CPC G05D 1/0227 (2013.01) [G01L 1/12 (2013.01); G01L 5/0052 (2013.01); G05D 2201/0203 (2013.01)] | 21 Claims |
1. A mobile cleaning robot comprising:
a robot body;
a bumper connected to and supported by the robot body; and
a bumper impact system comprising:
a first sensor connected to the body in a first orientation with respect to the body and the bumper; and
a second sensor connected to the body in a second orientation with respect to the body and the bumper different from the first orientation, the first sensor and the second sensor together configured to sense an impact region of the bumper based on a magnitude and a direction of movement of the bumper relative to the robot body, wherein a number of impact regions is greater than two.
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