COVERAGE ROBOT MOBILITY
First Claim
1. An autonomous coverage robot comprising:
- a chassis;
a drive system mounted on the chassis and configured to maneuver the robot;
an edge cleaning head carried by the chassis and driven by an edge cleaning head motor to rotate about a non-horizontal axis, the edge cleaning head extending beyond a lateral extent of the chassis to engage a floor surface while the robot is maneuvered across the floor; and
a controller carried by the chassis and configured to monitor motor current associated with the edge cleaning head;
wherein the controller is configured to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor.
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0 Petitions
Accused Products
Abstract
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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Citations
20 Claims
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1. An autonomous coverage robot comprising:
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a chassis; a drive system mounted on the chassis and configured to maneuver the robot; an edge cleaning head carried by the chassis and driven by an edge cleaning head motor to rotate about a non-horizontal axis, the edge cleaning head extending beyond a lateral extent of the chassis to engage a floor surface while the robot is maneuvered across the floor; and a controller carried by the chassis and configured to monitor motor current associated with the edge cleaning head; wherein the controller is configured to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of disentangling an autonomous coverage robotic, the method comprising:
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placing the robot on a floor surface; and allowing the robot to autonomously traverse across the floor surface in a forward direction of the robot while rotating about a non-horizontal axis an edge cleaning head carried by the chassis and driven by an edge cleaning head motor, the edge cleaning head extending beyond a lateral extent of the chassis while engaging the floor surface, wherein the robot independently provides a reverse bias for the edge cleaning head motor in response to an elevated edge cleaning head motor current while continuing to maneuver across the floor surface. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification