MOBILE ROBOT FOR CLEANING

• US 20150158174A1
• Filed: 02/20/2015
• Published: 06/11/2015
• Est. Priority Date: 04/24/2008
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Romanov, Nikolai, Johnson, Collin Eugene, Case, James Philip, Goel, Dhiraj, Gutmann, Steffen, Dooley, Michael
• Granted Patent: US 10,766,132 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4036 Parts or details of the surface treating tools
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4091 Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Claims

1. A method of cleaning a floor near a wall or vertical surface with a mobile robot, wherein the robot comprises a cleaning assembly, and a drive assembly having a first wheel and a second wheel;

the method comprising;

aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the surface;

driving the robot forward in a direction substantially parallel to the surface;

the method comprising;

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, wherein the second angular velocity is greater than the first angular velocity;

wherein the robot pushes against the surface while sliding along the same surface.

2. The method of claim 1, wherein the first angular velocity is greater than 80 percent of the second angular velocity.

3. The method of claim 1, further comprising:

detecting an angle between the obstacle and a forward direction of the robot.

4. The method of claim 3, wherein the angle between the obstacle and a forward direction of the robot is between 85 and 90 degrees while sliding along the obstacle.

5. The method of claim 3, wherein the method further comprises:

reducing the second angular velocity if the angle is less than 85 degrees.

6. The method of claim 1, wherein the method further comprises:

monitoring a first motor current drawn by the first wheel;

monitoring a second motor current drawn by the second wheel; and

limiting the difference between the first motor current and second motor current.

7. The method of claim 1, wherein the method further comprises:

monitoring an orientation of the robot with a gyroscope; and

reducing the second angular velocity if a change in the orientation exceeds a predetermined threshold.

8. The method of claim 1, wherein aligning the robot comprises:

driving the robot to the obstacle;

turning the robot to directly face the obstacle;

turning the robot 90 degrees away from the obstacle.