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
20 Claims
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1. (canceled)
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2. An autonomous cleaning apparatus comprising:
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a vacuum assembly; a cleaning head positioned forward of an inlet of the vacuum assembly and comprising a cleaning element configured to sweep debris up from a cleaning surface; a piezoelectric sensor disposed above the cleaning element, the piezoelectric sensor configured to detect debris swept up by the cleaning element or pulled by the vacuum assembly; a drive system configured to move the autonomous cleaning apparatus; and a control module coupled to the piezoelectric sensor and configured control the drive system based on detection of the debris. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An autonomous cleaning apparatus comprising:
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a drive system comprising a right wheel assembly and a left wheel assembly; a side brush; a cleaning head comprising a rotating cleaning element; a control module configured control the drive system; a debris bin; and a debris sensor disposed between the cleaning head and the debris bin, wherein; the side brush is configured to direct debris from a cleaning surface toward the cleaning head; the cleaning head is configured to direct the debris toward the debris bin; the debris directed by the side brush to the cleaning head toward the debris bin are detectable by the debris sensor; and the control module is configured to adjust movement of the autonomous cleaning apparatus based at least in part on a signal representative of the debris detected by the debris sensor. - View Dependent Claims (17, 18, 19, 20)
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Specification