MOBILE ROBOT AND METHOD FOR ITS CONTROL Russian patent published in 2022 - IPC B25J9/16 A47L11/40 

FIELD: movable robots.

SUBSTANCE: inventions group relates to a movable robot, in particular to a movable robot capable of cleaning a floor surface based on the rotation of a cleaning cloth installed to the floor surface during movement, and a method for controlling it. According to the invention, the wiper is rotated by the motor to move the body when cleaning the floor surface, so that the change in the position of the body is analyzed to determine the state of movement. When it is determined that the body moves abnormally and deviates from the set movement path, the corresponding position is stored and re-cleaning is performed, so that the position where the abnormal movement occurred is re-cleaned, and the position for the next cleaning can be located considering the position where abnormal movement has occurred.

EFFECT: invention makes it possible to increase the purification efficiency.

32 cl, 13 dwg