Methods to prevent wheel slip in an autonomous floor cleaner

  • US 7,389,166 B2
  • Filed: 06/28/2005
  • Issued: 06/17/2008
  • Est. Priority Date: 06/28/2005
  • Status: Active Grant
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First Claim
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1. A robotic device for treating a surface, comprising:

  • a first wheel driven by a first motor;

    a second wheel driven by a second motor;

    a housing supported by the first wheel and the second wheel;

    means for measuring wheel rotation for the first wheel and the second wheel; and

    a controller in communication with the first motor, the second motor, and the means for measuring wheel rotation, the controller receiving first wheel rotation signals associated with the first wheel from the means for measuring wheel rotation, the controller receiving second wheel rotation signals associated with the second wheel from the means for measuring wheel rotation, the controller providing first speed signals to the first motor for driving the first wheel, the controller providing second speed signals to the second motor for driving the second wheel,wherein the controller executes a stored program to;

    (i) calculate a first amount of slip for the first wheel from the first wheel rotation signals received from the means for measuring wheel rotation,(ii) calculate a second amount of slip for the second wheel from the second wheel rotation signals received from the means for measuring wheel rotation,(iii) provide first speed signals to the first motor that slow or stop the first wheel if the first amount of slip exceeds a predetermined first value of slip, and(iv) provide second speed signals to the second motor that slow or stop the second wheel if the second amount of slip exceeds a predetermined second value of slip.

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