Debris monitoring

  • US 10,244,913 B2
  • Filed: 10/26/2017
  • Issued: 04/02/2019
  • Est. Priority Date: 12/30/2010
  • Status: Active Grant
First Claim
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1. An autonomous cleaning apparatus comprising:

  • a drive system to navigate the cleaning apparatus about a floor surface while the cleaning apparatus cleans the floor surface;

    a debris sensor having a field of view beyond a perimeter of the cleaning apparatus, wherein the debris sensor is configured to detect debris or an obstacle on the floor surface; and

    a controller configured tonavigate the cleaning apparatus, in response to the debris sensor detecting the debris, toward the detected debris, andnavigate the cleaning apparatus, in response to the debris sensor detecting the obstacle, away from the detected obstacle.

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