Mobile robot for cleaning
First Claim
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.
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Accused Products
Abstract
A method of cleaning a floor near a vertical surface with a mobile robot. The robot includes a cleaning assembly and a drive assembly having a first wheel and a second wheel. The method includes aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the surface. The method includes driving the robot forward in a direction substantially parallel to the surface. The method further includes: i) turning the first wheel, proximate to the surface, with a first angular velocity, and ii) turning the second wheel, further from the surface, with a second angular velocity. The second angular velocity is greater than the first angular velocity. The robot pushes against the surface while sliding along the same surface.
79 Citations
23 Claims
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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:
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aligning a side edge of the cleaning pad and a vertical surface by moving the mobile robot towards the vertical surface until a front edge of the cleaning pad contacts the vertical surface, and then rotating 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 by turning the first wheel with a first angular velocity, and turning 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 Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification