apparatus, the method comprising:
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using at least one processor that detects whether the robotic surface treatment apparatus is approaching an outside corner as the robotic surface treatment apparatus traverses along a first wall, by detecting whether the robotic surface treatment apparatus is about to pass an edge of the first wall at the outside corner formed by the edge of the first wall joining the first wall with a further wall extending away from a path of the robotic surface treatment apparatus; wherein, if the robotic surface treatment apparatus is about to pass the edge of the first wall, the at least one processor; controls the robotic surface treatment apparatus to be at a distance from the edge of the first wall, wherein the distance enables the robotic surface treatment apparatus to turn the corner; and causes the robotic surface treatment apparatus to pivot toward the edge of the first wall, around the outside corner, and detect the further wall. - View Dependent Claims (10, 11, 12, 13)
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14. A tangible recording medium containing processor-implemented non-transitory instructions to perform a method of controlling a robotic surface treatment apparatus, the method comprising:
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detecting whether the robotic surface treatment apparatus is approaching an outside corner as the robotic surface treatment apparatus traverses along a first wall, by detecting whether the robotic surface treatment apparatus is about to pass an edge of the first wall at the outside corner formed by the edge of the first wall joining the first wall with a further wall extending away from a path of the robotic surface treatment apparatus; wherein, if the robotic surface treatment apparatus is about to pass the edge of the first wall; controlling the robotic surface treatment apparatus to be at a distance from the edge of the first wall, wherein the distance enables the robotic surface treatment apparatus to turn the outside corner; and causing the robotic surface treatment apparatus to pivot toward the edge of the first wall, around the outside corner, and detect the further wall. - View Dependent Claims (15, 16, 17, 18, 19)
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Specification