CPC A47L 9/2826 (2013.01) [A47L 9/009 (2013.01); A47L 9/0477 (2013.01); A47L 9/2852 (2013.01); A47L 11/28 (2013.01); A47L 11/4011 (2013.01); A47L 11/4061 (2013.01); A47L 11/4066 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01)] | 19 Claims |
1. A robotic cleaner comprising:
a main body;
one or more drive wheels coupled to the main body;
a side brush configured to be driven by a side brush motor, the side brush being configured to rotate about an axis that extends transverse to a bottom surface of the main body;
one or more surface type sensors coupled to the main body at a distance from the side brush motor that is less than two times a maximum width of the side brush motor, the one or more surface type sensors being configured to receive robotic motor sound reflected from a surface to be cleaned, the robotic motor sound being generated by one or more motors of the robotic cleaner; and
a controller configured to determine a surface type based, at least in part, on the reflected robotic motor sound.
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