Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1995-03-31
1997-04-15
Cabeca, John W.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318587, 31856812, 180 65, 180167, 180280, 901 1, 901 47, 395 94, B62D 5104, G05B 1500
Patent
active
056212917
ABSTRACT:
A self-propelled robotic vacuum cleaner includes independently driven right and left drive wheels, a front sensor emitting ultrasonic waves in a forward direction as the front sensor is oscillated right and left by 180.degree., and a rear sensor emitting ultrasonic waves in a lateral direction. The ultrasonic waves from the front sensor determine the presence of obstacles in front of the cleaner. The ultrasonic waves from the front and rear sensors together determine a distance between the cleaner and an adjacent wall, as well as an angle formed between the wall and a direction of travel of the cleaner. The respective speeds of the right and left drive wheels are controlled to keep the travel path of the cleaner parallel to the wall and at a predetermined distance therefrom whenever no obstacle is sensed.
REFERENCES:
patent: 4796198 (1989-01-01), Boultinghouse et al.
patent: 4967862 (1990-11-01), Pong et al.
patent: 4996468 (1991-02-01), Field et al.
patent: 5279672 (1994-01-01), Betke et al.
patent: 5321614 (1994-06-01), Ashworth
patent: 5440216 (1995-08-01), Kim
Cabeca John W.
Samsung Electronics Co,. Ltd.
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