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Apparatus and method for recognizing carpets and stairs by cleaning robot

  • US 5,307,273 A
  • Filed: 08/27/1991
  • Issued: 04/26/1994
  • Est. Priority Date: 08/29/1990
  • Status: Expired due to Fees
First Claim
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1. Apparatus for recognizing the condition of a floor comprising:

  • (a) first means for transmitting an ultrasonic wave to be reflected off said floor when an actuate signal is provided to said first means; and

    (b) an ultrasonic wave receiver comprising second means for generating an ultrasonic wave receipt signal when said ultrasonic wave reflected on said floor is received by said ultrasonic wave receiver; and

    (c) computing means for providing said actuate signal to said first means for a first time, and testing if said floor is in one of at least three predefined conditions as a function of said first time and the difference in time between when said ultrasonic wave is transmitted and when it is received; and

    (d) if said one of at least three predefined conditions is not the condition of said floor, third means for eliminating this condition as a possibility so it will not be retested, altering said first time, and repeating the steps performed by said computing means and said third means in (c)-(d) until the condition of said floor is determined.

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