Self-propelled cleaning device and method of operation thereof
US7515991B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Mar 17, 2004 |
| Grant date | Apr 7, 2009 |
| Priority date | — |
| Expiry date | Feb 7, 2026 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA47L2201/04
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In cleaning using a self-propelled cleaning device, firstly the cleaning device moves alongside a wall surface and then a reference direction is set. Next, the cleaning device advances alongside the wall surface at a prescribed distance, makes a right-angle turn, and travels in the reference direction. When the cleaning device reaches the surface of an opposing wall, it moves in a spiraling manner. At that time, the orientation angle of the cleaning device, which is estimated using a gyro sensor, is checked and corrected. If an obstacle is encountered while traveling, the cleaning device travels on a path that avoids the obstacle or travels in a spiral manner in a region in front of the obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.