Search International and National Patent Collections

1. (WO2018166590) ESTIMATING WHEEL SLIP OF A ROBOTIC CLEANING DEVICE

Pub. No.:    WO/2018/166590    International Application No.:    PCT/EP2017/056100
Publication Date: Fri Sep 21 01:59:59 CEST 2018 International Filing Date: Thu Mar 16 00:59:59 CET 2017
IPC: A47L 9/28
Applicants: AKTIEBOLAGET ELECTROLUX
Inventors: HAEGERMARCK, Anders
FORSBERG, Petter
LINDHE, Magnus
KLINTEMYR, Andreas
Title: ESTIMATING WHEEL SLIP OF A ROBOTIC CLEANING DEVICE
Abstract:
The invention relates to a robotic cleaning device (100) and a method performed by the robotic cleaning device (100) of determining a wheel slip characteristic of a surface over which the robotic cleaning device (100) moves. In an aspect of the invention, a robotic cleaning device (100) is provided comprising a propulsion system (112, 113, 115a, 115b) configured to move the robotic cleaning device (100) over a surface to be cleaned, a controller (116) configured to control the propulsion system to cause the robotic cleaning device (100) to perform a rotating movement, and an inertial measurement unit (124) configured to measure a change in heading of the robotic cleaning device (100) caused by the rotating movement. The controller (116) is further configured to acquire signals from an odometry encoder (123a, 123b) arranged on each drive wheel (112, 113) of the propulsion system for measuring the change in heading of the robotic cleaning device (100) caused by the rotating movement, and to determine a relation between the change in heading measured using odometry and the change in heading measured using the angle-measuring device, wherein a difference in the two measured changes in heading indicates an estimate of wheel slip that occurs on said surface.