Coverage robot mobility

US7441298B2 · kind B2 · utility

Assignee

• iRobot Corporation · US

Inventors

• Selma Svendsen · Melrose, US
• Daniel N. Ozick · Newton, US
• Christopher M. Casey · Lexington, US
• Deepak Ramesh Kapoor · Cupertino, US
• Tony L. Campbell · Pepperell, US
• Chikyung Won · Tewksbury, US
• Christopher John Morse · Malden, US
• Scott Thomas Burnett · Windham, US

Key dates

• Filing date: Dec 4, 2006
• Grant date: Oct 28, 2008
• Expiry date: Dec 4, 2026

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/50
• WIPO field: Furniture, games
• WIPO sector: Other fields

Abstract

An autonomous coverage robot includes a chassis, a drive system to maneuver the robot, an edge cleaning head carried, and a controller. The controller is configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, an autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle.