Robot vacuum cleaner and its operation method

Abstract

The robotic cleaner includes one or more drive wheels, one or more sensors configured to detect one or more characteristics of an environment, an air jet assembly configured to generate an air jet, and a side brush, wherein a side brush operational state of the side brush corresponds to an air jet operational state of the air jet assembly.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit of U.S. Provisional Application No. 63 / 330,082, filed on April 12, 2022, entitled “Robotic Cleaner and Methods of Operating the same,” which is hereby incorporated by reference in its entirety.

[0002] The present disclosure generally relates to surface cleaning devices, and more specifically, to robotic cleaners.

Background Art

[0003] Robotic cleaners are configured to autonomously traverse a surface to be cleaned (e.g., a floor). For example, a robotic cleaner may include a suction motor configured to suck debris from the surface to be cleaned into a dust cup of the robotic cleaner for later disposal. In some instances, the robotic cleaner may include one or more side cleaning implements (e.g., one or more side brushes) configured to urge debris from the outer perimeter of the robotic cleaner toward the movement path of the robotic cleaner. For example, one or more side brushes may improve the cleaning performance of the robotic cleaner when moving adjacent to a vertically extending surface (e.g., a wall).

Brief Description of the Drawings

[0004] These features, as well as other features and advantages, will be better understood by reading the following detailed description in conjunction with the following drawings. [Figure 1] FIG. 1 is a schematic top view of an example of a robotic cleaner consistent with an embodiment of the present disclosure. <0​​​​This is a schematic top view of an embodiment of a robot cleaner consistent with the embodiments of the present disclosure. [Figure 4] This is a schematic top view of an embodiment of a robot cleaner consistent with the embodiments of the present disclosure. [Figure 5] This is a schematic top view of an embodiment of a robot cleaner consistent with the embodiments of the present disclosure. [Figure 6] Figure 6A is a schematic example of a robotic cleaner traversing a vertically extending surface with discontinuities, consistent with embodiments of the present disclosure. Figure 6B is a schematic example of the robotic cleaner of Figure 6A traversing a vertically extending surface at different points in time, consistent with embodiments of the present disclosure. Figure 6C is a schematic example of the robotic cleaner of Figure 6A traversing a vertically extending surface at different points in time, consistent with embodiments of the present disclosure. Figure 6D is a schematic example of the robotic cleaner of Figure 6A traversing a vertically extending surface at different points in time, consistent with embodiments of the present disclosure. Figure 6E is a schematic example of the robotic cleaner of Figure 6A traversing a vertically extending surface at different points in time, consistent with embodiments of the present disclosure. [Figure 7] Figure 7A is a schematic example of a robotic cleaner configured to traverse a corner area, consistent with an embodiment of the present disclosure. Figure 7B is a schematic example of the robotic cleaner of Figure 7A at a different time, consistent with an embodiment of the present disclosure. Figure 7C is a schematic example of the robotic cleaner of Figure 7A at a different time, consistent with an embodiment of the present disclosure. Figure 7D is a schematic example of the robotic cleaner of Figure 7A at a different time, consistent with an embodiment of the present disclosure. Figure 7E is a schematic example of the robotic cleaner of Figure 7A at a different time, consistent with an embodiment of the present disclosure. Figure 7F is a schematic example of the robotic cleaner of Figure 7A at a different time, consistent with an embodiment of the present disclosure. Figure 7G is a schematic example of the robotic cleaner of Figure 7A at a different time, consistent with an embodiment of the present disclosure. [Figure 8]Figure 8A is a schematic example of a robotic cleaner configured to traverse a corner area, consistent with an embodiment of the present disclosure. Figure 8B is a schematic example of the robotic cleaner of Figure 8A at a different time, consistent with an embodiment of the present disclosure. Figure 8C is a schematic example of the robotic cleaner of Figure 8A at a different time, consistent with an embodiment of the present disclosure. Figure 8D is a schematic example of the robotic cleaner of Figure 8A at a different time, consistent with an embodiment of the present disclosure. Figure 8E is a schematic example of the robotic cleaner of Figure 8A at a different time, consistent with an embodiment of the present disclosure. Figure 8F is a schematic example of the robotic cleaner of Figure 8A at a different time, consistent with an embodiment of the present disclosure. Figure 8G is a schematic example of the robotic cleaner of Figure 8A at a different time, consistent with an embodiment of the present disclosure. Figure 8H is a schematic example of the robotic cleaner of Figure 8A at a different time, consistent with an embodiment of the present disclosure. [Figure 9] Figure 9A is a schematic example of a robotic cleaner configured to traverse a corner area, consistent with an embodiment of the present disclosure. Figure 9B is a schematic example of the robotic cleaner of Figure 9A at a different point in time, consistent with an embodiment of the present disclosure. Figure 9C is a schematic example of the robotic cleaner of Figure 9A at a different point in time, consistent with an embodiment of the present disclosure. Figure 9D is a schematic example of the robotic cleaner of Figure 9A at a different point in time, consistent with an embodiment of the present disclosure. Figure 9E is a schematic example of the robotic cleaner of Figure 9A at a different point in time, consistent with an embodiment of the present disclosure. [Figure 10]Figure 10A is a schematic example of a robotic cleaner configured to traverse a corner area, consistent with an embodiment of the present disclosure. Figure 10B is a schematic example of the robotic cleaner of Figure 10A at a different point in time, consistent with an embodiment of the present disclosure. Figure 10C is a schematic example of the robotic cleaner of Figure 10A at a different point in time, consistent with an embodiment of the present disclosure. Figure 10D is a schematic example of the robotic cleaner of Figure 10A at a different point in time, consistent with an embodiment of the present disclosure. Figure 10E is a schematic example of the robotic cleaner of Figure 10A at a different point in time, consistent with an embodiment of the present disclosure. Figure 10F is a schematic example of the robotic cleaner of Figure 10A at a different point in time, consistent with an embodiment of the present disclosure. Figure 10G is a schematic example of the robotic cleaner of Figure 10A at a different point in time, consistent with an embodiment of the present disclosure. [Figure 11] This is a schematic example of a robotic cleaner having first and second side brushes consistent with embodiments of the present disclosure. [Figure 12] Figure 11 shows a schematic example of a robotic cleaner configured to traverse a corner area, consistent with embodiments of the present disclosure. [Figure 13] Figure 12 shows a schematic example of a robotic cleaner configured to traverse a corner area, consistent with the embodiments of this disclosure. [Figure 14] Figure 12 shows a schematic example of a robotic cleaner configured to traverse a corner area, consistent with the embodiments of this disclosure. [Figure 15] Figure 12 shows a schematic example of a robotic cleaner configured to traverse a corner area, consistent with the embodiments of this disclosure. [Modes for carrying out the invention]

[0005] This disclosure generally applies to robotic cleaners. A robotic cleaner may include one or more drive wheels configured to propel the robotic cleaner along a surface to be cleaned (e.g., a floor), one or more sensors configured to detect environmental features, and an air jet assembly configured to generate air jets. The air jet assembly can selectively generate air jets based at least in part on the output generated by one or more sensors. For example, the air jet assembly can generate air jets in response to one or more sensors indicating the presence of a vertically extending surface (e.g., a wall). As a further example, the air jet assembly can selectively generate air jets when the robotic cleaner crosses an intersection of vertically extending surfaces (e.g., a corner formed by the intersection of two walls). In some cases, the robotic cleaner may further include side brushes, the operating states of the side brushes corresponding to the operating states of the air jet assembly. For example, the operating states of the side brushes may correspond to the operating states of the air jet assembly during wall-following and / or corner-crossing behavior.

[0006] Figure 1 shows a schematic embodiment of the robotic cleaner 100. As shown, the robotic cleaner 100 includes a body 102 having an agitator chamber 104 (indicated by hidden glands) configured to receive one or more agitators 106 (indicated by hidden glands) and one or more drive wheels 108 (indicated by hidden glands) configured to propel the robotic cleaner 100 across a surface to be cleaned 110 (e.g., a floor). In some cases, the robotic cleaner 100 may include side brushes 101 (indicated by hidden lines) configured to rotate about a pivot axis extending transversely (e.g., perpendicularly) to the surface to be cleaned 110. A suction motor 112 (indicated by hidden glands) is fluid-coupled to the agitator chamber 104 and configured to facilitate the flow of air into the agitator chamber 104. A dust cup 114 (shown by a hidden line) may be fluid-coupled to the suction motor 112 and the agitator chamber 104 such that at least a portion of the debris mixed in with the air flowing into the agitator chamber 104 accumulates in the dust cup 114. In other words, the suction motor 112 is fluid-coupled to the agitator chamber 104 and the dust cup 114. The exhaust side of the suction motor 112 may be fluid-coupled to one or more air jet assemblies 116. Additionally or alternatively, a fan assembly may be included in the robot cleaner 100, which may be fluid-coupled to one or more air jet assemblies 116 to generate an air jet. At least one of the one or more air jet assemblies 116 and at least one of the one or more side brushes 101 may be located on the common side (or opposing side) of the robot cleaner 100.

[0007] As shown, at least a portion of one or more air jet assemblies 116 may be positioned along the peripheral edge 118 of the body 102. One or more air jet assemblies 116 may be positioned along the peripheral edge 118 such that the air jets 119 generated by the air jet assemblies 116 are directed outward from the body 102 (for example, radially outward when the body 102 has a substantially circular cross-section). Additionally or alternatively, one or more air jet assemblies 116 may be configured such that the air jets 119 generated by the air jet assemblies 116 are directed downward toward the surface 110 to be cleaned. For example, the air jets 119 generated by one or more air jet assemblies 116 may be directed outward from the body 102 and toward the surface 110 to be cleaned. In this embodiment, as shown in Figure 2, when the robot cleaner 100 moves along a vertical surface 200 (e.g., a wall) extending from the surface to be cleaned 110, the air jets 119 may intersect the vertical surface 200 before intersecting the surface to be cleaned 110. This configuration may result in the formation of vortices between the body 102, the vertical surface 200, and the surface to be cleaned 110, which can improve the agitation of the debris. Additionally or alternatively, one or more air jet assemblies 116 may be configured so that the air jets 119 are directed forward (relative to the forward direction of movement of the robot cleaner 100).

[0008] One or more air jet assemblies 116 may be positioned along the peripheral edge 118 at a location that minimizes the separation distance 202 between one or more air jet assemblies 116 and the vertical surface 200 when the robot cleaner 100 is moving along the vertical surface 200. For example, one or more air jet assemblies 116 may be positioned along an assembly axis 120. The assembly axis 120 extends transversely (e.g., perpendicularly) with respect to the forward direction 122 of the robot cleaner 100's movement and along the widest width 124 of the body 102, the widest width 124 extending transversely (e.g., perpendicularly) with respect to the forward direction 122 of the movement. In some cases, one or more air jet assemblies 116 may be positioned forward and / or backward of the widest width 124. In some cases, the separation distance 202 may be in the range of, for example, 0.5 centimeters (cm) to 1.5 cm. As a further example, the separation distance 202 may be approximately 1 cm (for example, within 1%, 2%, 3%, 4%, or 5% thereof).

[0009] Figure 3 shows a schematic embodiment of a robot cleaner 300, which is an embodiment of the robot cleaner 100 of Figure 1. As shown, the robot cleaner 300 includes a body 302 having an agitator chamber 304 (indicated by hidden glands) configured to receive one or more agitators 306 (indicated by hidden glands) and one or more drive wheels 308 (indicated by hidden glands) configured to bias the robot cleaner 300 over a surface 310 to be cleaned (e.g., a floor). In some cases, the robot cleaner 300 may include side brushes 301 (indicated by hidden lines) configured to rotate about a rotation axis that extends transversely (e.g., perpendicularly) to the surface 310 to be cleaned. A suction motor 312 (indicated by hidden glands) is fluid-coupled to the agitator chamber 304 and configured to bias air to flow into the agitator chamber 304. A dust cup 314 (indicated by a hidden line) may be fluidly coupled to the suction motor 312 and the agitator chamber 304 such that at least a portion of the debris mixed in with the air flowing into the agitator chamber 304 accumulates in the dust cup 314. One or more air jet assemblies 316 (indicated by hidden lines) may be positioned on the peripheral edge 318 of the body 302 of the robot cleaner 300.

[0010] One or more air jet assemblies 316 are fluidly coupled to a fan 320 (indicated by hidden glands). The fan 320 is configured such that air flows through one or more air jet assemblies 316 to form air jets. The fan 320 may be communicatively coupled to a controller 322 (indicated by hidden lines) of the robotic cleaner 300. The controller 322 may be configured to adjust the operation of the fan 320. For example, the controller 322 may adjust the operation of the fan 320 at least in part based on the output generated by one or more sensors 324 (indicated by hidden glands) configured to detect one or more features in the environment (e.g., proximity of vertical surfaces such as walls, and / or the amount and / or size of debris adjacent to vertical surfaces).

[0011] Adjusting the operation of the fan 320 may include enabling and disabling the fan 320, changing the fan speed, and / or any other operational adjustments. For example, the controller 322 may be configured to enable the fan 320 in response to at least one of one or more sensors 324 that detects the presence of a vertical surface (e.g., a wall), and to disable the fan 320 in response to one or more sensors 324 not detecting a vertical surface. In this way, an air jet may be generated when the robot cleaner 300 detects (e.g., follows) a vertically extending surface, but not when traversing the central part of the area and / or a virtual barrier (e.g., a virtual wall), potentially reducing power consumption. As a further example, the controller 322 may make the fan 320 operate at a higher speed as the distance from the vertical surface increases and / or based on the amount of debris detected adjacent to the vertical surface (e.g., when one or more sensors 324 include debris detection sensors). As a further example, the user of the robot cleaner 300 may manually adjust the operation of the fan 320 (for example, using an interface on the robot cleaner 300 and / or via an application on a computing device such as a mobile phone or tablet). In this embodiment, the user may select from among several different fan speeds (e.g., at least three fan speeds), such as high, medium, and low. Additionally or alternatively, the user may select an automatic fan speed. The automatic fan speed may be determined by the controller 322 of the robot cleaner 300, for example, using one or more sensors 324. The user may also disable the fan 320. In some cases, the user may indicate areas (e.g., rooms and / or areas within rooms) where the fan 320 is disabled (e.g., using a map of the environment displayed on a device such as a mobile phone).

[0012] Figure 4 shows a schematic example of a robotic cleaner 300 in which a fan 320 and a suction motor 312 work together to bias air into one or more air jet assemblies 316. As shown, the suction motor exhaust port 400 of the suction motor 312 and the fan exhaust port 402 of the fan 320 are fluid-coupled to at least one duct 404 (indicated by a hidden gland) of one or more air jet assemblies 316. The duct 404 fluid-couples the suction motor 312 and the fan 320 to at least one nozzle 401 of one or more air jet assemblies 316. In some cases, the duct 404 may be formed at least partially (e.g., completely) from the body of the robotic cleaner 300. Alternatively, the duct 404 may be a separate component coupled to the body of the robotic cleaner 300.

[0013] During operation, the controller 322 may be configured to selectively enable / disable the fan 320 to adjust the speed of the generated air jet. When the fan 320 is disabled, a baseline air jet may be generated using only the exhaust of the suction motor 312. In some cases, the baseline air jet may be disabled by fluidically separating the suction motor 312 from the nozzle 401 (e.g., using one or more valves). When the fan 320 is enabled, the suction motor 312 and the fan 320 may cooperate to form an extended air jet, which may have a higher speed than the baseline air jet. The speed of the extended air jet may be adjusted by adjusting the speed of the fan 320. For example, the controller 322 may adjust the fan speed at least in part based on user input and / or using one or more sensors 324. The fan 320 may generally be described as having multiple non-zero speeds (e.g., at least three non-zero fan speeds). In some cases, the fan speed may be varied (e.g., continuously) so that a pulsed air jet is formed.

[0014] Figure 5 shows a schematic example of a robotic cleaner 300 in which a fan 320 and a suction motor 312 work together to bias air into one or more air jet assemblies 316. As shown, a first duct 500 of the air jet assembly 316 fluidly couples the fan exhaust port 402 of the fan 320 to at least one nozzle 501 of one or more air jet assemblies 316, and a second duct 502 fluidly couples the suction motor exhaust port 400 to another exhaust port and / or another nozzle 501 of one or more air jet assemblies 316. Such a configuration may allow at least one of one or more air jet assemblies 316 to be positioned without considering the proximity of the air jet assembly 316 to the suction motor 312. In some cases, the ducts 500 and / or 502 may be formed at least partially (e.g., completely) from the body of the robotic cleaner 300. Alternatively, one or more of the ducts 500 and / or 502 may be separate components that are coupled to the body of the robot cleaner 300.

[0015] During operation, the controller 322 may be configured to selectively enable / disable the fan 320 and / or adjust the fan speed of the fan 320 to adjust the speed of the generated air jet. When the fan 320 is disabled, the air jet assembly 316 fluid-coupled to the fan 320 does not generate an air jet. When the fan 320 is enabled, air flows through the air jet assembly 316 fluid-coupled to the fan 320. The speed of the fan 320 may be adjusted to adjust the speed of the generated air jet. The fan 320 may generally be described as having multiple non-zero fan speeds (e.g., at least three non-zero fan speeds). In some cases, the fan speed may be varied (e.g., continuously) to form a pulsed air jet.

[0016] Figures 6A-6E illustrate a schematic example of a robotic cleaner 600 that performs a method of following a vertically extending surface 602 (e.g., a wall) having a discontinuity 604. One or more steps of the method shown in Figures 6A-6E may be embodied as one or more instructions stored in one or more memories 126 (e.g., one or more non-transitory memories) of Figure 1, and the one or more instructions are configured to be executed on one or more processors 128 of Figure 1. For example, the controller 130 of Figure 1 may be configured to cause one or more steps of the method to be executed. Additionally or alternatively, one or more steps of the method may be executed in any combination of software, firmware, or circuitry (e.g., an application specific integrated circuit).

[0017] The robotic cleaner 600 is an example of the robotic cleaner 100 of Figure 1. The discontinuity 604 may be a gap between two adjacent vertical surfaces (e.g., a doorway), a recessed area that the robotic cleaner cannot cross (e.g., the toe of a cabinet, or the space between a furniture part and the floor), a drop-off, and / or any other type of discontinuity. In some cases, the robotic cleaner 600 may include one or more side brushes (e.g., the side brush 101 of Figure 1). At least one side brush may be on a side of the robotic cleaner 600, similar to an air jet assembly configured to generate an air jet 606. At least one side brush may be configured to be activated when the air jet assembly is generating the air jet 606 and deactivated when the air jet assembly is not generating the air jet 606. In other words, the operating state (e.g., on, or off) of at least one side brush may correspond to the operating state of the air jet assembly (e.g., whether an air jet is generated, or not generated).

[0018] Referring to FIG. 6A, the robotic cleaner 600 is configured to generate an air jet 606 when following a vertically extending surface 602. When following a vertically extending surface 602, the robotic cleaner 600 can be configured to determine a proximity separation distance 608 that extends between the robotic cleaner 600 (e.g., the foremost portion) and the first side surface 601 of the discontinuity 604. The robotic cleaner 600 can be configured to determine the proximity separation distance 608 using a map of the environment. Additionally or alternatively, the robotic cleaner 600 can have one or more sensors configured to detect the first side surface 601 of the discontinuity 604. When the proximity separation distance 608 is greater than a proximity threshold, the robotic cleaner 600 is configured to generate the air jet 606.

[0019] Referring to FIG. 6B, when the proximity separation distance 608 is below the proximity threshold, the robotic cleaner 600 stops generating the air jet 606. Stopping the generation of the air jet 606 can reduce or prevent debris from being urged into the discontinuity 604 of the vertically extending surface 602. Thus, the proximity threshold can be based at least in part on the average distance of debris moved by the air jet 606. For example, the proximity threshold can be in the range of 5 millimeters (mm) to 30 mm. As a further example, the proximity threshold can be in the range of 8 mm to 22 mm. As yet a further example, the proximity threshold can be about 10 mm, or about 20 mm (e.g., within 1%, 2%, 3%, 4%, or 5% thereof). As yet a further example, the proximity threshold can be in the range of 2% to 10% of the widest width of the robotic cleaner 600.

[0020] Referring to Figure 6C, as the robot cleaner 600 moves across the discontinuity 604, the robot cleaner 600 is configured to determine the departure separation distance 610. The departure separation distance 610 extends from the robot cleaner 600 (e.g., the frontmost portion) to the second side 603 of the discontinuity 604, where the second side 603 is on the opposite side of the first side 601 of the discontinuity 604. The robot cleaner 600 may be configured to determine the departure separation distance 610 using a map of the environment. Additionally or alternatively, the robot cleaner 600 may have one or more sensors configured to detect the second side 603 of the discontinuity 604, and the departure separation distance 610 may be determined using one or more sensors. The generation of the air jet 606 may remain disabled until the departure separation distance 610 is below the departure threshold.

