Debris sensor for cleaning apparatus

• US 9,591,959 B2
• Filed: 08/12/2015
• Issued: 03/14/2017
• Est. Priority Date: 01/24/2001
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Landry, Gregg W., Cohen, David A., Ozick, Daniel N.
• Primary Examiner(s): Ip, Paul
• Application Number:
  US14/824,940
• Publication Number:
  US 20150374188A1
• Time in Patent Office: 580 Days
• Field of Search: 318/568.1, 318/568.12, 318/587, 318/580, 153/19
• US Class Current: 1/1
• CPC Class Codes: A47L 11/4005 Arrangements of batteries or cells; Electric power supply arrangements
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 5/362 of the horizontal type, e.g. canister or sledge type
• CPC Class Codes: A47L 9/0466 Rotating tools
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/281 the amount or condition of incoming dirt or dust
• CPC Class Codes: A47L 9/2831 Motor parameters, e.g. motor load or speed
• CPC Class Codes: A47L 9/2842 Suction motors or blowers
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2889 Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 : using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/46 : Sensing device

Abstract

A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Claims

1. An autonomous cleaning apparatus comprising:

a drive system comprising a right wheel assembly and a left wheel assembly;

a side brush assembly having a side brush and electric motor;

a cleaning head assembly;

a debris bin;

a chassis carrying the drive system, the side brush assembly, the cleaning head assembly, and the debris bin, the side brush operative to direct particulates from a cleaning surface toward the cleaning head assembly;

a piezoelectric debris sensor disposed between the cleaning head assembly and the debris bin, wherein the particulates directed by the side brush to the cleaning head assembly toward the debris bin are detectable by the piezoelectric debris sensor; and

a control module configured control the drive system, the control module being configured to adjust movement of the cleaning apparatus based at least in part on a current rise in the electric motor of the side brush assembly.

2. The autonomous cleaning apparatus of claim 1, wherein the cleaning head assembly comprises a flapper brush.

3. The autonomous cleaning apparatus of claim 2, wherein the cleaning head assembly further comprises a counter rotating main brush.

4. The autonomous cleaning apparatus of claim 1, wherein the cleaning head assembly is self-adjusting.

5. The autonomous cleaning apparatus of claim 1, wherein the cleaning head assembly further comprises an electric motor and a brush assembly.

6. The autonomous cleaning apparatus of claim 1, wherein the control module is configured to adjust movement of the cleaning apparatus based at least in part on a current rise in an electric motor of the cleaning head assembly.

7. The autonomous cleaning apparatus of claim 1, wherein adjusting the movement of the cleaning apparatus comprises triggering a behavioral mode wherein the cleaning apparatus follows an edge of an obstacle until the cleaning apparatus has turned through a predetermined number of degrees.

8. An autonomous cleaning apparatus comprising:

a drive system comprising a right wheel assembly and a left wheel assembly;

a cleaning head assembly;

a debris bin;

a chassis carrying the drive system, the cleaning head assembly, and the debris bin, the cleaning head assembly operative to direct particulates toward the debris bin;

a piezoelectric debris sensor disposed between the cleaning head assembly and the debris bin, wherein the particulates directed by the cleaning head assembly toward the debris bin are detectable by the piezoelectric debris sensor; and

a control module configured control the drive system, the control module being configured to adjust movement of the cleaning apparatus based at least in part on a current rise in an electric motor of the cleaning head assembly.

9. The autonomous cleaning apparatus of claim 8, wherein the cleaning head assembly comprises a flapper brush.

10. The autonomous cleaning apparatus of claim 9, wherein the cleaning head assembly further comprises a counter rotating main brush.

11. The autonomous cleaning apparatus of claim 8, wherein the cleaning head assembly is self-adjusting.

12. The autonomous cleaning apparatus of claim 8, wherein the cleaning head assembly further comprises a brush assembly.

13. The autonomous cleaning apparatus of claim 8, wherein adjusting the movement of the cleaning apparatus comprises triggering a behavioral mode wherein the cleaning apparatus follows an edge of an obstacle until the cleaning apparatus has turned through a predetermined number of degrees.