Coverage robot mobility

  • US 8,978,196 B2
  • Filed: 12/20/2012
  • Issued: 03/17/2015
  • 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 across a floor surface according to a speed setting and a heading setting provided by a controller;

    a cleaning head carried by the chassis and driven by a cleaning head motor to rotate about an axis proximate a forward portion of the chassis, the cleaning head positioned to engage the floor surface while the robot is maneuvered by the drive system;

    a bump sensor responsive to a collision of the robot with an obstacle in a forward direction; and

    a proximity sensor responsive to a potential obstacle forward of the robot,wherein the controller is configured to continuously navigate the robot in a cleaning mode while negotiating obstacles by;

    reducing the speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle, and altering the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle; and

    in response to determining that the cleaning head is entangled;

    altering an angular velocity of the cleaning head; and

    controlling the drive system to maneuver the robot to allow the cleaning head to disentangle as the robot moves.

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