Debris sensor for cleaning apparatus

  • US 8,456,125 B2
  • Filed: 12/15/2011
  • Issued: 06/04/2013
  • 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 chassis;

    a drive system disposed on the chassis and configured to move the cleaning apparatus over a cleaning surface;

    a receptacle disposed on the chassis;

    a cleaning head system disposed on the chassis and configured to move debris from the cleaning surface toward the receptacle;

    a first and a second debris sensing element, each debris sensing element carried by the chassis and arranged to detect the debris moved toward the receptacle, each debris sensing element being within the chassis and proximate the other debris sensing element; and

    a controller in communication with the drive system and the first and second debris sensing elements, the controller configured to steer the drive system immediately in a pattern of movement based at least in part on first and second signals received from the first and second debris sensing elements.

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