Navigational control system for a robotic device

  • US 8,428,778 B2
  • Filed: 11/02/2009
  • Issued: 04/23/2013
  • Est. Priority Date: 09/13/2002
  • Status: Active Grant
  • ×
    • Pin Icon | RPX Insight
    • Pin
First Claim
Patent Images

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; and

    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 that throws debris into the debris bin;

    a debris sensor in communication with the controller and proximate to the cleaning pathway, the debris sensor responsive to debris passing through the cleaning pathway to generate a signal indicative of such passing, wherein the debris sensor comprises right and left debris sensors in communication with the controller and disposed along a wall of the cleaning pathway in a location to receive debris thrown by the agitating brush of the cleaning head system for generating respective debris signals; and

    wherein the processor directs the drive system to turn right in response to the debris signal generated by the right debris sensor and to turn left in response to the debris signal generated by the left debris sensor;

    wherein the processor directs the drive system to steer the cleaning apparatus in a localized pattern of movement substantially immediately in response to receiving a debris signal generated by the debris sensor; and

    wherein the debris bin is removable from the cleaning apparatus for dispensing of collected debris.

View all claims