Mobile cleaning machine for cleaning floor of rooms has drive wheels and brush and has CCD camera and may sense markers set at edges of doorways

摘要

The mobile cleaning machine (12) has a pair of drive wheels (23), small carrying wheels and a rotating brush (31). The frame (33) carrying the brush has a sensor (40) at the front which may detect markers buried in the floor. A lower housing shell contains the propulsion machinery (16) and a dirt sensor (42). There is a sensor ring (49) at the horizontal join between the lower part of the housing and the lid (17). There are distance sensors (45) on top of the lid. The cleaning machine includes a CCD camera and may sense markers set at edges of doorways.