[0021] Referring to Figure 6D, when the departure separation distance 610 is less than or equal to the departure threshold, the robot cleaner 600 resumes generating the air jet 606. Resuming the generation of the air jet 606 may allow the robot cleaner 600 to bias debris near the second side surface 603 of the discontinuity 604 into the robot cleaner 600's movement path, while at least a portion of the robot cleaner 600 is still crossing the discontinuity 604. Thus, the departure threshold may be based at least in part on the average distance the debris is moved by the air jet 606 and / or the time it takes for the air jet 606 to reach a desired speed. For example, the departure threshold may be in the range of 1 mm to 10 mm. As a further example, the departure threshold may be in the range of 40 mm to 60 mm. As yet another example, the departure threshold may be about 5 mm or about 50 mm. As yet another example, the departure threshold may be in the range of 1% to 20% of the widest width of the robot cleaner 600.

[0022] Referring to Figure 6E, after traversing the continuity 604, the robotic cleaner 600 may resume traversing the vertically extending surface 602 while generating an air jet 606.

[0023] Figures 7A–7G show schematic examples of a robotic cleaner 700 that performs a method of cleaning the intersection of two vertically extending surfaces (e.g., a corner area formed by the intersection of two walls). One or more steps of the method shown in Figures 7A–7G may be embodied as one or more instructions stored in one or more memories 126 (e.g., one or more non-temporary memories) in Figure 1, and one or more instructions are configured to be executed on one or more processors in Figure 1. For example, the controller 130 in Figure 1 may be configured to execute one or more steps of the method. Additionally or alternatively, one or more steps of the method may be performed by any combination of software, firmware, or circuitry (e.g., application-specific integrated circuits).

[0024] The robotic cleaner 700 is an example of the robotic cleaner 100 and may include an air jet assembly 702 (shown by hidden lines) configured to selectively generate an air jet 704. As shown, the robotic cleaner 700 may be configured to follow a first vertically extending surface 706 that intersects (e.g., at a perpendicular or non-perpendicular angle) with a second vertically extending surface 708. The intersection of the first and second vertically extending surfaces 706 and 708 may generally be referred to as a corner region 710. In some cases, the robotic cleaner 700 may include one or more side brushes (e.g., side brush 101 in Figure 1). At least one side brush may be on the same side of the robotic cleaner 700 as the air jet assembly 702. At least one side brush may be enabled when the air jet assembly 702 is generating an air jet 704 and disabled when the air jet assembly 702 is not generating an air jet 704. In other words, the operating state of at least one side brush (e.g., on or off) can correspond to the operating state of the air jet assembly 702 (e.g., whether an air jet is generated or not).

[0025] Referring to Figure 7A, the robot cleaner 700 is configured to follow a first vertically extending surface 706 while generating an air jet 704. As shown, while following the first vertically extending surface 706 in the forward direction of movement 701, the robot cleaner 700 approaches a second vertically extending surface 708, reducing the second surface separation distance 703 that extends between the robot cleaner 700 (e.g., the foremost portion) and the second vertically extending surface 708.

[0026] Referring to Figure 7B, the robot cleaner 700 is configured to cease its movement in the forward direction 701 in response to the second surface separation distance 703 being less than or equal to the second surface threshold. For example, the robot cleaner 700 may include a displaceable bumper configured to move and activate one or more sensors in response to the displaceable bumper coming into contact with (e.g., making contact with) the second vertically extending surface 708. In response to the displaceable bumper being displaced, the robot cleaner 700 may be configured to determine that the second surface separation distance 703 is less than or equal to the second surface threshold. Additionally or alternatively, the robot cleaner 700 may include one or more distance sensors configured to measure the distance to the second vertically extending surface 708. If the robot cleaner 700 includes one or more distance sensors, the robot cleaner 700 does not need to come into contact with the second vertically extending surface 708.

[0027] Referring to Figure 7C, the robot cleaner 700 is configured to disable the generation of the air jet 704 when the second surface separation distance 703 is below the second surface threshold. In some cases, the robot cleaner 700 may be further configured to move a predetermined backward distance 712 in the backward direction of movement. For example, the robot cleaner 700 may be moved 712 in the backward direction of movement when the second surface separation distance 703 is insufficient to allow the robot cleaner 700 to rotate without contacting the second vertically extending surface 708. Such a configuration can prevent or reduce the risk of the robot cleaner 700 damaging the second vertically extending surface 708.

[0028] Referring to Figure 7D, while the generation of the air jet 704 is stopped, the robot cleaner 700 may be rotated in a first rotational direction 714. The rotation in the first rotational direction 714 is configured such that the forward direction of movement 701 initially moves toward the corner region 710. For example, the robot cleaner 700 may be rotated in the first rotational direction 714 until the forward direction of movement 701 intersects the corner region 710. As a further example, the robot cleaner 700 may be rotated in the first rotational direction 714 such that the forward direction of movement 701 intersects a first vertically extending surface 706. As yet another example, the robot cleaner 700 may be rotated in the first rotational direction 714 by an angle of rotation of about 30° (for example, within 1%, 2%, 3%, 4%, or 5% thereof).

[0029] Referring to Figure 7E, in response to the completion of rotation in the first rotational direction 714, the robot cleaner 700 may generate an air jet 704 and be moved forward 701 of the movement. For example, the robot cleaner 700 may be moved forward 701 of the movement until it makes contact with the first and second vertically extending surfaces 706 and 708. In response to making contact with the first and second vertically extending surfaces 706 and 708, the robot cleaner 700 may be moved backward of the movement 712 until it disengages from contact with the first and second vertically extending surfaces 706 and 708.

[0030] Referring to Figure 7F, in response to the robot cleaner 700 disengaging from contact with the first and second vertically extending surfaces 706 and 708, the robot cleaner 700 is rotated in a second rotational direction 716, generating an air jet 704, the second rotational direction 716 being opposite to the first rotational direction 714. For example, the robot cleaner 700 may rotate in the second rotational direction 716 until its forward direction of movement 701 is substantially parallel to the second vertically extending surface 708.

[0031] Referring to Figure 7G, after rotating in the second rotational direction 716, the robot cleaner 700 follows the second vertically extending surface 708 while generating an air jet 704. Figures 8A–8H show schematic examples of a robotic cleaner 800 that performs a method for cleaning the intersection of two vertically extending surfaces (e.g., a corner area formed at the intersection of two walls). One or more steps of the method shown in Figures 8A–8H may be embodied as one or more instructions stored in one or more memories 126 (e.g., one or more non-temporary memories) in Figure 1, and one or more instructions may be configured to be executed on one or more processors 128 in Figure 1. For example, the controller 130 in Figure 1 may be configured to perform one or more steps of the method. Additionally or alternatively, one or more steps of the method may be performed by any combination of software, firmware, or circuitry (e.g., application-specific integrated circuits).

