Debris sensor for cleaning apparatus

• US 9,883,783 B2
• Filed: 01/30/2017
• Issued: 02/06/2018
• Est. Priority Date: 01/24/2001
• 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:
  US15/419,425
• Publication Number:
  US 20170202419A1
• Time in Patent Office: 372 Days
• Field of Search: 3185681, 31856812, 318587, 318580, 15319
• 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 vacuum assembly;

a cleaning head positioned forward of an inlet of the vacuum assembly, the cleaning head comprising a cleaning element configured to sweep up debris from a cleaning surface;

a piezoelectric sensor disposed above the cleaning element, the piezoelectric sensor being configured to detect the 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, the control module being configured to

select an operational mode based on signal values from the piezoelectric sensor, and

control the drive system to control movement of the autonomous cleaning apparatus in accordance with the operational mode.

2. The autonomous cleaning apparatus of claim 1, further comprising a side brush configured to direct debris from outside a periphery of the autonomous cleaning apparatus toward the cleaning head.

3. The autonomous cleaning apparatus of claim 2, wherein:

a fore-aft axis divides the autonomous cleaning apparatus into a right half comprising a right wheel of the drive system and a left half comprising a left wheel of the drive system, and

the side brush is disposed on a forward portion of the right half or the left half of the autonomous cleaning apparatus.

4. The autonomous cleaning apparatus of claim 3, further comprising a dominant half corresponding to the right half or the left half, wherein an obstacle-following unit and the side brush are each disposed on the dominant half of the autonomous cleaning apparatus.

5. The autonomous cleaning apparatus of claim 3, wherein the cleaning element is on the right half and the left half of the autonomous cleaning apparatus and rearward of the side brush.

6. The autonomous cleaning apparatus of claim 1, further comprising a debris bin that is removable and that is disposed rearward of the cleaning head.

7. The autonomous cleaning apparatus of claim 6, wherein the cleaning element comprises a rotating flapper element configured to direct debris toward the debris bin.

8. The autonomous cleaning apparatus of claim 1, wherein the piezoelectric sensor is located above the cleaning element.

9. The autonomous cleaning apparatus of claim 8, wherein the piezoelectric sensor is located on a roof of the cleaning head.

10. The autonomous cleaning apparatus of claim 1, wherein the signal values are representative of a debris impact.

11. The autonomous cleaning apparatus of claim 1, wherein the signal values are representative of a quantity of the debris detected by the piezoelectric sensor.

12. The autonomous cleaning apparatus of claim 1, wherein the control module is configured to control the drive system to control movement of the autonomous cleaning apparatus by navigating the autonomous cleaning apparatus in a spiral pattern in accordance with the operational mode.

13. The autonomous cleaning apparatus of claim 1, wherein the control module is configured to control the drive system to control movement of the autonomous cleaning apparatus by changing a speed of the autonomous cleaning apparatus in accordance with the operational mode.

14. The autonomous cleaning apparatus of claim 13, wherein the control module is configured to change the speed of autonomous cleaning apparatus by slowing the autonomous cleaning apparatus.

15. An autonomous cleaning apparatus comprising:

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 to 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,

wherein the cleaning head is configured to direct the debris toward the debris bin,

wherein the debris sensor is configured to detect the debris directed toward the debris bin, and

wherein the control module is configured to

select an operational mode based at least in part on a signal representative of the debris detected by the debris sensor, and

control the drive system to control movement of the autonomous cleaning apparatus in accordance with the operational mode.

16. The autonomous cleaning apparatus of claim 15, wherein a rotational rate of one or both of the right and left wheel assemblies is changeable based at least in part on the signal representative of the debris detected by the debris sensor.

17. The autonomous cleaning apparatus of claim 16, wherein the rotational rate of one or both of the right and left wheel assemblies is reduced in response to the signal representative of the debris detected by the debris sensor.

18. The autonomous cleaning apparatus of claim 15, wherein the drive system is configured to navigate the autonomous cleaning apparatus in a spiral pattern in accordance with the operational mode.

19. The autonomous cleaning apparatus of claim 15, wherein the signal representative of the debris is representative of a quantity of the debris.