Drive control method of robotic vacuum cleaner
US5621291A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Mar 31, 1995 |
| Grant date | Apr 15, 1997 |
| Priority date | — |
| Expiry date | Mar 31, 2015 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA47L2201/04
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A self-propelled robotic vacuum cleaner includes independently driven right and left drive wheels, a front sensor emitting ultrasonic waves in a forward direction as the front sensor is oscillated right and left by 180.degree., and a rear sensor emitting ultrasonic waves in a lateral direction. The ultrasonic waves from the front sensor determine the presence of obstacles in front of the cleaner. The ultrasonic waves from the front and rear sensors together determine a distance between the cleaner and an adjacent wall, as well as an angle formed between the wall and a direction of travel of the cleaner. The respective speeds of the right and left drive wheels are controlled to keep the travel path of the cleaner parallel to the wall and at a predetermined distance therefrom whenever no obstacle is sensed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.