Coverage robot mobility

  • US 7,441,298 B2
  • Filed: 12/04/2006
  • Issued: 10/28/2008
  • 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;

    a controller carried by the chassis;

    a motor current sensor in communication with the controller and configured to monitor motor current associated with the edge cleaning head;

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

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