Debris sensor for cleaning apparatus

摘要

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.

主权项

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.