Debris monitoring

  • US 10,758,104 B2
  • Filed: 03/29/2019
  • Issued: 09/01/2020
  • Est. Priority Date: 12/30/2010
  • Status: Active Grant
First Claim
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1. An autonomous cleaning robot comprising:

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

    a debris sensor to detect debris on the floor surface; and

    a controller configured to, in response to the debris sensor detecting the debris on the floor surface, initiate a spot cleaning mode in which the controller operates the drive system tomove the cleaning robot relative to the debris from a central region to a first location within a peripheral region along a first path of a first pair of paths,move the cleaning robot from the peripheral region to the central region along a second path of the first pair of paths until the cleaning robot is at a first location within the central region, the second path of the first pair of paths being angled relative to the first path of the first pair of paths, and thenmove the cleaning robot from the first location within the central region along a first path of a second pair of paths to a second location within the peripheral region and from the second location within the peripheral region along a second path of the second pair of paths until the cleaning robot is at a second location within the central region, the first path of the second pair of paths being angled relative to the second path of the first pair of paths.

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