Debris monitoring
First Claim
Patent Images
1. An autonomous cleaning apparatus comprising:
- a drive system to navigate the cleaning apparatus about a floor surface while the cleaning apparatus cleans the floor surface;
a debris sensor having a field of view beyond a perimeter of the cleaning apparatus, wherein the debris sensor is configured to detect debris or an obstacle on the floor surface; and
a controller configured tonavigate the cleaning apparatus, in response to the debris sensor detecting the debris, toward the detected debris, andnavigate the cleaning apparatus, in response to the debris sensor detecting the obstacle, away from the detected obstacle.
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Abstract
A debris monitoring system includes a receptacle, a first and a second emitter, and a first receiver. The receptacle defines an opening to receive debris into the receptacle. The first and second emitter are each arranged to emit a signal across at least a portion of the opening. The first receiver is proximate to the first emitter to receive reflections of the signal emitted by the first emitter, and the first receiver is disposed toward the opening to receive an unreflected portion of the signal emitted by the second emitter across at least a portion of the opening.
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Citations
22 Claims
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1. An autonomous cleaning apparatus comprising:
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a drive system to navigate the cleaning apparatus about a floor surface while the cleaning apparatus cleans the floor surface; a debris sensor having a field of view beyond a perimeter of the cleaning apparatus, wherein the debris sensor is configured to detect debris or an obstacle on the floor surface; and a controller configured to navigate the cleaning apparatus, in response to the debris sensor detecting the debris, toward the detected debris, and navigate the cleaning apparatus, in response to the debris sensor detecting the obstacle, away from the detected obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 22)
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11. An autonomous cleaning apparatus comprising:
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a debris bin; a drive system to navigate the cleaning apparatus about a floor surface while the cleaning apparatus cleans the floor surface; a debris sensor directed forward of the cleaning apparatus, wherein the debris sensor is configured to detect debris or an obstacle on the floor surface; and a controller configured to navigate the cleaning apparatus, in response to the debris sensor detecting the debris, toward the detected debris to ingest the detected debris into the debris bin, and navigate the cleaning apparatus, in response to the debris sensor detecting the obstacle, away from the detected obstacle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification