×

Mobile robot for cleaning

  • US 10,766,132 B2
  • Filed: 02/20/2015
  • Issued: 09/08/2020
  • Est. Priority Date: 04/24/2008
  • Status: Active Grant
First Claim
Patent Images

1. A method of cleaning a floor surface with a mobile robot, wherein the mobile robot comprises a cleaning assembly, the cleaning assembly comprising a cleaning pad, and a drive assembly having a first wheel and a second wheel, the method comprising:

  • aligning a side edge of the cleaning pad and a vertical surface bymoving the mobile robot towards the vertical surface until a front edge of the cleaning pad contacts the vertical surface, and thenrotating the mobile robot relative to the vertical surface such that a forward drive direction of the mobile robot is substantially parallel to the vertical surface; and

    moving along the vertical surface to maintain contact between the side edge of the cleaning pad and the vertical surface byturning the first wheel with a first angular velocity, andturning the second wheel with a second angular velocity, wherein the second angular velocity is larger than the first angular velocity such that wheel axes of the first and second wheels are rotated between 0 and 5 degrees away from a direction orthogonal to the vertical surface.

View all claims
  • 5 Assignments
Timeline View
Assignment View
    ×
    ×