Debris sensor for cleaning apparatus

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.

Description

CROSS-REFERENCE TO RELATED PATENT DOCUMENTS [0001] The present application for patent is related to the following commonly-owned U.S. patent applications or patents, incorporated by reference as if fully set forth herein: [0002] U.S. patent application Ser. No. 09 / 768,773 filed Jan. 24, 2001, now U.S. Pat. No. 6,594,844, entitled Robot Obstacle Detection System (Atty. Dkt. DP-4); [0003] U.S. Provisional Patent Application Ser. No. 60 / 345,764 filed Jan. 3, 2002, entitled Cleaning Mechanisms for Autonomous Robot; [0004] U.S. patent application Ser. No. 10 / 056,804, filed Jan. 24, 2002, entitled Method and System for Robot Localization and Confinement (Atty Dkt. DP-6); [0005] U.S. patent application Ser. No. 10 / 167,851 filed Jun. 12, 2002, entitled Method and System for Multi-Mode Coverage for an Autonomous Robot (Atty Dkt. DP-5); [0006] U.S. patent application Ser. No. 10 / 320,729 filed Dec. 16, 2002, entitled Autonomous Floor-Cleaning Robot (Atty Dkt. DP-10); [0007] U.S. patent applica...

AI Technical Summary

Benefits of technology

The system provides immediate and accurate detection of debris, enabling autonomous or non-autonomous cleaning devices to adjust their operational modes and patterns of movement to effectively clean debris fields, reducing sensitivity to airflow and power variations.

Problems solved by technology

During usage of the vacuum cleaner, therefore, dust particles tend to adhere to the exposed surfaces of the light transmitter and the light receiver, through which light is emitted and detected, eventually degrading the performance of the optical sensor.

In addition, debris sensors typical of the prior art are sensitive to a level of built-up debris in a reservoir or cleaning pathway, but not particularly sensitive to instantaneous debris strikes or encounters.

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