Navigational control system for a robotic device
First Claim
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 having a cleaning pathway providing pneumatic communication with a debris bin, the cleaning head system comprising an agitating brush configured to throw debris into the debris bin;
an indicator light; and
a debris sensor in communication with the controller, the debris sensor responsive to the debris to generate a signal indicative of passing of the debris;
wherein the controller is configured tochange an operational condition of the cleaning apparatus in response to receiving the signal generated by the debris sensor, the operational condition selected from the group consisting of a speed of the movement of the cleaning apparatus and an amount of power drawn by the cleaning apparatus, and toilluminate the indicator light in response to the signal generated by the debris sensor.
4 Assignments
0 Petitions
Accused Products
Abstract
An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, 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. 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.
-
Citations
21 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 having a cleaning pathway providing pneumatic communication with a debris bin, the cleaning head system comprising an agitating brush configured to throw debris into the debris bin; an indicator light; and a debris sensor in communication with the controller, the debris sensor responsive to the debris to generate a signal indicative of passing of the debris; wherein the controller is configured to change an operational condition of the cleaning apparatus in response to receiving the signal generated by the debris sensor, the operational condition selected from the group consisting of a speed of the movement of the cleaning apparatus and an amount of power drawn by the cleaning apparatus, and to illuminate the indicator light in response to the signal generated by the debris sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. 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 having a cleaning pathway providing pneumatic communication with a debris bin, the cleaning head system comprising an agitating brush configured to throw debris into the debris bin; an indicator light; and a debris sensor in communication with the controller, the debris sensor responsive to the debris to generate a signal indicative of passing of the debris; wherein the controller is configured to change an amount of power drawn by the cleaning apparatus in response to receiving the signal generated by the debris sensor to implement a high power cleaning mode in response to the signal, and to illuminate the indicator light in response to the high power cleaning mode. - View Dependent Claims (20, 21)
-
Specification