Robotic cleaning apparatus and system
AssigneeBofill Strauss LLC
InventorsSteven J. Bofill, Mark Strauss
Life of this patent
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Abstract
A robotic device for working on a surface includes a body including: a tool for working on the surface; a controller moving the body along the surface; a first set of at least two rotors mounted to the body and generating thrust in a first direction towards the surface; and a second set of at least two rotors mounted to the body and generating thrust in a second direction away from the surface. A sensor measures a distance between the body and the surface, and a computer adjusts the first set of rotors and the second set of rotors in response to the sensor to place the body in position to work on the surface. In particular, the first set of rotors and the second set of rotors generate a net force on the body to it in non-contact position to work on the surface.
Claims19
A robotic device for working on a surface, comprising:
- a body including a tool for working on the surface;
- a controller moving said body along the surface;
- a first set of at least two rotors mounted to said body and generating a first thrust in a first direction towards the surface;
- a second set of at least two rotors mounted to said body and generating a second thrust in a second direction away from the surface and against the first thrust generated by said first set of rotors;
- and
- a computer configured for controlling said first set of rotors and said second set of rotors for adjusting the first thrust relative to the second thrust to maintain said body in position of equilibrium in the presence of a force exerted on said body, wherein said computer adjusts said first set of rotors to generate thrust opposing said force, wherein said force is a work force produced by said tool.
A robotic device for working on a surface, comprising:
- a body including a tool for working on the surface;
- a controller moving said body along the surface;
- a first set of at least two rotors mounted to said body and generating a first thrust in a first direction;
- a second set of at least two rotors mounted to said body and generating a second thrust in a second direction opposite the first direction and against the first thrust generated by said first set of rotors;
- and
- a computer configured for controlling said first set of rotors and said second set of rotors for adjusting the first thrust relative to the second thrust to maintain station-keeping of said body in the presence of a force exerted on said body, wherein said computer adjusts said first set of rotors to generate thrust opposing said force, wherein said force is a work force produced by said tool.
Dependencies are inferred from the claim text.