Debris sensor for cleaning apparatus

  • US 7,288,912 B2
  • Filed: 09/19/2006
  • Issued: 10/30/2007
  • Est. Priority Date: 01/28/2004
  • Status: Active Grant
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First Claim
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1. An autonomous cleaning apparatus, comprising:

  • a drive system 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 and provide at least one pattern of movement of the cleaning apparatus; and

    a debris sensor responsive to debris impacts thereon for generating a debris signal indicating that the cleaning apparatus has encountered debris;

    wherein the processor is responsive to the debris signal to steer movement of the cleaning apparatus into a spiraling pattern of movement having a changing turn radius, to substantially immediately cover an area containing debris corresponding to the debris signal.

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