Self-propelled working robot having horizontally movable work assembly retracting in different speed based on contact sensor input on the assembly

  • US 7,660,650 B2
  • Filed: 10/05/2004
  • Issued: 02/09/2010
  • Est. Priority Date: 10/08/2003
  • Status: Expired due to Fees
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First Claim
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1. A self-propelled working robot comprising:

  • a traveling assembly having a wheel rotating on a floor surface;

    a working assembly for doing work on the floor surface, wherein the working assembly is attached to the traveling assembly so that the working assembly is movable in a left-right direction with respect to the traveling assembly;

    a moving mechanism for moving the working assembly with respect to the traveling assembly so as to change a positional relationship between the traveling assembly and the working assembly;

    a first contact sensor provided in the working assembly for detecting a contact of the obstacle with a front surface of the working assembly;

    a second contact sensor provided in the working assembly for detecting a contact of the obstacle with a side surface of the working assembly; and

    means for controlling a travel of the traveling assembly, for controlling the moving mechanism to move the working assembly left and right at a first retraction speed based on a detection signal from the first contact sensor, and for controlling the moving mechanism to move the working assembly left and right at a second retraction speed, being lower than the first retraction speed, based on a detection signal from the second contact sensor.

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