US 12,251,061 B2
Behavior control of mobile cleaning robot
Matthew Clements, Pasadena, CA (US); Varun Malhotra, Cambridge, MA (US); Landon Unninayar, Waltham, MA (US); Brian Cleve Benson, Jr., Chelmsford, MA (US); Andrew Graziani, Portsmouth, NH (US); Shiwei Wang, Nashua, NH (US); Thomas C. Chang, Lexington, MA (US); and Dan Wivagg, Westford, MA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Sep. 19, 2022, as Appl. No. 17/947,376.
Prior Publication US 2024/0090733 A1, Mar. 21, 2024
Int. Cl. A47L 9/00 (2006.01); A47L 11/30 (2006.01); A47L 11/40 (2006.01)
CPC A47L 11/4011 (2013.01) [A47L 11/30 (2013.01); A47L 11/4061 (2013.01); A47L 2201/04 (2013.01); A47L 2201/06 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method of operating a mobile cleaning robot, the method comprising:
navigating the mobile cleaning robot within an environment;
determining whether a movement condition is satisfied including detecting a rear cliff, and detecting at least one of a front cliff or a side cliff;
moving a mopping pad tray relative to a body of the mobile cleaning robot between a cleaning position and a stored position in response to receipt of a command to move the mopping pad tray when the movement condition is satisfied, wherein moving the mopping pad tray between the cleaning position and the stored position includes moving the mopping pad tray in a horizontal direction relative to the body and a vertical direction relative to the body;
inhibiting or interrupting vertical movement of the mopping pad tray when at least one of the front cliff is detected or the side cliff is detected; and
allowing horizontal movement of the mopping pad tray when at least one of the front cliff is detected or the side cliff is detected.