Debris sensor for cleaning apparatus

• US 20050218852A1
• Filed: 04/19/2005
• Published: 10/06/2005
• Est. Priority Date: 01/28/2004
• Status: Abandoned Application

• Current Assignee: Daniel Ozick, David A. Cohen, Gregg W. Landry
• Original Assignee: Daniel Ozick, David A. Cohen, Gregg W. Landry
• Inventors: Cohen, David A., Landry, Gregg W., Ozick, Daniel
• Application Number:
  US11/109,832
• Publication Number:
  US 20050218852A1
• Time in Patent Office: Days
• US Class Current: 318/580
• 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: G05D 2201/0203 : Cleaning or polishing vehicle
• CPC Class Codes: G05D 2201/0215 : Vacuum cleaner
• 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 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 for generating a debris signal indicating that the cleaning apparatus has encountered debris;

wherein the processor is responsive to the debris signal to select a pattern of movement of the cleaning apparatus.

2. The apparatus of claim 1 wherein the pattern of movement comprises spot coverage of an area containing debris.

3-5. -5. (canceled)

6. An autonomous cleaning apparatus, comprising:

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 for generating a debris signal indicating that the cleaning apparatus has encountered debris;

wherein the processor is responsive to the debris signal to select an operative mode from among predetermined operative modes of the cleaning apparatus.

7. The apparatus of claim 6 wherein selection of an operative mode comprises selecting a pattern of movement.

8. The apparatus of claim 7 wherein the pattern of movement comprises spot coverage of an area containing debris.

9. The apparatus of claim 7 wherein the pattern of movement comprises steering the cleaning apparatus toward an area containing debris.

10. The apparatus as in one of claims 6-9 wherein the debris sensor comprises spaced-apart first and second debris sensing elements respectively operable to generate first and second debris signals;

and

wherein the processor is responsive to the first and second debris signals to select a pattern of movement.

11. The apparatus of claim 10 further wherein the processor is responsive to differences in the first and second debris signals to steer the cleaning apparatus in a direction of debris.

12. The apparatus as in one of claims 6-11 wherein the debris sensor comprises a piezoelectric sensor element located proximate a cleaning pathway of the cleaning apparatus and responsive to a debris strike to generate a signal indicative of such strike.

13. A cleaning apparatus comprising:

a cleaning pathway for transporting debris;

a piezoelectric sensor located proximate to the cleaning pathway and responsive to a debris strike to generate a debris signal indicative of such strike; and

a processor responsive to the debris signal to change an operative mode of the cleaning apparatus.

14. The apparatus of claim 13 wherein the change in operative mode comprises illuminating a user-perceptible indicator light.

15. The apparatus of claim 13 wherein the change in operative mode comprises changing a power setting.

16. The apparatus of claim 13 wherein the change in operative mode comprises reducing a movement speed of the apparatus.

30. The apparatus of claim 13 wherein the piezoelectric sensor element comprises a flexible piezoelectric film having multiple electrically isolated sections.

17. A debris sensor for a cleaning apparatus, the debris sensor comprising:

a piezoelectric element located proximate to a cleaning pathway of the cleaning apparatus and responsive to a debris strike to generate a first signal indicative of such strike; and

a processor operable to process the first signal to generate a second signal representative of a characteristic of debris being encountered by the cleaning apparatus.

18. The sensor of claim 17 wherein the characteristic is relative quantity of debris.

19. The sensor of claim 17 wherein the characteristic is a vector from a present location of the cleaning apparatus to an area containing debris.

20. The sensor of claim 17 wherein the processor is further operable, in response to the second signal, to change an operative mode of the cleaning apparatus.

21. The sensor of claim 20 wherein the change of operative mode comprises changing a power setting.

22. The sensor of claim 20 wherein the change of operative mode comprises illuminating a user-perceptible indicator light.

23. The sensor of claim 20 wherein the change of operative mode comprises reducing a movement speed of the cleaning apparatus.

24. The sensor of claim 17 wherein:

the piezoelectric element is mounted proximate to the cleaning pathway by mounting elements, and

the mounting elements comprise at least one mounting screw and associated elastomer mounting grommet.

