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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Citations
20 Claims
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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. - View Dependent Claims (2, 3, 4, 5, 6)
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7. 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; a cleaning head system; and right and left debris sensors in communication with the controller and disposed proximate a cleaning pathway of the cleaning head system for generating respective debris signals; wherein the processor directs the drive system to turn right in response to the debris signal generated by the right debris sensor and to turn left in response to the debris signal generated by the left debris sensor. - View Dependent Claims (8, 9, 10, 11, 12)
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13. 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 select a cleaning mode; a cleaning head system; and at least one debris sensor in communication with the controller for generating debris signals; wherein the processor changes the cleaning mode in response to the debris signal. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification