Autonomous apparatus for automatically cleaning ground by means of the embodiment of the missions planned and using a system for positioning.

摘要

The robot follows a path parallel to a wall (29) whose distance is measured by three or more fixed ultrasonic range-finders (9) interrogated in turn. Deviations are corrected automatically by commands to the driving wheels (3 sub 1). Two contra-rotating brushes (2 sub 1) sweep the floor area behind a lateral brush (2 sub 2) on a pivoted arm (35). The learning course is directed manually from a fixed starting point (18) while changes of direction and speed are memorised for subsequent automatic execution.