Adaptive speed control of rotating side brush

  • US 10,433,697 B2
  • Filed: 12/19/2013
  • Issued: 10/08/2019
  • Est. Priority Date: 12/19/2013
  • Status: Active Grant
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First Claim
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1. A robotic cleaning device comprising:

  • a main body;

    a propulsion system configured to move the robotic cleaning device across a surface to be cleaned;

    a controller configured to control the propulsion system to move the robotic cleaning device across the surface to be cleaned;

    an opening in a bottom side of the main body via which debris is removed from the surface to be cleaned; and

    at least one rotating side brush arranged adjacent to the opening and arranged to contact the surface to be cleaned, wherein the at least one rotating side brush is configured to rotate in a direction parallel to the surface to be cleaned as the propulsion system moves the robotic cleaning device across the surface to be cleaned, andwherein the controller is configured to;

    register a speed with which the robotic cleaning device moves across the surface to be cleaned;

    control a rotational speed of the at least one rotating side brush on the basis of the registered speed of movement of the robotic cleaning device such that the rotational speed of the at least one rotating side brush decreases when the registered speed of movement of the robotic cleaning device decreases and such that the rotational speed of the at least one rotating side brush increases when the registered speed of movement of the robotic cleaning device increases; and

    control a rotational speed of the at least one rotating side brush on the basis of the registered speed of movement of the robotic cleaning device such that the rotational speed of the at least one rotating side brush, while the at least one rotating side brush is in contact with the surface to be cleaned, does not fall below a lower threshold value when the speed of movement of the robotic cleaning device over the surface to be cleaned is zero.

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