DEBRIS SENSOR FOR CLEANING APPARATUS
4 Assignments
0 Petitions
Accused Products
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.
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Citations
60 Claims
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1-2. -2. (canceled)
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3. An autonomous cleaning apparatus, comprising:
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a drive system operable to enable movement of the cleaning apparatus;
a controller in communication with the drive system, the controller including a processor operable to control the drive system to provide at least one pattern of movement of the cleaning apparatus; and
a debris sensor responsive to debris being collected by the apparatus for generating a debris signal indicating that the cleaning apparatus is collecting debris;
wherein the processor is responsive to the debris signal to (1) select an operative mode of the cleaning apparatus and (2) steer the cleaning apparatus toward an area containing debris. - View Dependent Claims (4, 5, 26, 27, 28)
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6-25. -25. (canceled)
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29-33. -33. (canceled)
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34. A method of operating an autonomous cleaning apparatus, the method comprising:
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using a processor to control a drive system of the cleaning apparatus to provide at least one pattern of movement of the cleaning apparatus;
using a debris sensor in communication with the processor and responsive to debris being collected by the cleaning apparatus to generate a debris signal indicating that the cleaning apparatus is collecting debris; and
using the processor to respond to the debris signal to (1) select an operative mode of the cleaning apparatus and (2) steer the cleaning apparatus toward an area containing debris. - View Dependent Claims (35, 36, 57, 58, 59)
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37-56. -56. (canceled)
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60-62. -62. (canceled)
Specification