US 11,839,345 B2
Robotic cleaner
Derek A. Lessard, Cambridge, MA (US); and Justin West, North Andover, MA (US)
Assigned to SharkNinja Operating LLC, Needham, MA (US)
Filed by SHARKNINJA OPERATING LLC, Needham, MA (US)
Filed on Oct. 22, 2021, as Appl. No. 17/508,412.
Claims priority of provisional application 63/104,768, filed on Oct. 23, 2020.
Prior Publication US 2022/0125256 A1, Apr. 28, 2022
Int. Cl. A47L 9/00 (2006.01); A47L 9/04 (2006.01); A47L 9/22 (2006.01); A47L 9/28 (2006.01); G05D 1/02 (2020.01); A47L 11/282 (2006.01); A47L 11/40 (2006.01)
CPC A47L 9/009 (2013.01) [A47L 9/0411 (2013.01); A47L 9/0477 (2013.01); A47L 9/22 (2013.01); A47L 9/2805 (2013.01); A47L 9/2852 (2013.01); A47L 11/282 (2013.01); A47L 11/4002 (2013.01); A47L 11/4011 (2013.01); A47L 11/4041 (2013.01); A47L 11/4061 (2013.01); A47L 11/4066 (2013.01); A47L 11/4069 (2013.01); A47L 11/4072 (2013.01); G05D 1/0238 (2013.01); A47L 2201/04 (2013.01); G05D 2201/0215 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robotic cleaner comprising:
a chassis having a substantially planar forward surface and one or more substantially planar side surfaces;
a single drive wheel rotatably coupled to the chassis, the single drive wheel being configured to rotate about a steering axis and a drive axis;
an agitator chamber having an agitator rotatable therein;
a cleaning motor assembly configured to cause the agitator to rotate and further configured to cause air to flow into the agitator chamber; and
a controller configured to cause the robotic cleaner to:
approach a vertically extending surface;
engage the vertically extending surface;
rotate the single drive wheel about the steering axis until the drive axis intersects a corner defined at an intersection of the forward surface and a respective side surface;
in response to the drive axis intersecting the corner, rotate the single drive wheel in a forward direction until the forward surface is aligned with the vertically extending surface;
in response to the forward surface being aligned with the vertically extending surface, rotate the single drive wheel about the drive axis in a reverse direction until the respective side surface is aligned with the vertically extending surface; and
in response to the respective side surface being aligned with the vertically extending surface, rotate the single drive wheel about the steering axis until the drive axis extends substantially parallel to the forward surface and rotating the single drive wheel about the drive axis in the forward direction.