Debris sensor for cleaning apparatus

• US 10,182,693 B2
• Filed: 12/26/2017
• Issued: 01/22/2019
• Est. Priority Date: 01/28/2004
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Landry, Gregg W., Cohen, David A., Ozick, Daniel N.
• Primary Examiner(s): GLASS, ERICK DAVID
• Application Number:
  US15/854,125
• Publication Number:
  US 20180199780A1
• Time in Patent Office: 392 Days
• Field of Search: 318587
• CPC Class Codes: A47L 11/4005 Arrangements of batteries or cells; Electric power supply arrangements
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 5/362 of the horizontal type, e.g. canister or sledge type
• CPC Class Codes: A47L 9/0466 Rotating tools
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/281 the amount or condition of incoming dirt or dust
• CPC Class Codes: A47L 9/2831 Motor parameters, e.g. motor load or speed
• CPC Class Codes: A47L 9/2842 Suction motors or blowers
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2889 Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 : using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/46 : Sensing device

Abstract

A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Claims

1. An autonomous cleaning apparatus comprising:

a drive system operable to move the autonomous cleaning apparatus;

a cleaning head;

a debris sensor for generating a debris signal; and

a controller configured to

control the drive system to steer movement of the autonomous cleaning apparatus, and

initiate an adjustment of power delivery to the cleaning head of the autonomous cleaning apparatus in response to the debris signal.

2. The autonomous cleaning apparatus of claim 1, wherein the controller is further configured to initiate an adjustment of a movement speed of the autonomous cleaning apparatus.

3. The autonomous cleaning apparatus of claim 2, wherein the adjustment of power delivery initiated by the controller includes an elevation of power delivery.

4. The autonomous cleaning apparatus of claim 3, wherein an adjustment of the movement speed initiated by the controller includes a reduction in the movement speed.

5. The autonomous cleaning apparatus of claim 4, wherein the debris signal generated by the debris sensor provides an indication of a quantity of debris.

6. The autonomous cleaning apparatus of claim 5, wherein the adjustment of power delivery initiated by the controller is responsive to the indication of the quantity of debris.

7. The autonomous cleaning apparatus of claim 6, wherein the adjustment of movement speed initiated by the controller is responsive to the indication of the quantity of debris.

8. The autonomous cleaning apparatus of claim 7, further comprising a lighting indicator, wherein the controller is further configured to activate the lighting indicator in response to the debris signal.

9. The autonomous cleaning apparatus of claim 4, wherein the debris signal generated by the debris sensor provides an indication of a presence of debris.

10. The autonomous cleaning apparatus of claim 9, wherein the adjustment of power delivery initiated by the controller is responsive to the indication of the presence of debris.

11. The autonomous cleaning apparatus of claim 10, wherein the adjustment of movement speed initiated by the controller is responsive to the indication of the presence of debris.

12. The autonomous cleaning apparatus of claim 11, further comprising a lighting indicator, wherein the controller is further configured to activate the lighting indicator in response to the debris signal.

13. The autonomous cleaning apparatus of claim 4, wherein the debris signal generated by the debris sensor provides an indication of a location of debris.

14. The autonomous cleaning apparatus of claim 13, wherein the adjustment of power delivery initiated by the controller is responsive to the indication of the location of debris.

15. The autonomous cleaning apparatus of claim 14, wherein the adjustment of movement speed initiated by the controller is responsive to the indication of the location of debris.

16. The autonomous cleaning apparatus of claim 15, further comprising a lighting indicator, wherein the controller is further configured to activate the lighting indicator in response to the debris signal.

17. The autonomous cleaning apparatus of claim 16, wherein the controller is further configured to determine a debris gradient from the debris signal and instruct the drive system to adjust a position of the autonomous cleaning apparatus in response to the determined debris gradient.