Adaptive speed control of rotating side brush
First Claim
1. A robotic cleaning device comprising:
- a main body;
a propulsion system configured to move the robotic cleaning device across a surface to be cleaned;
a controller configured to control the propulsion system to move the robotic cleaning device across the surface to be cleaned;
an opening in a bottom side of the main body via which debris is removed from the surface to be cleaned; and
at least one rotating side brush arranged adjacent to the opening and arranged to contact the surface to be cleaned, wherein the at least one rotating side brush is configured to rotate in a direction parallel to the surface to be cleaned as the propulsion system moves the robotic cleaning device across the surface to be cleaned, andwherein the controller is configured to;
register a speed with which the robotic cleaning device moves across the surface to be cleaned;
control a rotational speed of the at least one rotating side brush on the basis of the registered speed of movement of the robotic cleaning device such that the rotational speed of the at least one rotating side brush decreases when the registered speed of movement of the robotic cleaning device decreases and such that the rotational speed of the at least one rotating side brush increases when the registered speed of movement of the robotic cleaning device increases; and
control a rotational speed of the at least one rotating side brush on the basis of the registered speed of movement of the robotic cleaning device such that the rotational speed of the at least one rotating side brush, while the at least one rotating side brush is in contact with the surface to be cleaned, does not fall below a lower threshold value when the speed of movement of the robotic cleaning device over the surface to be cleaned is zero.
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Accused Products
Abstract
A method of controlling rotating side brushes of a robotic cleaning device and a robotic cleaning device performing the method. The robotic cleaning device has a main body, a propulsion system arranged to move the robotic cleaning device across a surface to be cleaned, and a controller arranged to control the propulsion system to move the robotic cleaning device across the surface to be cleaned in accordance with navigation information. The robotic cleaning device has an opening arranged in a bottom side of the main body via which debris is removed from the surface to be cleaned, and at least one rotating side brush adjacent to the opening. The controller registers a speed with which the robotic cleaning device moves across the surface to be cleaned, and controls a rotational speed of the rotating side brush on the basis of the registered speed of movement of the robotic cleaning device.
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Citations
11 Claims
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1. A robotic cleaning device comprising:
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a main body; a propulsion system configured to move the robotic cleaning device across a surface to be cleaned; a controller configured to control the propulsion system to move the robotic cleaning device across the surface to be cleaned; an opening in a bottom side of the main body via which debris is removed from the surface to be cleaned; and at least one rotating side brush arranged adjacent to the opening and arranged to contact the surface to be cleaned, wherein the at least one rotating side brush is configured to rotate in a direction parallel to the surface to be cleaned as the propulsion system moves the robotic cleaning device across the surface to be cleaned, and wherein the controller is configured to; register a speed with which the robotic cleaning device moves across the surface to be cleaned; control a rotational speed of the at least one rotating side brush on the basis of the registered speed of movement of the robotic cleaning device such that the rotational speed of the at least one rotating side brush decreases when the registered speed of movement of the robotic cleaning device decreases and such that the rotational speed of the at least one rotating side brush increases when the registered speed of movement of the robotic cleaning device increases; and control a rotational speed of the at least one rotating side brush on the basis of the registered speed of movement of the robotic cleaning device such that the rotational speed of the at least one rotating side brush, while the at least one rotating side brush is in contact with the surface to be cleaned, does not fall below a lower threshold value when the speed of movement of the robotic cleaning device over the surface to be cleaned is zero. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of controlling rotation of at least one rotating side brush of a robotic cleaning device, the method comprising:
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controlling movement of the robotic cleaning device across a surface to be cleaned, wherein the at least one rotating side brush is configured to rotate in a direction parallel to the surface to be cleaned as the movement of the robotic cleaning device across the surface to be cleaned is controlled; registering a speed with which the robotic cleaning device moves across the surface to be cleaned; and controlling a rotational speed of the at least one side brush on the basis of the speed of movement of the robotic cleaning device, such that the rotational speed of the at least one rotating side brush decreases when the registered speed of movement of the robotic cleaning device decreases and such that the rotational speed of the at least one rotating side brush increases when the registered speed of movement of the robotic cleaning device increases; and controlling a rotational speed of the at least one rotating side brush on the basis of the registered speed of movement of the robotic cleaning device such that the rotational speed of the at least one rotating side brush, while the at least one rotating side brush is in contact with the surface to be cleaned, does not fall below threshold value when the speed of movement of the robotic cleaning device over the surface to be cleaned is zero. - View Dependent Claims (8, 9, 10, 11)
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Specification