Debris Sensor for Cleaning Apparatus
First Claim
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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 steer movement of the cleaning apparatus and provide at least one pattern of movement of the cleaning apparatus; and
a debris sensor for generating a debris signal;
wherein the processor causes the cleaning apparatus to enter into a spot cleaning mode in an area in which the cleaning apparatus was operating when a debris signal was generated, steering the cleaning apparatus to the debris-containing area substantially immediately in response to the debris signal generated by the debris sensor.
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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.
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1 Claim
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1. 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 steer movement of the cleaning apparatus and provide at least one pattern of movement of the cleaning apparatus; and a debris sensor for generating a debris signal; wherein the processor causes the cleaning apparatus to enter into a spot cleaning mode in an area in which the cleaning apparatus was operating when a debris signal was generated, steering the cleaning apparatus to the debris-containing area substantially immediately in response to the debris signal generated by the debris sensor.
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Specification