Debris sensor for cleaning apparatus
First Claim
Patent Images
1. An autonomous cleaning apparatus comprising:
- a side brush;
a main brush;
a debris bin;
a chassis carrying the side brush, the main brush, and the debris bin, the side brush operative to direct particulates from a cleaning surface toward the main brush, and the main brush operative to direct the particulates toward the debris bin;
a piezoelectric sensor disposed between the main brush and the debris bin, wherein impact of the particulates moving from the side brush to the main brush toward the debris bin is detectable by the piezoelectric sensor;
a drive system carried by the chassis and operative to move the chassis; and
a control module coupled to the piezoelectric sensor and configured control the drive system based on the detected impact of the particulates moving from the side brush to the main brush toward the debris bin.
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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
16 Claims
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1. An autonomous cleaning apparatus comprising:
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a side brush; a main brush; a debris bin; a chassis carrying the side brush, the main brush, and the debris bin, the side brush operative to direct particulates from a cleaning surface toward the main brush, and the main brush operative to direct the particulates toward the debris bin; a piezoelectric sensor disposed between the main brush and the debris bin, wherein impact of the particulates moving from the side brush to the main brush toward the debris bin is detectable by the piezoelectric sensor; a drive system carried by the chassis and operative to move the chassis; and a control module coupled to the piezoelectric sensor and configured control the drive system based on the detected impact of the particulates moving from the side brush to the main brush toward the debris bin. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An autonomous cleaning apparatus comprising:
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a drive system comprising a right wheel assembly and a left wheel assembly, each wheel assembly comprising a respective motor; a side brush; a main brush; a debris bin; a chassis carrying the drive system, the side brush, the main brush, and the debris bin, the side brush operative to direct particulates from a cleaning surface toward the main brush, and the main brush operative to direct the particulates toward the debris bin; a control module configured control the drive system; and a debris sensor disposed between the main brush and the debris bin, wherein the particulates directed by the side brush to the main brush toward the debris bin are detectable by the debris sensor, and the control module is configured to adjust movement of the cleaning apparatus based at least in part on a signal representative of the particulates detected by the debris sensor. - View Dependent Claims (14, 15, 16)
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Specification