[0032] The robotic cleaner 800 is an example of the robotic cleaner 100 and may include an air jet assembly 802 (shown by hidden lines) configured to selectively generate an air jet 804. As shown, the robotic cleaner 800 may be configured to follow a first vertically extending surface 806 that intersects (e.g., at a perpendicular or non-perpendicular angle) with a second vertically extending surface 808. The intersection of the first and second vertically extending surfaces 806 and 808 may generally be referred to as a corner region 810. In some cases, the robotic cleaner 800 may include one or more side brushes (e.g., side brush 101 in Figure 1). At least one side brush may be on the same side of the robotic cleaner 800 as the air jet assembly 802. At least one side brush may be configured to be activated when the air jet assembly 802 is generating an air jet 804 and deactivated when the air jet assembly 802 is not generating an air jet 804. In other words, the operating state of at least one side brush (e.g., on or off) can correspond to the operating state of the air jet assembly 802 (e.g., whether an air jet is generated or not).

[0033] Referring to Figure 8A, the robotic cleaner 800 is configured to follow a first vertically extending surface 806 while generating an air jet 804. As shown, while following the first vertically extending surface 806 in the forward direction of movement 801, the robotic cleaner 800 approaches a second vertically extending surface 808, reducing the second surface separation distance 803 that extends between the robotic cleaner 800 (e.g., the foremost portion) and the second vertically extending surface 808.

[0034] Referring to Figure 8B, the robot cleaner 800 is configured to cease its forward movement 801 in response to the second surface separation distance 803 being less than or equal to the second surface threshold, while generating an air jet 804. For example, the robot cleaner 800 may include a displaceable bumper configured to move and activate one or more sensors in response to the displaceable bumper coming into contact with (e.g., making contact with) a second vertically extending surface 808. In response to the displaceable bumper being displaced, the robot cleaner 800 may be configured to determine that the second surface separation distance 803 is less than or equal to the second surface threshold. Additionally or alternatively, the robot cleaner 800 may include one or more distance sensors configured to measure the distance to the second vertically extending surface 808. If the robot cleaner 800 includes one or more distance sensors, the robot cleaner 800 does not need to come into contact with the second vertically extending surface 808.

[0035] Referring to Figure 8C, the robot cleaner 800 can be moved backward 812 of its movement by a predetermined backward travel distance while generating an air jet 804. For example, the robot cleaner 800 can be moved backward 812 of its movement when the second surface separation distance 803 is insufficient to allow the robot cleaner 800 to rotate without contacting the second vertically extending surface 808. Such a configuration can prevent or mitigate the risk of the robot cleaner 800 damaging the second vertically extending surface 808.

[0036] Referring to Figure 8D, the robotic cleaner 800 rotates in a first rotational direction 814 such that the air jet 804 moves along the second vertically extending surface 808 and the forward direction of movement 801 moves away from the corner region 810. For example, the robotic cleaner 800 may be configured to rotate in a first rotational direction 814 such that the forward direction of movement 801 moves away from the first vertically extending surface 806 until the forward direction of movement 801 extends substantially parallel to the second vertically extending surface 808. As a further example, the robotic cleaner 800 may be configured to rotate in a first rotational direction 814 at a rotational angle of about 90°.

[0037] Referring to Figure 8E, in response to the completion of rotation in the first rotation direction 814, the robot cleaner 800 may disable the generation of the air jet 804 and rotate in a second rotation direction 816, which is on the opposite side of the first rotation direction 814. Rotating in the second rotation direction 816 is configured to move the forward direction of movement 801 toward the corner region 810. For example, the robot cleaner 800 may be rotated in the second rotation direction 816 until the forward direction of movement 801 intersects the corner region 810. As a further example, the robot cleaner 800 may be rotated in the second rotation direction 816 such that the forward direction of movement 801 intersects the first vertically extending surface 806. As yet another example, the robot cleaner 800 may rotate in the second rotation direction 816 by an angle of rotation of approximately 120°.

[0038] Referring to Figure 8F, after the rotation in the second rotational direction is completed, the robot cleaner 800 may be moved forward 801 of the movement while generating an air jet 804 until the robot cleaner 800 makes contact with the first and second vertically extending surfaces 806 and 808. In response to the robot cleaner 800 making contact with the first and second vertically extending surfaces 806 and 808, the robot cleaner 800 may be moved backward 812 of the movement. The robot cleaner 800 may be moved backward 812 of the movement until the robot cleaner 800 disengages from contact with the first and second vertically extending surfaces 806 and 808.

[0039] Referring to Figure 8G, in response to the robot cleaner 800 disengaging from contact with the first and second vertically extending surfaces 806 and 808, the robot cleaner 800 is rotated in the first rotational direction 814 while generating an air jet 804. For example, the robot cleaner 800 may rotate in the first rotational direction 814 until the forward direction of movement 801 is substantially parallel to the second vertically extending surface 808. As a further example, the robot cleaner 800 may rotate in the first rotational direction 814 by an angle of rotation of about 120°.

[0040] Referring to Figure 8H, after rotating in the first rotational direction 814 for a second period of time, the robotic cleaner 800 follows the second vertically extending surface 808 while generating an air jet 804.

[0041] Figures 9A–9E show schematic examples of a robotic cleaner 900 that performs a method of cleaning the intersection of two vertically extending surfaces (e.g., a corner area formed by the intersection of two walls). One or more steps of the method shown in Figures 9A–9E may be embodied as one or more instructions stored in one or more memories 126 (e.g., one or more non-temporary memories) in Figure 1, and one or more instructions are configured to be executed on one or more processors 128 in Figure 1. For example, the controller 130 in Figure 1 may be configured to perform one or more steps of the method. Additionally or alternatively, one or more steps of the method may be performed by any combination of software, firmware, or circuitry (e.g., application-specific integrated circuits).

[0042] The robotic cleaner 900 is an embodiment of the robotic cleaner 100 and may include an air jet assembly 902 (shown by hidden lines) configured to selectively generate an air jet 904. As shown, the robotic cleaner 900 may be configured to follow a first vertically extending surface 906 that intersects (e.g., at a perpendicular or non-perpendicular angle) with a second vertically extending surface 908. The intersection of the first and second vertically extending surfaces 906 and 908 may generally be referred to as a corner region 910. In some cases, the robotic cleaner 900 may include one or more side brushes (e.g., side brush 101 in Figure 1). At least one side brush may be on the same side of the robotic cleaner 900 as the air jet assembly 902. At least one side brush may be configured to be activated when the air jet assembly 902 is generating an air jet 904 and deactivated when the air jet assembly 902 is not generating an air jet 904. In other words, the operating state of at least one side brush (e.g., on or off) can correspond to the operating state of the air jet assembly 902 (e.g., whether an air jet is generated or not).

[0043] Referring to Figure 9A, the robot cleaner 900 is configured to follow a first vertically extending surface 906 while generating an air jet 904. As shown, while following the first vertically extending surface 906 in the forward direction of movement 901, the robot cleaner 900 approaches a second vertically extending surface 908, reducing the second surface separation distance 903 that extends between the robot cleaner 900 (e.g., the foremost portion) and the second vertically extending surface 908.

