Debris sensor for cleaning apparatus

• US 8,378,613 B2
• Filed: 10/21/2008
• Issued: 02/19/2013
• Est. Priority Date: 01/28/2004
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Landry, Gregg W., Cohen, David A., Ozick, Daniel N.
• Primary Examiner(s): Ip, Paul
• Application Number:
  US12/255,393
• Publication Number:
  US 20090038089A1
• Time in Patent Office: 1,582 Days
• Field of Search: 318/568.12, 318/568.16, 318/568.17, 318/580, 318/587, 318/568, 318/12, 153/19, 153/20, 15/4, 153/275, 901/1, 901/47, 700/245, 700/259
• 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: 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 chassis;

a drive system disposed on the chassis and 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;

a cleaning head system disposed on the chassis and having a cleaning pathway providing pneumatic communication with a removable debris bin, the cleaning head system comprising an agitating brush that throws debris into the removable debris bin; and

a sensor system in communication with the controller, the sensor system comprising;

a piezoelectric sensor disposed along a wall of the cleaning pathway in a location to receive impacts of debris thrown by the agitating brush, and responsive to a debris impact thereon to generate a debris signal indicative of such impact;

a bump sensor for generating a bump signal; and

an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal;

wherein the processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system and the processor directs the drive system to steer the cleaning apparatus in a forward direction, turning to cover the location of the debris, in response to the debris signal generated by the piezoelectric sensor.

2. The autonomous cleaning apparatus of claim 1, wherein the processor implements a spot cleaning mode in an area in which the cleaning apparatus was operating, substantially immediately in response to receiving a debris signal generated by the piezoelectric sensor.

3. The autonomous cleaning apparatus of claim 2, wherein the self-bounded area algorithm comprises a spiraling algorithm at a reduced drive speed.

4. The autonomous cleaning apparatus of claim 1, wherein the spot cleaning mode comprises maneuvering the autonomous cleaning apparatus according to a self-bounded area algorithm.

5. The autonomous cleaning apparatus of claim 1, wherein the processor implements a high power cleaning mode in response to the debris signal, the high power mode comprising elevating power delivery to the cleaning head system.

6. The autonomous cleaning apparatus of claim 1, wherein the piezoelectric sensor comprises:

a plate;

an elastomer pad supporting the plate; and

a piezoelectric material and an electrode both secured to the plate, the electrode in communication with the controller.

7. The autonomous cleaning apparatus of claim 1, wherein the piezoelectric sensor comprises a piezoelectric film.

8. The autonomous cleaning apparatus of claim 1, wherein the sensor system comprises right and left piezoelectric sensors in communication with the controller and disposed along a wall of the cleaning pathway in a location to receive impacts of debris thrown by the agitating brush of the cleaning head system for generating respective debris signals;

and

wherein the processor directs the drive system to turn right in response to the debris signal generated by the right piezoelectric sensor and to turn left in response to the debris signal generated by the left piezoelectric sensor.

9. The autonomous cleaning apparatus of claim 8, wherein the right and left piezoelectric sensors are disposed equidistantly from a center axis defined by the cleaning pathway.

10. The autonomous cleaning apparatus of claim 1, wherein the bump sensor comprises a displaceable bumper attached to the chassis and at least one displacement sensor disposed on the displaceable bumper, the displacement sensor activated upon displacement of the bumper toward the chassis.

11. The autonomous cleaning apparatus of claim 1, wherein the obstacle following sensor comprises an emitter emitting an emission signal laterally and a detector configured to detect the emission reflected off an obstacle adjacent the cleaning apparatus, the emitter and detector configured to establish a focal point.

12. The autonomous cleaning apparatus of claim 1, wherein the sensor system further comprises a cliff sensor for generating a cliff signal upon detection of a cliff, the cliff sensor comprising an emitter emitting an emission signal downwardly and a detector configured to detect the emission reflected off a surface being traversed by the cleaning apparatus, the emitter and detector configured to establish a focal point below the cleaning apparatus.

13. The autonomous cleaning apparatus of claim 1, wherein the sensor system further comprises a wheel drop sensor.

14. The autonomous cleaning apparatus of claim 1, wherein the sensor system further comprises a stall sensor.

15. The autonomous cleaning apparatus of claim 1, wherein the obstacle following sensor is disposed on a dominant side of the autonomous cleaning apparatus.

16. The autonomous cleaning apparatus of claim 1, wherein the processor controls the drive system to execute a pattern of movements to steer the autonomous cleaning apparatus toward a debris area corresponding to the debris signal generated by the piezoelectric sensor.

17. The autonomous cleaning apparatus of claim 1, wherein the piezoelectric sensor is disposed proximate to the agitating brush of the cleaning head system.

18. The autonomous cleaning apparatus of claim 17, wherein the piezoelectric sensor faces substantially downward toward a surface being traversed by the cleaning apparatus, the piezoelectric sensor receiving impacts from debris agitated by the agitating brush of the cleaning head system.