Cleaning robot

  • US 5,309,592 A
  • Filed: 06/15/1993
  • Issued: 05/10/1994
  • Est. Priority Date: 06/23/1992
  • Status: Expired due to Term
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First Claim
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1. A cleaning robot having a robot body to be self-propelled on a floor along a side wall, and a cleaning mechanism mounted on the robot body, the cleaning robot being characterized in that the robot comprises:

  • a steering device provided on the robot body for changing the direction of advance of the robot body,a slide device mounted on the robot body and reciprocatingly movable toward and away from the side wall,a contact force sensor provided at an end of the slide device and positionable in contact with the side wall for detecting a force of contact exerted thereon by the side wall,slide control means for controlling the slide device based on a detection signal from the contact force sensor so as to maintain the contact force at a target value or at a value within a target range, andsteering control means for controlling the steering device based on the detection signal from the contact force sensor so as that a component of the contact force in the direction of advance of the robot body becomes substantially zero.

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