Patent ID: 9468352
Filing Date: 2016-10-18
CPC Classification: A47L,G05D

Claim Text:
1. A floor-cleaning robot comprising: a housing; a chassis with a drive for moving the floor-cleaning robot in a direction of travel over a surface to be cleaned, a cleaning implement that is adapted to engage with the surface to be cleaned, a first three-dimensional distance measuring device that is configured to measure distance within a first volume that is defined in part by a first solid angle, the first solid angle spanning from the first three-dimensional distance measuring device, the first three-dimensional distance measuring device being adapted to sense distances between the first three-dimensional distance measuring device and each of a plurality of first surface elements within the first solid angle, a second three-dimensional distance measuring device that is configured to measure distance within a second volume that is defined in part by a second solid angle, the second solid angle spanning from the second three-dimensional distance measuring device, the second three-dimensional distance measuring device being adapted to sense distances between the second three-dimensional distance measuring device and each of a plurality of second surface elements within the second solid angle, and a controller that is configured to at least one of generate and update a representation of the surface to be cleaned based on the distances from the first and second surface elements sensed by the first and second three-dimensional distance measuring devices, respectively, the controller guiding the floor-cleaning robot over the surface to be cleaned based at least partly on the representation of the surface to be cleaned, wherein the first three-dimensional distance measuring device and the second three-dimensional distance measuring device are aligned in such a manner that the direction of travel runs through the first solid angle, and the second solid angle is offset in relation to the first solid angle, and wherein the first and second solid angles are horizontally adjacent to one another.