Mobile robot for cleaning

摘要

A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

主权项

1. A method of cleaning a floor that forms a corner with a vertical surface with a cleaning cloth retained by a mobile robot, wherein the robot comprises a cleaning assembly, and a drive assembly having a first wheel and a second wheel; the method comprising:
aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the vertical surface; driving, while in contact with the vertical surface, the robot forward in a direction substantially parallel to the vertical surface; pushing against the vertical surface while sliding along the same vertical surface; turning the first wheel, which is positioned proximate to the vertical surface, with a first angular velocity and monitoring a first motor current drawn by the first wheel; turning the second wheel, which is positioned further from the vertical surface than the first wheel, with a second angular velocity and monitoring a second motor current drawn by the second wheel, wherein the second angular velocity is greater than the first angular velocity; and transmitting a force against the vertical surface via the cleaning cloth so as to press the cleaning cloth into the corner, the transmitted force caused by the second angular velocity exceeding the first angular velocity; and limiting the difference between the first motor current and second motor current.