Edge detection system
First Claim
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1. An autonomous cleaning apparatus, comprising:
- a chassis;
a drive system installed in the chassis operable to enable movement of the cleaning apparatus, the drive system comprising a set of wheels;
a control system in communication with the drive system including a processor operable to control the drive system to provide at least one movement pattern of the cleaning apparatus;
a cleaning assembly including a rotatable brush and an intake area;
an impeller to provide suction to collect debris;
a debris holding container;
a battery to provide power to the system; and
one or more downward-oriented rangefinder sensors positioned on the underside of said chassis and electrically coupled with the processor to calculate distances from the sensor to the work surface, whereinthe distances calculated by each of the one or more rangefinder sensors are monitored by the processor, whereinchanges in distance larger than a predetermined amount causes the control system to execute one or more predetermined movement patterns to avoid an area associated with the change in distance.
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Abstract
A method for automated mobile devices to identify and avoid dangerous edges or drop-offs. Rangefinder sensors are installed on the underside of devices to calculate distances to the work surfaces. Distances are monitored for changes greater than a predetermined threshold. Distance changes greater than the threshold cause the device to execute methods or algorithms for avoiding the identified area.
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Citations
3 Claims
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1. An autonomous cleaning apparatus, comprising:
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a chassis; a drive system installed in the chassis operable to enable movement of the cleaning apparatus, the drive system comprising a set of wheels; a control system in communication with the drive system including a processor operable to control the drive system to provide at least one movement pattern of the cleaning apparatus; a cleaning assembly including a rotatable brush and an intake area; an impeller to provide suction to collect debris; a debris holding container; a battery to provide power to the system; and one or more downward-oriented rangefinder sensors positioned on the underside of said chassis and electrically coupled with the processor to calculate distances from the sensor to the work surface, wherein the distances calculated by each of the one or more rangefinder sensors are monitored by the processor, wherein changes in distance larger than a predetermined amount causes the control system to execute one or more predetermined movement patterns to avoid an area associated with the change in distance. - View Dependent Claims (2, 3)
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Specification