Autonomous floor-cleaning robot

  • US 10,433,692 B2
  • Filed: 04/14/2017
  • Issued: 10/08/2019
  • Est. Priority Date: 01/24/2001
  • Status: Active Grant
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First Claim
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1. A floor-cleaning robot, comprising:

  • a housing structure;

    a motive system operable to generate movement of the floor-cleaning robot across a surface during floor-cleaning, the motive system including a left wheel module and a right wheel module;

    a nose wheel located forward of the left wheel module and the right wheel module;

    a vacuum system operable to ingest particulates;

    a primary brush assembly operable to collect particulates from the surface during floor-cleaning;

    a side brush assembly operable to direct particulates outside a periphery of the housing structure, which would be otherwise outside a range of the primary brush assembly, toward the primary brush assembly during floor-cleaning, the side brush assembly located forward of the left wheel module and the right wheel module and rearward of the nose wheel;

    a removable dust cartridge in communication with the primary brush assembly, and operable to store particulates collected by the primary brush assembly;

    a sensor system operable to generate signals representative of conditions encountered by the floor-cleaning robot during floor-cleaning, the sensor system including;

    a first cliff detector located on a right side of the floor-cleaning robot forward of the right wheel module; and

    a second cliff detector located on a left side of the floor-cleaning robot forward of the left wheel module,a third cliff detector located forward of the nose wheel and forward of the side brush assembly, the first, second, and third cliff detectors each operable to generate a cliff signal upon detection of a cliff, wherein at least one of the first and second cliff detectors is positioned adjacent to the side brush assembly; and

    a control system in communication with the motive system and responsive to signals generated by the sensor system to control movement of the floor-cleaning robot, the control system being responsive to the cliff signal to control movement of the floor-cleaning robot upon detection of the cliff to enable the floor-cleaning robot to escape from the cliff and to continue movement.

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