25. The sensor of claim 24 wherein the elastomer mounting grommet receives the mounting screw and provides vibration dampening for the piezoelectric element mounted proximate to the cleaning pathway by the mounting screw.

29. The sensor of claim 17 wherein the piezoelectric element comprises a flexible piezoelectric film.

31. The sensor of claim 29 wherein the piezoelectric element comprises a flexible piezoelectric film.

26-28. -28. (canceled)

32. A method of operating an autonomous cleaning apparatus, the method comprising:

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 to generate a debris signal indicating that the cleaning apparatus has encountered debris; and

using the processor to select a pattern of movement of the cleaning apparatus in response to the debris signal.

33. The method of claim 32 wherein the pattern of movement comprises spot coverage of an area containing debris.

34-36. -36. (canceled)

37. A method of operating an autonomous cleaning apparatus, the method comprising:

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 to generate a debris signal indicating that the cleaning apparatus has encountered debris; and

using the processor to select, responsive to the debris signal, an operative mode from among predetermined operative modes of the cleaning apparatus.

38. The method of claim 37 wherein selection of an operative mode comprises selecting a pattern of movement.

39. The method of claim 38 wherein the pattern of movement comprises spot coverage of an area containing debris.

40. The method of claim 39 wherein the pattern of movement comprises steering the cleaning apparatus toward an area containing debris.

41. The method as in one of claims 37-40 wherein the debris sensor comprises spaced-apart first and second debris sensing elements respectively operable to generate first and second debris signals;

and

wherein the processor is responsive to the first and second debris signals to select a pattern of movement.

42. The method of claim 41 further wherein the processor is responsive to differences in the first and second debris signals to steer the cleaning apparatus in a direction of debris.

43. The method as in one of claims 37-42 wherein the debris sensor comprises a piezoelectric sensor element located proximate a cleaning pathway of the cleaning apparatus and responsive to a debris strike to generate a signal indicative of such strike.

44. A method of operating a cleaning apparatus, the method comprising:

using a piezoelectric sensor located proximate to a cleaning pathway of the cleaning apparatus and responsive to a debris strike to generate a debris signal indicative of such strike; and

using a processor in communication with the piezoelectric sensor and responsive to the debris signal to change an operative mode of the cleaning apparatus.

45. The method of claim 44 wherein the change in operative mode comprises illuminating a user-perceptible indicator light.

46. The method of claim 44 wherein the change in operative mode comprises changing a power setting.

47. The apparatus of claim 44 wherein the change in operative mode comprises reducing a movement speed of the apparatus.

61. The method of claim 44 wherein the piezoelectric sensor element comprises a flexible piezoelectric film having multiple electrically isolated sections.

48. A method of operating a cleaning apparatus, the method comprising:

using a piezoelectric element located proximate to a cleaning pathway of the cleaning apparatus and responsive to a debris strike to generate a first signal indicative of such strike; and

using a processor in communication with the piezoelectric element and operable to process the first signal to generate a second signal representative of a characteristic of debris being encountered by the cleaning apparatus.

49. The method of claim 48 wherein the characteristic is relative quantity of debris.

50. The method of claim 48 wherein the characteristic is a vector from a present location of the cleaning apparatus to an area containing debris.

51. The method of claim 48 wherein the processor is further operable, in response to the second signal, to change an operative mode of the cleaning apparatus.

52. The method of claim 51 wherein the change of operative mode comprises changing a power setting.

53. The method of claim 51 wherein the change of operative mode comprises illuminating a user-perceptible indicator light.

54. The method of claim 51 wherein the change of operative mode comprises reducing a movement speed of the cleaning apparatus.

55. The method of claim 48 further comprising:

mounting the piezoelectric element proximate to the cleaning pathway using at least one mounting screw and associated elastomer mounting grommet.

56. The method of claim 55 wherein the elastomer mounting grommet receives the mounting screw and provides vibration dampening for the piezoelectric element mounted proximate to the cleaning pathway by the mounting screw.

60. The method of claim 48 wherein the piezoelectric element comprises a flexible piezoelectric film.

62. The method of claim 60 wherein the piezoelectric element comprises a flexible piezoelectric film.

57-59. -59. (canceled)