Debris sensor for cleaning apparatus
First Claim
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1. An autonomous cleaning apparatus comprising:
- a drive system operable to move the autonomous cleaning apparatus;
a cleaning assembly;
a debris sensor for generating a debris signal; and
a controller configured tooperate the drive system to control a path of movement of the autonomous cleaning apparatus, andinitiate an adjustment of power delivery to the cleaning assembly of the autonomous cleaning apparatus in response to the debris signal.
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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.
154 Citations
20 Claims
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1. An autonomous cleaning apparatus comprising:
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a drive system operable to move the autonomous cleaning apparatus; a cleaning assembly; a debris sensor for generating a debris signal; and a controller configured to operate the drive system to control a path of movement of the autonomous cleaning apparatus, and initiate an adjustment of power delivery to the cleaning assembly of the autonomous cleaning apparatus in response to the debris signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method of operating an autonomous cleaning apparatus, the method comprising:
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generating, by a debris sensor of the autonomous cleaning apparatus, a debris signal; steering, by a drive system of the autonomous cleaning apparatus, movement of the autonomous cleaning apparatus, and initiating an adjustment of power delivery to a cleaning head assembly of the autonomous cleaning apparatus in response to the debris signal. - View Dependent Claims (17, 18, 19, 20)
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Specification