Autonomous floor-cleaning robot

  • US 9,622,635 B2
  • Filed: 05/21/2014
  • Issued: 04/18/2017
  • Est. Priority Date: 01/24/2001
  • Status: Active Grant
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First Claim
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1. A robot comprising:

  • a robot housing having a forward portion;

    a motor drive housed in the robot housing and configured to maneuver the robot on a floor surface;

    at least two independently driven drive wheels moveably attached to the robot housing and biased toward the floor surface, each of the drive wheels being independently moveable downwardly;

    a plurality of cliff sensors disposed forward of the wheels and spaced from each other, each cliff sensor comprising an emitter positioned to direct emissions toward a floor surface and a detector configured to receive emitter emissions reflected off of the floor surface, each cliff sensor responsive to a cliff in the floor surface and configured to send a signal when a cliff in the floor surface is detected;

    at least one side brush driven about a nonhorizontal axis and comprising at least one brush arm having a plurality of bristles, at least a portion of the at least one side brush extending beyond a peripheral edge of the robot housing, and at least a portion of the at least one brush arm periodically intersecting a path between at least one of the plurality of cliff sensors and the floor surface; and

    a controller in communication with the plurality of cliff sensors and the motor drive, configured to redirect movement of the robot when a cliff in the floor surface is detected.

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