AUTONOMOUS FLOOR-CLEANING ROBOT

  • US 20100257691A1
  • Filed: 06/28/2010
  • Published: 10/14/2010
  • Est. Priority Date: 01/03/2002
  • Status: Active Grant
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First Claim
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1. A robot comprising:

  • a robot housing having a substantially arcuate forward portion;

    a motor drive housed by the robot housing and configured to maneuver the robot on a floor surface;

    at least two independently driven drive wheels moveably attached to the robot housing and biased toward the floor surface, each of the drive wheels being moveable downwardly in response to the each of the drive wheels moving over a cliff in the floor surface;

    a plurality of cliff sensors disposed adjacent a forward edge of the robot housing and spaced from each other, each cliff sensor comprising an emitter and a detector aimed toward the floor surface and configured to receive emitter emissions reflected off of the floor surface, each cliff sensor responsive to a cliff in the floor surface and configured to send a signal when a cliff in the floor surface is detected;

    a wheel drop sensor in communication with each drive wheel that senses when a drive wheel moves downwardly and sends a signal indicating downward movement of the drive wheel; and

    a controller in communication with the cliff sensors, each of the wheel drop sensors, and the motor drive to redirect the robot when a cliff in the floor surface is detected.

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