A robot cleaner having a shielding module provided under a cleaner body is provided. The shielding module includes a cam and a hiding plate which rotate with the same phase angle about a same rotating shaft. The distance between the center of the hiding plate and the center of the rotating shaft is longer than the distance between a contact point on a cam surface of the cam and the center of the rotating shaft. A guide protrusion of a bumper is in contact with the cam surface at the contact point. Therefore, the rotation movement speed of the hiding plate which rotates to hide a cliff sensor is much faster than the inner movement speed of the bumper, thereby improving sensitivity to the detection of a collision between the bumper and an obstacle by using the cliff sensor.

A robot cleaner having a shielding module provided under a cleaner body is provided. The shielding module includes a cam and a hiding plate which rotate with the same phase angle about a same rotating shaft. The distance between the center of the hiding plate and the center of the rotating shaft is longer than the distance between a contact point on a cam surface of the cam and the center of the rotating shaft. A guide protrusion of a bumper is in contact with the cam surface at the contact point. Therefore, the rotation movement speed of the hiding plate which rotates to hide a cliff sensor is much faster than the inner movement speed of the bumper, thereby improving sensitivity to the detection of a collision between the bumper and an obstacle by using the cliff sensor.

A self-moving floor treatment device (A) comprises a machine body base (100) and a water tank (200). A cleaning cloth (210) is attached onto the bottom of the water tank (200), and the water tank (200) is connected to the bottom surface of the machine body base (100) in a manner of floating up and down. By mounting the water tank (200) on the machine body base (100) in. a floating manner to leave a certain gap therebetween, the water tank (200) and the cleaning cloth (210) can float up and down within a certain range of space. Because the force that actually acts on the floor is just the gravity of the water tank (200) and the cleaning cloth (210) themselves and does not comprise the gravity of the machine, compared with a common product, the friction force between the cleaning cloth (210) and the floor is reduced, the phenomenon that the machine slips on the floor with water can be effectively avoided, the floor cleaning efficiency is improved and the obstacle crossing ability of the machine with the water tank (200) is improved.

A self-moving floor treatment device (A) comprises a machine body base (100) and a water tank (200). A cleaning cloth (210) is attached onto the bottom of the water tank (200), and the water tank (200) is connected to the bottom surface of the machine body base (100) in a manner of floating up and down. By mounting the water tank (200) on the machine body base (100) in. a floating manner to leave a certain gap therebetween, the water tank (200) and the cleaning cloth (210) can float up and down within a certain range of space. Because the force that actually acts on the floor is just the gravity of the water tank (200) and the cleaning cloth (210) themselves and does not comprise the gravity of the machine, compared with a common product, the friction force between the cleaning cloth (210) and the floor is reduced, the phenomenon that the machine slips on the floor with water can be effectively avoided, the floor cleaning efficiency is improved and the obstacle crossing ability of the machine with the water tank (200) is improved.

A robotic device comprising: an energy storage device; and a controller configured to determine whether a quantity of energy stored in the energy storage device is below a predetermined energy level, wherein: the robotic device is configured to perform a cleaning task if the determined quantity of energy is not below the predetermined energy level; if the determined quantity of energy is below the predetermined energy level: the controller is configured to estimate a likelihood of the robotic device being capable of locating a recharging base station; and in dependence on the estimated likelihood, the robotic device is configured to seek the recharging base station or perform the cleaning task.

A robotic device comprising: an energy storage device; and a controller configured to determine whether a quantity of energy stored in the energy storage device is below a predetermined energy level, wherein: the robotic device is configured to perform a cleaning task if the determined quantity of energy is not below the predetermined energy level; if the determined quantity of energy is below the predetermined energy level: the controller is configured to estimate a likelihood of the robotic device being capable of locating a recharging base station; and in dependence on the estimated likelihood, the robotic device is configured to seek the recharging base station or perform the cleaning task.

A method of operating a robotic cleaning device over a surface to be cleaned, the method being performed by the robotic cleaning device. The method includes: following a boundary of a first object while registering path markers including positional information at intervals on the surface; tracing previously registered path markers at an offset upon encountering one or more of the previously registered path markers; and switching from tracing the previously registered path markers to following an edge of a second object upon detection of the second object.

A method of operating a robotic cleaning device over a surface to be cleaned, the method being performed by the robotic cleaning device. The method includes: following a boundary of a first object while registering path markers including positional information at intervals on the surface; tracing previously registered path markers at an offset upon encountering one or more of the previously registered path markers; and switching from tracing the previously registered path markers to following an edge of a second object upon detection of the second object.

A method for operating or interacting with a mobile robot includes determining, using at least one processor, a mapping between a first coordinate system associated with a mobile device and a second coordinate system associated with the mobile robot, in which the first coordinate system is different from the second coordinate system. The method includes providing at the mobile device a user interface to enable a user to interact with the mobile robot in which the interaction involves usage of the mapping between the first coordinate system and the second coordinate system.

A method for operating or interacting with a mobile robot includes determining, using at least one processor, a mapping between a first coordinate system associated with a mobile device and a second coordinate system associated with the mobile robot, in which the first coordinate system is different from the second coordinate system. The method includes providing at the mobile device a user interface to enable a user to interact with the mobile robot in which the interaction involves usage of the mapping between the first coordinate system and the second coordinate system.