Navigational control system for a robotic device

  • US 8,793,020 B2
  • Filed: 09/13/2012
  • Issued: 07/29/2014
  • Est. Priority Date: 09/13/2002
  • Status: Active Grant
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First Claim
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1. A robotic cleaner, comprising:

  • a chassis and an outer shell secured to the chassis;

    left and right main drive wheel assemblies and respective independent electric motors, independently mounted in pivotally-biased combination with the chassis for pivotal motion with respect thereto at opposed ends of the transverse diameter of the chassis, and movable between a retracted position under the weight of the robotic cleaner during operation and an extended position wherein their axes of rotation are below the bottom plane of the chassis;

    a navigational control system operative to monitor movement activity of the robotic cleaner within a defined working area, the monitored movement activity including at least one of a position history of the robotic cleaner and an instantaneous position of the robotic cleaner; and

    a transmitting subsystem including a transmitter laser, wherein the transmitter laser;

    is configured to redirect a transmitting element of the transmitter laser;

    is configured to cover the defined working area by transmitting a beam substantially parallel to a surface of the defined working area;

    is mounted in combination with the outer shell secured to the chassis to define an overall structural envelope of a height to enable movement of the robotic cleaner under furniture; and

    is integrated in combination with a high point of a housing infrastructure of the robotic cleaner so that any structural features of the robotic cleaner below the transmitter laser do not substantially interfere with redirection of the transmitting element of the transmitter laser.

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