Patent Document ID: 9104204
Application ID: 13893762
Patent Status: 1

Claim One:
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 cliff sensor aimed forward of the drive wheels in the drive direction and responsive to a presence of a cliff in the drive direction of the robot; and a wheel drop sensor responsive to a wheel drop event; and a drive controller in communication with the proximity sensor, the tactile sensor, and the plurality of floor level sensors, the drive controller configured to: operate the robot to follow a sensed object on the lateral side of the robot; operate the robot to travel in an altered direction in response to a bump event between the robot and the object, and to shut off the robot in response to determining that the bumper switch has been constantly depressed for a predetermined amount of time; operate the robot to avoid a cliff; and reduce the velocity of the robot in response to a wheel drop event.