| 摘要 |
A mobile surface cleaning robot (100) including a robot body ( 110) having a forward drive direction (F) and a drive system (120) supporting the robot body above a floor surface (10). The drive system (120) includes right and left drive wheels (124a, 124b) and a caster wheel assembly (126) disposed rearward of the drive wheels. The caster wheel assembly includes a caster wheel (127a) supported for vertical movement and a suspension spring (127b) biasing the caster wheel toward the floor surface. The robot also includes a cleaning system (160) supported by the robot body forward of the drive wheels and having at least one cleaning element (310) that engages the floor surface. The suspension spring (127b) has a spring constant sufficient to elevate a rear end (116) of the robot body above the floor surface to maintain engagement of the at least one cleaning element with the floor surface. |