[0044] Referring to Figure 9B, the robot cleaner 900 is configured to cease its forward movement 901 in response to the second surface separation distance 903 being less than or equal to the second surface threshold, while generating an air jet 904. For example, the robot cleaner 900 may include a displaceable bumper configured to move and activate one or more sensors in response to the displaceable bumper coming into contact with (e.g., making contact with) a second vertically extending surface 908. In response to the displaceable bumper being displaced, the robot cleaner 900 may be configured to determine that the second surface separation distance 903 is less than or equal to the second surface threshold. Additionally or alternatively, the robot cleaner 900 may include one or more distance sensors configured to measure the distance to the second vertically extending surface 908. If the robot cleaner 900 includes one or more distance sensors, the robot cleaner 900 does not need to come into contact with the second vertically extending surface 908.

[0045] Referring to Figure 9C, the robot cleaner 900 may be moved backward 912 of its movement by a predetermined backward travel distance while generating an air jet 904. For example, the robot cleaner 900 may be moved backward 912 of its movement when the second surface separation distance 903 is insufficient to allow the robot cleaner 900 to rotate without contacting the second vertically extending surface 908. Such a configuration can prevent or mitigate the risk of the robot cleaner 900 damaging the second vertically extending surface 908.

[0046] Referring to Figure 9D, the robot cleaner 900 is rotated in a first rotational direction 914 while generating an air jet 904. The robot cleaner 900 rotates in the first rotational direction 914 for at least a full rotation (e.g., a rotation angle of at least 360°). For example, the robot cleaner 900 may rotate in the first rotational direction 914 more than a full rotation so that the forward direction of movement 901 extends substantially parallel to the second vertically extending surface 908. As a further example, the robot cleaner 900 may rotate in the first rotational direction 914 by about 450° so that the forward direction of movement 901 extends substantially parallel to the second vertically extending surface 908.

[0047] Referring to Figure 9E, in response to the robot cleaner 900 completing a rotation in the first rotational direction 914, the robot cleaner 900 may be configured to move in the forward direction 901 of the movement, following a second vertically extending surface 908 and generating an air jet 904.

[0048] Figures 10A–10G show schematic examples of a robotic cleaner 1000 that performs a method of cleaning the intersection of two vertically extending surfaces (e.g., a corner area formed at the intersection of two walls). One or more steps of the method shown in Figures 10A–10G may be embodied as one or more instructions stored in one or more memories 126 (e.g., one or more non-temporary memories) in Figure 1, and one or more instructions are configured to be executed on one or more processors 128 in Figure 1. For example, the controller 130 in Figure 1 may be configured to perform one or more steps of the method. Additionally or alternatively, one or more steps of the method may be performed by any combination of software, firmware, or circuitry (e.g., application-specific integrated circuits).

[0049] The robotic cleaner 1000 is an example of the robotic cleaner 100 and may include an air jet assembly 1002 (shown by a hidden line) configured to selectively generate an air jet 1004. As shown, the robotic cleaner 1000 may be configured to follow a first vertically extending surface 1006 that intersects (e.g., at a perpendicular or non-perpendicular angle) with a second vertically extending surface 1008. The intersection of the first and second vertically extending surfaces 1006 and 1008 may generally be referred to as a corner region 1010. In some cases, the robotic cleaner 1000 may include one or more side brushes (e.g., side brush 101 in Figure 1). At least one side brush may be on the side of the robotic cleaner 1000, the same as the air jet assembly 1002. At least one side brush may be configured to be activated when the air jet assembly 1002 is generating the air jet 1004 and deactivated when the air jet assembly 1002 is not generating the air jet 1004. In other words, the operating state of at least one side brush (e.g., on or off) may correspond to the operating state of the air jet assembly 1002 (e.g., whether an air jet is generated or not).

[0050] Referring to Figure 10A, the robotic cleaner 1000 is configured to follow a first vertically extending surface 1006 while generating an air jet 1004. As shown, while following the first vertically extending surface 1006 in the forward direction of movement 1001, the robotic cleaner 1000 approaches a second vertically extending surface 1008, reducing the second surface separation distance 1003 that extends between the robotic cleaner 1000 (e.g., the foremost portion) and the second vertically extending surface 1008.

[0051] Referring to Figure 10B, the robot cleaner 1000 is configured to cease its forward movement 1001 in response to the second surface separation distance 1003 being less than or equal to the second surface threshold, while generating an air jet 1004. For example, the robot cleaner 1000 may include a displaceable bumper configured to move and activate one or more sensors in response to the displaceable bumper coming into contact with (e.g., making contact with) a second vertically extending surface 1008. In response to the displacement of the displaceable bumper, the robot cleaner 1000 may be configured to determine that the second surface separation distance 1003 is less than or equal to the second surface threshold. Additionally or alternatively, the robot cleaner 1000 may include one or more distance sensors configured to measure the distance to the second vertically extending surface 1008. If the robot cleaner 1000 includes one or more distance sensors, the robot cleaner 1000 does not need to come into contact with the second vertically extending surface 1008.

[0052] Referring to Figure 10C, the robot cleaner 1000 may be moved backward 1012 while generating an air jet 1004. For example, the robot cleaner 1000 may be moved backward 1012 when the second surface separation distance 1003 is insufficient to allow the robot cleaner 1000 to rotate without contacting the second vertically extending surface 1008. Such a configuration can prevent or mitigate the risk of the robot cleaner 1000 damaging the second vertically extending surface 1008.

[0053] Referring to Figure 10D, the robot cleaner 1000 may be rotated in a first rotational direction 1014 while generating an air jet 1004. The rotation in the first rotational direction 1014 is configured to move the forward direction of movement 1001 away from the corner region 1010, and the continued rotation in the first rotational direction 1014 results in the forward direction of movement 1001 moving toward the corner region 1010. For example, the robot cleaner 1000 may be rotated in the first rotational direction 1014 until the forward direction of movement 1001 intersects the corner region 1010. As a further example, the robot cleaner 1000 may be rotated in the first rotational direction 1014 such that the forward direction of movement 1001 intersects a first or second vertically extending surface 1006 or 1008. As yet another example, the robot cleaner 1000 may rotate in the first rotational direction 1014 at a rotational angle of approximately 330°. As a further example, the robot cleaner 1000 may rotate in a first rotational direction 1014 at a rotational angle of approximately 315°.

[0054] Referring to Figure 10E, in response to the completion of rotation in the first rotational direction 1014, the robot cleaner 1000 may be moved forward 1001 of the movement while generating an air jet 1004. For example, the robot cleaner 1000 may be moved forward 1001 of the movement until it makes contact with the first and second vertically extending surfaces 1006 and 1008. In response to making contact with the first and second vertically extending surfaces 1006 and 1008, the robot cleaner 1000 may be moved backward 1012 of the movement until it disengages from contact with the first and second vertically extending surfaces 1006 and 1008.

