Coverage robot mobility

  • US 20070234492A1
  • Filed: 12/04/2006
  • Published: 10/11/2007
  • Est. Priority Date: 12/02/2005
  • Status: Active Grant
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First Claim
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1. An autonomous coverage robot comprising:

  • a chassis;

    a drive system mounted on the chassis and configured to maneuver the robot;

    an edge cleaning head carried by the chassis and driven by an edge cleaning head motor to rotate about a non-horizontal axis, the edge cleaning head extending beyond a lateral extent of the chassis to engage a floor surface while the robot is maneuvered across the floor; and

    a controller carried by the chassis and configured to monitor motor current associated with the edge cleaning head;

    wherein the controller is configured to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor.

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