MOBILE FLOOR-CLEANING ROBOT WITH FLOOR-TYPE DETECTION
First Claim
Patent Images
1. A cleaning robot, comprising:
- a chassis;
a drive connected to the chassis and configured to drive the robot across a floor surface;
a cleaning head assembly coupled to the chassis and positioned to engage the floor surface while the robot is maneuvered by the drive;
a motion sensor responsive to changes in pitch, the motion sensor being carried by the chassis; and
a controller circuit in communication with the cleaning head assembly and the motion sensor, the controller circuit configured to determine a flooring type associated with a cleaning characteristic of the robot and configured to alter the cleaning characteristic of the robot as a function of a signal from the motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity.
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Abstract
Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.
42 Citations
33 Claims
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1. A cleaning robot, comprising:
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a chassis; a drive connected to the chassis and configured to drive the robot across a floor surface; a cleaning head assembly coupled to the chassis and positioned to engage the floor surface while the robot is maneuvered by the drive; a motion sensor responsive to changes in pitch, the motion sensor being carried by the chassis; and a controller circuit in communication with the cleaning head assembly and the motion sensor, the controller circuit configured to determine a flooring type associated with a cleaning characteristic of the robot and configured to alter the cleaning characteristic of the robot as a function of a signal from the motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A cleaning robot, comprising:
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a chassis; a drive connected to the chassis and configured to drive the robot across a floor surface; a cleaning head assembly coupled to the chassis and positioned to engage the floor surface while the robot is maneuvered by the drive; and a controller circuit in communication with the cleaning head assembly, the controller circuit configured to; determine an initial raw class of the floor surface based on a power draw signal corresponding to the cleaning head assembly; identify a change in the class of the floor surface; and in response to identifying a floor-surface change from the initial raw class of the floor surface, modulating a cleaning characteristic of the robot, wherein identifying a change in the class of floor surface comprises integrating data from a plurality of monitored inputs, the inputs including at least one of; a cleaning head state signal; a motion signal, and an inertial measurement unit (IMU) signal. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification