Compact autonomous coverage robot

  • US 9,480,381 B2
  • Filed: 08/11/2014
  • Issued: 11/01/2016
  • Est. Priority Date: 05/09/2007
  • Status: Active Grant
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First Claim
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1. An autonomous robot comprising:

  • a chassis having a substantially rectangular forward portion and a substantially arcuate rearward portion when viewed from above, the forward portion having a forward edge and side edges connected to the forward edge at corners, the side edges positioned on lateral sides of the robot;

    a cleaning assembly carried by the chassis and positioned forward of two drive wheels;

    a proximity sensor carried by the chassis and responsive to object proximity with respect to one or more of the lateral sides of the robot;

    a bumper extending along the forward edge of the chassis and along at least a portion of the side edges of the chassis, the bumper comprising a plurality of capacitive sensors, including a respective pair of capacitive sensors disposed adjacent each of the corners, each of the pairs of capacitive sensors including a forward corner capacitive sensor and a lateral corner capacitive sensor, such that signals from the pair of capacitive sensors adjacent a respective corner are indicative of both direction and location of a contact with an obstacle at or near the respective corner; and

    a drive system carried by the chassis and configured to change a direction of travel of the robot in response to a determined direction and location of the contact between the bumper and the obstacle,wherein the drive system is configured to cause the robot to back up, turn in place and perform an obstacle following routine based on the proximity sensor detecting an obstacle on one of the lateral sides of the robot.

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