[0055] Referring to Figure 10F, in response to the robot cleaner 1000 disengaging from contact with the first and second vertically extending surfaces 1006 and 1008, the robot cleaner 1000 is rotated in the first rotational direction 1014 while generating an air jet 1004. For example, the robot cleaner 1000 may rotate in the first rotational direction 1014 until its forward direction of movement 1001 is substantially parallel to the second vertically extending surface 1008. As a further example, the robot cleaner 1000 may rotate in the first rotational direction 1014 by an angle of rotation of about 120°. As yet another example, the robot cleaner 1000 may rotate in the first rotational direction 1014 by an angle of rotation of about 135°.

[0056] Referring to Figure 10G, in response to rotating over a second period of time in a first rotational direction 1014 (for example, such that the forward direction of movement 1001 is substantially parallel to the second vertically extending surface 1008), the robotic cleaner 1000 is made to follow the second vertically extending surface 1008 while generating an air jet 1004.

[0057] Figure 11 shows a schematic embodiment of the robotic cleaner 1100. The robotic cleaner 1100 includes a body 1102 having an agitator chamber 1104 (shown by hidden lines) configured to receive one or more agitators 1106 (shown by hidden lines) and one or more drive wheels 1108 (shown by hidden lines) configured to bias the robotic cleaner 1100 over a surface to be cleaned 1101 (e.g., a floor). The robotic cleaner 1100 includes a first side brush 1110 (shown by hidden lines) and a second side brush 1112 (shown by hidden lines), the first and second side brushes 1110 and 1112 being positioned on opposite sides of a central axis 1114. The central axis 1114 extends parallel to the forward direction of movement of the robotic cleaner 1100 (e.g., perpendicular to the axis of rotation of one or more drive wheels 1108). The first and second side brushes 1110 and 1112 are configured to rotate about a pivot axis that extends substantially perpendicular to the surface to be cleaned 1101. In some cases, the robotic cleaner 1100 may not include any air jet assembly configured to generate an air jet. In these examples, the robotic cleaner 1100 may generally be referred to as a robotic cleaner with only side brushes. A suction motor 1116 (shown by a hidden line) is fluid-coupled to the agitator chamber 1104 and configured to bias air to flow into the agitator chamber 1104. A dust cup 1118 (shown by a hidden gland) may be fluid-coupled to the suction motor 1116 and the agitator chamber 1104 such that at least a portion of the debris mixed in with the air flowing into the agitator chamber 1104 is deposited in the dust cup 1118.

[0058] Figures 12-15 show schematic examples of a robotic cleaner 1100 that performs a cleaning method in close proximity to a surface extending vertically in a corner region 1208 (e.g., the region where the first and second obstacles 1202 and 1204 intersect). One embodiment of the corner region 1208 may include a region defined by the intersection of the first and second walls (e.g., the region where the first and second walls intersect at a substantially right angle). One or more steps of the method shown in Figures 12-15 may be embodied as one or more instructions stored in one or more memories (e.g., one or more non-temporary memories 1120 in Figure 11), and one or more instructions are configured to be executed on one or more processors (e.g., one or more processors 1122 in Figure 11). For example, a controller 1124 may be configured to execute one or more steps of the method. Additionally or alternatively, one or more steps of the method may be carried out by any combination of software, firmware, or circuitry (e.g., application-specific integrated circuits).

[0059] As shown in Figure 12, the robot cleaner 1100 is moving in the direction of a corner region 1208 (for example, substantially parallel to the second obstacle 1204) following the forward direction of movement 1206. The corner region 1208 is defined by the first obstacle 1202 and the second obstacle 1204 (for example, at the intersection of the first and second obstacles 1202 and 1204). The robot cleaner 1100 may be configured to detect the first obstacle 1202 using at least one sensor when the robot cleaner 1100 approaches the first obstacle 1202. As shown, the robot cleaner 1100 makes contact with (e.g., touches) the first obstacle 1202 while following the second obstacle 1204. For example, the robot cleaner 1100 may come into contact with the first obstacle 1202 such that its displaceable bumper is displaced and activates one or more tactile switches. When moving toward the first obstacle 1202, both the first and second side brushes 1110 and 1112 may be rotated.

[0060] As shown in Figure 13, in response to contact with the first obstacle 1202 (for example, in response to a displaceable bumper activating one or more tactile switches), the robotic cleaner 1100 disables at least one of the first and second side brushes 1110 and / or 1112 (for example, the side brush closest to the second obstacle 1204) and moves in the backward direction 1300, opposite to the forward direction 1206, for a predetermined distance and / or time. Movement in the backward direction 1300 over a predetermined distance and / or time may be sufficient, for example, to allow the robotic cleaner 1100 to rotate relative to the first and second obstacles 1202 and 1204 (for example, without contacting obstacles 1202 and 1204). After moving in the backward direction 1300 for a predetermined distance and / or time, the robot cleaner 1100 is rotated according to a first rotation direction 1302 (e.g., counterclockwise) for a rotation angle β and / or time. The rotation angle β may be, for example, in the range of 15° to 45°. As a further example, the rotation angle β may be about 30°. As a further example, the rotation angle β may be about 45°.

[0061] As shown, when rotating in a first rotation direction 1302 and / or over a predetermined time through a rotation angle β, the first side brush 1110 of the robot cleaner 1100 is brought first (or initially) close to the second obstacle 1204, and the second side brush 1112 of the robot cleaner 1100 is brought first (or initially) close to the first obstacle 1202. In some examples, one or more of the first side brush 1110 and / or the second side brush 1112 may come into contact with (e.g., touch) the first and second obstacles 1202 and 1204.

[0062] As shown in Figure 14, after rotating through a rotation angle β and / or after rotating in a first rotation direction 1302 for a predetermined time, the robot cleaner 1100 reactivates the deactivated side brushes 1110 and / or 112 so that both side brushes 1110 and 1112 are activated and the robot cleaner 1100 moves in a forward movement direction 1206 until it makes contact with (e.g., contact with) the first and second obstacles 1202 and 1204. For example, the robot cleaner 1100 may continue moving in the forward movement direction 1206 until its displaceable bumper is displaced and activates one or more tactile switches. In some cases, after contacting the first and second obstacles 1202 and 1204, the robot cleaner 1100 may move in the reverse direction until it is no longer in contact with the first and second obstacles 1202 and 1204.

[0063] As shown in Figure 15, after the robot cleaner 1100 has moved to make contact with the first and second obstacles 1202 and 1204, the robot cleaner 1100 is rotated in a second rotation direction 1500 (e.g., clockwise) while both the side brushes 1110 and 1112 are activated, the second rotation direction 1500 being opposite to the first rotation direction 1302. As the robot cleaner 1100 rotates according to the second rotation direction 1500, the first and second side brushes 1110 and 1112 are configured to bias the debris adjacent to the first and second obstacles 1202 and 1204 toward the path of movement of the suction inlet of the robot cleaner 1100. As shown, the robot cleaner 1100 continues to rotate along the second rotational direction 1500 until the forward direction of movement 1206 of the robot cleaner 1100 is substantially parallel to at least a portion of the first obstacle 1202, enabling the robot cleaner 1100 to move along (or follow) the first obstacle 1202.

