WALL FOLLOWING ROBOT
4 Assignments
0 Petitions
Accused Products
Abstract
An example robot includes a body that is movable relative to a surface, a bumper mounted on the body to enable movement of the bumper relative to the body, a sensor to produce a signal in response to the movement of the bumper relative to the body caused by contact between the bumper and the surface, and a controller to control movement of the body to cause the body to track the surface based on a value. The bumper is movable between an uncompressed position relative to the body and a compressed position relative to the body. The signal varies linearly with the movement of the bumper relative to the body. The value is based on the signal and indicates that the bumper in a partially compressed position has a compression range between the uncompressed position and the compressed position.
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Citations
50 Claims
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1-30. -30. (canceled)
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31. A mobile cleaning robot comprising:
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a body that is movable relative to a wall surface; a cleaning pad attached to a bottom of the body; a reservoir within the body configured to hold a fluid; a spraying mechanism configured to dispense the fluid from the robot; a bumper mounted on the body to enable movement of the bumper relative to the body, the bumper being movable relative to the body within a range defined by an uncompressed position of the bumper and a compressed position of the bumper; a controller to execute instructions to perform operations comprising; controlling movement of the body to cause the body to track the wall surface to maintain an angle of between about 3 degrees and about 20 degrees between the body and the wall surface; and maintaining contact between the cleaning pad and the wall surface while tracking the wall surface. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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Specification