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Floor cleaning robot and method of controlling same

  • US 5,402,051 A
  • Filed: 03/23/1993
  • Issued: 03/28/1995
  • Est. Priority Date: 03/24/1992
  • Status: Expired due to Fees
First Claim
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1. A robot for cleaning a floor of a railroad vehicle while automatically traveling over the floor, the vehicle having seats and entrance-exit doors along both side walls of the vehicle, the robot having a robot body equipped with a cleaning mechanism and comprising:

  • a travel mechanism controllable for locomotion in a desired direction,distance detecting means arranged as directed at least toward the front and opposite sides of the robot body for measuring the distance to an obstacle or a wall,map storing means having stored therein a cleaning region of the floor previously as a two-dimensional map,path storing means having stored therein a predetermined path of travel for cleaning the floor as expressed in coordinates on the map,first control means for recognizing the coordinates of the position of the robot body on the map based on outputs from the distance detecting means when the robot body is placed at an end portion of the floor, andsecond control means for correcting the course of the robot body based on outputs from the distance detecting means while the robot body travels from the coordinate position recognized by the first control means along the predetermined path.

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