[0064] Examples of robotic cleaners consistent with the present disclosure may include one or more drive wheels, one or more sensors configured to detect one or more features of the environment, an air jet assembly configured to generate an air jet, side brushes, and side brush operating states of the side brushes corresponding to the air jet operating states of the air jet assembly.

[0065] In some cases, the robotic cleaner may further include a fan fluid-coupled to the air jet assembly. In some cases, the fan's operation may be at least partially based on an output generated by one or more sensors. In some cases, the robotic cleaner may further include a suction motor, the exhaust side of which is fluid-coupled to the air jet assembly. In some cases, one or more sensors may be configured to detect the presence of a vertically extending surface. In some cases, the air jet assembly may generate an air jet when one or more sensors detect the presence of a vertically extending surface. In some cases, the air jet assembly may not generate an air jet when one or more sensors do not detect the presence of a vertically extending surface. In some cases, side brushes and the air jet assembly may be positioned on a common surface of the robotic cleaner. In some cases, the air jet generated by the air jet assembly may be directed outward from the robotic cleaner. In some cases, the air jet may be directed forward and downward. In some cases, the side brush operating state may correspond to the air jet operating state when the robotic cleaner traverses a corner. In some cases, the side brush operation state can correspond to the air jet operation state when a robotic cleaner follows a wall.

[0066] Another embodiment of the robotic cleaner, consistent with the present disclosure, comprises: an agitator chamber; a dust cup; a suction motor fluidly coupled to the agitator chamber and the dust cup; one or more sensors configured to detect one or more features of the environment; an air jet assembly configured to generate an air jet; a fan fluidly coupled to the air jet assembly, the operation of which is at least partially based on the output generated by one or more sensors; and a controller configured to cause the robotic cleaner to clean the intersection of two vertically extending surfaces.

[0067] In some cases, while the air jet assembly is generating an air jet, the controller may be configured to move the robot cleaner in the forward direction of movement, following the first vertically extending surface as it approaches the second vertically extending surface, thereby reducing the separation distance of the second surface. In some cases, if the separation distance of the second surface is less than or equal to the second surface threshold, the controller may be configured to cause the robot cleaner to cease moving in the forward direction of movement. In some cases, the controller may be configured to rotate the robot cleaner in a first rotational direction. In some cases, the controller may be configured to rotate the robot cleaner in a second rotational direction, which is different from the first rotational direction. In some cases, the air jet assembly may interrupt the generation of the air jet before the robot cleaner rotates in the first rotational direction. In some cases, the controller may be configured to cause the robot cleaner to follow the second vertically extending surface after rotating in the first rotational direction. In some cases, the air jet assembly may interrupt the generation of the air jet before rotating in the second rotational direction. In some cases, the controller may be configured to cause the robotic cleaner to follow a second vertically extending surface after rotating in a second rotational direction. In some cases, the robotic cleaner may further include side brushes, side brush operating states corresponding to the air jet operating states of the air jet assembly. In some cases, the air jets generated by the air jet assembly may be directed outward, downward, and forward from the robotic cleaner.

[0068] The principles of the present invention are described herein, but it will be understood by those skilled in the art that this description is illustrative only and not limited to the scope of the invention. Other embodiments are intended within the scope of the invention, in addition to the exemplary embodiments shown and described herein. A surface cleaning device may embody any one or more of the features contained herein, and it will be understood by those skilled in the art that the features may be used in any particular combination or subcombination. Modifications and substitutions by those skilled in the art are considered to be within the scope of the invention and should not be limited except by the claims.

Claims

1. It is a robotic cleaner, One or more drive wheels, One or more sensors configured to detect one or more features of the environment, An air jet assembly configured to generate an air jet, A side brush, wherein the operating state of the side brush corresponds to the operating state of the air jet assembly, The system comprises a controller configured to cause the robot cleaner to perform a corner cleaning behavior in response to the robot cleaner reaching a corner formed between a first vertically extending surface and a second vertically extending surface, wherein the corner cleaning behavior is While generating an air jet, it follows the first vertically extending surface in the forward direction of movement intersecting the second vertically extending surface, In response to the separation distance between the robot cleaner and the second vertically extending surface being below a threshold, the forward movement is stopped and the generation of the air jet is stopped. A robotic cleaner comprising: stopping the forward movement and rotating in a first rotational direction while the generation of the air jet is stopped.

2. The robotic cleaner according to claim 1, further comprising a fan fluid-coupled to the air jet assembly.

3. The robotic cleaner according to claim 1, further comprising a suction motor, wherein the exhaust side of the suction motor is fluidly coupled to the air jet assembly.

4. The robot cleaner according to claim 1, wherein the side brush and the air jet assembly are arranged on a common surface of the robot cleaner.

5. The robot cleaner according to claim 1, wherein the air jet generated by the air jet assembly is directed outward from the robot cleaner.

6. The robot cleaner according to claim 5, wherein the air jet is directed forward and downward.

7. The robot cleaner according to claim 1, wherein the side brush operating state corresponds to the air jet operating state when the robot cleaner crosses a corner.

8. The robot cleaner according to claim 7, wherein the side brush operating state corresponds to the air jet operating state when the robot cleaner follows a wall.

9. It is a robotic cleaner, A stirrer chamber and Dust cup and A suction motor fluidly coupled to the agitator chamber and the dust cup, One or more sensors configured to detect one or more features of the environment, An air jet assembly configured to generate an air jet, A fan fluid-coupled to the air jet assembly, wherein the operation of the fan is at least partially based on the output generated by one or more sensors. The system comprises a controller configured to cause the robot cleaner to perform a corner cleaning behavior in response to the robot cleaner reaching a corner formed between a first vertically extending surface and a second vertically extending surface, wherein the corner cleaning behavior is While generating an air jet, it follows the first vertically extending surface in the forward direction of movement intersecting the second vertically extending surface, In response to the separation distance between the robot cleaner and the second vertically extending surface being below a threshold, the forward movement is stopped and the generation of the air jet is stopped. A robotic cleaner comprising: stopping the forward movement and rotating in a first rotational direction while the generation of the air jet is stopped.

10. The robot cleaner according to claim 9, wherein the controller is configured to rotate the robot cleaner in a second rotational direction, and the second rotational direction is different from the first rotational direction.

11. The robot cleaner according to claim 9, wherein the controller is configured to cause the robot cleaner to follow the second vertically extending surface after it has rotated in the first rotational direction.

12. The robotic cleaner according to claim 10, wherein the air jet assembly interrupts the generation of the air jet before rotating in the second rotational direction.

13. The robot cleaner according to claim 10, wherein the controller is configured to cause the robot cleaner to follow the second vertically extending surface after it has rotated in the second rotational direction.

14. The robot cleaner according to claim 9, further comprising a side brush, wherein the operating state of the side brush corresponds to the operating state of the air jet assembly.

15. The robot cleaner according to claim 9, wherein the air jet generated by the air jet assembly is directed outward, downward, and forward from the robot cleaner.

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