Mobile robot for cleaning

• US 8,961,695 B2
• Filed: 12/30/2010
• Issued: 02/24/2015
• Est. Priority Date: 04/24/2008
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Romanov, Nikolai, Johnson, Collin Eugene, Case, James Philip, Goel, Dhiraj, Gutmann, Steffen, Dooley, Michael
• Primary Examiner(s): Chaudhry, Saeed T
• Application Number:
  US12/930,260
• Publication Number:
  US 20110202175A1
• Time in Patent Office: 1,517 Days
• Field of Search: 134/18, 134/21, 134/42, 318/568.12, 318/568.11, 318/568.16, 318/568.18, 153/401
• US Class Current: 134/18
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4091 Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Claims

1. A method of cleaning a floor that forms a corner with a vertical surface with a cleaning cloth retained by a mobile robot, wherein the robot comprises a cleaning assembly, and a drive assembly having a first wheel and a second wheel;

the method comprising;

aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the vertical surface;

driving, while in contact with the vertical surface, the robot forward in a direction substantially parallel to the vertical surface;

pushing against the vertical surface while sliding along the same vertical surface;

turning the first wheel, which is positioned proximate to the vertical surface, with a first angular velocity and monitoring a first motor current drawn by the first wheel;

turning the second wheel, which is positioned further from the vertical surface than the first wheel, with a second angular velocity and monitoring a second motor current drawn by the second wheel, wherein the second angular velocity is greater than the first angular velocity; and

transmitting a force against the vertical surface via the cleaning cloth so as to press the cleaning cloth into the corner, the transmitted force caused by the second angular velocity exceeding the first angular velocity; and

limiting the difference between the first motor current and second motor current.

2. The method of claim 1, wherein the first angular velocity is greater than 80 percent of the second angular velocity.

3. The method of claim 1, further comprising:

detecting an angle between the vertical surface and a forward direction of the robot.

4. The method of claim 3, wherein the angle between the vertical surface and the forward direction of the robot is between 85 and 90 degrees while sliding along the obstacle.

5. The method of claim 3, wherein the method further comprises:

reducing the second angular velocity if the angle is less than 85 degrees.

6. The method of claim 1, wherein aligning the robot comprises:

driving the robot to the vertical surface;

turning the robot to directly face the vertical surface;

turning the robot 90 degrees away from the vertical surface.

7. The method of claim 1, wherein the cleaning cloth is a dry cleaning cloth.

8. The method of claim 1, wherein the cleaning cloth is a wet cleaning cloth.

9. The method of claim 1, wherein the cleaning cloth comprises a removable sheet.

10. The method of claim 1, wherein the cleaning cloth comprises an electrostatic sheet.

11. The method of claim 1, wherein the cleaning cloth wraps around a forward surface of the cleaning assembly.

12. The method of claim 1, wherein at least a portion of the cleaning cloth is stored on a roll positioned within the mobile robot.

13. The method of claim 1, wherein the vertical surface is a wall.

14. A method of cleaning a floor that forms a corner with a vertical surface with a cleaning cloth retained by a mobile robot, wherein the robot comprises a cleaning assembly, and a drive assembly having a first wheel and a second wheel;

the method comprising;

aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the vertical surface;

driving, while in contact with the vertical surface, the robot forward in a direction substantially parallel to the vertical surface and monitoring an orientation of the robot with a gyroscope;

pushing against the vertical surface while sliding along the same vertical surface;

turning the first wheel positioned proximate to the vertical surface, with a first angular velocity;

turning the second wheel positioned further from the vertical surface than the first wheel with a second angular velocity, wherein the second angular velocity is greater than the first angular velocity; and

transmitting a force against the vertical surface via the cleaning cloth so as to press the cleaning cloth into the corner, the transmitted force caused by the second angular velocity exceeding the first angular velocity; and

reducing the second angular velocity if a change in the orientation exceeds a predetermined threshold.

15. The method of claim 14, wherein the first angular velocity is greater than 80 percent of the second angular velocity.

16. The method of claim 14, further comprising:

detecting an angle between the vertical surface and a forward direction of the robot.

17. The method of claim 16, wherein the angle between the vertical surface and the forward direction of the robot is between 85 and 90 degrees while sliding along the obstacle.

18. The method of claim 16, wherein the method further comprises:

reducing the second angular velocity if the angle is less than 85 degrees.