This cleaner bot is the most successful of my "useful" robots. Indeed, this is the first time I am interested in carpet cleaning, with a system of rotating brushes.
The task was not easy, especially since I wanted it as small as possible. In the end, the result is very satisfactory: in 1 minute there is a lot of dust collected. So this is a 3 in 1 robot very versatile, able to evolve on a hard surface or carpet, cleaning dust or small dirt while managing to collect any small stray objects, like pieces of Lego by example.
2 ultrasound sensors, interacting with the touch sensors ensure a smart and efficient moving: it chooses the direction and the mode of pivot based on the proximity of lateral obstacles, and it is almost never in a complicated situation, even when the ground is very "rugged"!
As some of my previous robots, it does not exceed in size the height of the NXT brick (only treads and brushes beyond), allowing it to move under all the furniture.
-The brushes are Lego brand (car wash set)
-Smaller wheels tend the treads; it is necessary to prevent any slippage, because the friction of the brushes is high on a carpet.
-The springs exert a slight pressure (adjustable) of the brushes on the floor, and small objects can be trap when the brushes move automatically upwardly.
-The robot is designed to attach easily a standard electrostatic wipe behind the brushes for a very effective use on hard floor.
-Taking charge of the battery and the USB plug (in the event of a change of program) are fully accessible, the frame is very robust (treads can not sag) and everything was done to minimize the size, to ensure a household in hard to reach places.
-The facade is everywhere sensitive: every obstacle is detected, without the risk of blocking the robot.
Sorry for my bad english, I tried to minimize misunderstandings with a Google translation ;)