Method and apparatus for traversing corners of a floored area with a robotic surface treatment apparatus
First Claim
1. A robotic surface treatment apparatus comprising:
- a chassis; and
one or more processors that detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is about to contact a second wall;
wherein, if the robotic surface treatment apparatus is about to contact the second wall, the one or more processors;
control the robotic surface treatment apparatus to contact the second wall;
control the robotic surface treatment apparatus to back up by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and
cause the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall.
2 Assignments
0 Petitions
Accused Products
Abstract
A robotic surface treatment apparatus treats corners of rooms more effectively through intricate guidance of the apparatus through inside and outside corners. In one aspect, contact and/or non-contact sensors provide information to one or more on-board processors on the apparatus to enable selective overriding of obstacle avoidance program code and allow the apparatus to get closer to walls to facilitate treatment. In another aspect, the sensors provide information to the on-board processors to control backup motion of the apparatus to cover previously-missed areas when turning corners. In yet another aspect, the apparatus is shaped to have its treatment mechanism positioned more closely to the front of the apparatus to enable treatment more closely to walls near corners. In one embodiment, the robotic surface treatment apparatus is a robotic vacuum. The vacuum may have its cleaning brush positioned near a flat front portion of the apparatus.
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Citations
30 Claims
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1. A robotic surface treatment apparatus comprising:
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a chassis; and one or more processors that detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is about to contact a second wall; wherein, if the robotic surface treatment apparatus is about to contact the second wall, the one or more processors; control the robotic surface treatment apparatus to contact the second wall; control the robotic surface treatment apparatus to back up by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and cause the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall. - View Dependent Claims (2, 3, 4, 5)
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6. A processor-implemented method of controlling a robotic surface treatment apparatus, the method comprising:
using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is about to contact a second wall; wherein, if the robotic surface treatment apparatus is about to encounter the second wall, the method further comprises; using one or more processors to control the robotic surface treatment apparatus to contact the second wall; backing up the robotic surface treatment apparatus by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and causing the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall. - View Dependent Claims (7, 8, 9, 10)
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11. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus, the method comprising:
using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is about to contact a second wall; wherein, if the robotic surface treatment apparatus is about to encounter the second wall, the method further comprises; using one or more processors to control the robotic surface treatment apparatus to contact the second wall; backing up the robotic surface treatment apparatus by an amount sufficient to enable the robotic surface treatment apparatus to turn the corner; and causing the robotic surface treatment apparatus to pivot and move forward so that it follows the second wall. - View Dependent Claims (12, 13, 14, 15)
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16. A robotic surface treatment apparatus comprising:
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a chassis; and one or more processors that detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall; wherein, if the robotic surface treatment apparatus is no longer traveling along the first wall, the one or more processors; cause the robotic surface treatment apparatus to pivot and continue moving forward; detect whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and if the robotic surface treatment apparatus is traveling along the further wall, the one or more processors cause the robotic surface treatment apparatus to move forward to follow the further wall. - View Dependent Claims (17, 18, 19, 20)
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21. A processor-implemented method of controlling a robotic surface treatment apparatus, the method comprising:
using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall; and
;if the robotic surface treatment apparatus is no longer traveling along the first wall; causing the robotic surface treatment apparatus to pivot and continue moving forward; using one or more processors to detect whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and if the robotic surface treatment apparatus is traveling along the further wall, causing the robotic surface treatment apparatus to move forward to follow the further wall. - View Dependent Claims (22, 23, 24, 25)
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26. A tangible recording medium containing processor-implemented instructions to perform a method of controlling a robotic surface treatment apparatus, the method comprising:
using one or more processors to detect whether the robotic surface treatment apparatus is about to traverse a corner as the robotic surface treatment apparatus travels along a first wall, by detecting whether the robotic surface treatment apparatus is no longer traveling along the first wall; and
;if the robotic surface treatment apparatus is no longer traveling along the first wall; causing the robotic surface treatment apparatus to pivot and continue moving forward; using the one or more processors to detect whether, after pivoting, the robotic surface treatment apparatus is traveling along a further wall; and if the robotic surface treatment apparatus is traveling along a further wall, causing the robotic surface treatment apparatus to move forward to follow the further wall. - View Dependent Claims (27, 28, 29, 30)
Specification