Patent ID: 9104204
Filing Date: 2015-08-11
Classification: A47L,B25J,G05D,Y10S

Abstract:
1. A mobile coverage robot, comprising: a drive mechanism comprising drive wheels that both drive the robot forward across a surface in a drive direction and turns the robot to change the drive direction; a floor cleaner disposed on a lateral side of the robot; a proximity sensor aimed forward of the drive wheels in the drive direction, the proximity sensor responsive to an object proximate the lateral side of the robot; a tactile sensor responsive to a bump event between the robot and an object, the tactile sensor comprising a bumper switch; and a plurality of floor level sensors, each floor level sensor responsive to a condition of an area below the robot, the floor level sensors comprising: a drive controller in communication with the proximity sensor, the tactile sensor, and the plurality of floor level sensors, the drive controller configured to: