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
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.
대표청구항▼
1. An autonomous cleaning apparatus comprising: a side brush;a main brush;a debris bin;a chassis carrying the side brush, the main brush, and the debris bin, the side brush operative to direct particulates from a cleaning surface toward the main brush, and the main brush operative to direct the part
1. An autonomous cleaning apparatus comprising: a side brush;a main brush;a debris bin;a chassis carrying the side brush, the main brush, and the debris bin, the side brush operative to direct particulates from a cleaning surface toward the main brush, and the main brush operative to direct the particulates toward the debris bin;a piezoelectric sensor disposed between the main brush and the debris bin, wherein impact of the particulates moving from the side brush to the main brush toward the debris bin is detectable by the piezoelectric sensor;a drive system carried by the chassis and operative to move the chassis; anda control module coupled to the piezoelectric sensor and configured control the drive system based on the detected impact of the particulates moving from the side brush to the main brush toward the debris bin. 2. The autonomous cleaning apparatus of claim 1, wherein the chassis defines a perimeter and the side brush is arranged to entrain particulates outside the perimeter of the chassis. 3. The autonomous cleaning apparatus of claim 1, the drive system operative to move the chassis along a fore-aft axis dividing the chassis into substantially symmetrical right and left halves, wherein the side brush is disposed on the right half or the left half of the chassis, along a forward portion of the chassis. 4. The autonomous cleaning apparatus of claim 3, wherein the side brush is disposed on a dominant side of the cleaning apparatus. 5. The autonomous cleaning apparatus of claim 3, wherein the main brush is on the right half and the left half of the chassis and rearward of the sidebrush. 6. The autonomous cleaning apparatus of claim 3, wherein the chassis defines a vacuum inlet, and the main brush is disposed forward of the vacuum inlet. 7. The autonomous cleaning apparatus of claim 3, wherein the debris bin is disposed rearward of the main brush and the debris bin is removable from the chassis. 8. The autonomous cleaning apparatus of claim 3, wherein the drive system is configured to adjust movement of the cleaning apparatus based at least in part on a signal representative of debris impact on the piezoelectric sensor. 9. The autonomous cleaning apparatus of claim 1, further comprising a counter-rotating flapper carried by the chassis, the counter-rotating flapper meeting the main brush such that the counter-rotating flapper and the main brush direct the particulates toward the debris bin. 10. The autonomous cleaning apparatus of claim 1, wherein the main brush and the piezoelectric sensor define an axis therebetween and the main brush is operable to move the particulates along the axis in a direction toward the piezoelectric sensor. 11. The autonomous cleaning apparatus of claim 1, wherein the piezoelectric sensor is above the main brush as the cleaning apparatus moves along the cleaning surface. 12. The autonomous cleaning apparatus of claim 1, further comprising a processor operable to process a signal from the piezoelectric sensor indicative of a particulate strike to generate a signal representative of a quantity or volumetric parameter of the particulates. 13. An autonomous cleaning apparatus comprising: a drive system comprising a right wheel assembly and a left wheel assembly, each wheel assembly comprising a respective motor;a side brush;a main brush;a debris bin;a chassis carrying the drive system, the side brush, the main brush, and the debris bin, the side brush operative to direct particulates from a cleaning surface toward the main brush, and the main brush operative to direct the particulates toward the debris bin;a control module configured control the drive system; anda debris sensor disposed between the main brush and the debris bin, wherein the particulates directed by the side brush to the main brush toward the debris bin are detectable by the debris sensor, and the control module is configured to adjust movement of the cleaning apparatus based at least in part on a signal representative of the particulates detected by the debris sensor. 14. The autonomous cleaning apparatus of claim 13, wherein a speed of one or both of the right and left wheel assemblies is changeable based at least in part on a signal representative of the particulates detected by the debris sensor. 15. The autonomous cleaning apparatus of claim 13, wherein the drive system is configured to steer the chassis based at least in part on a signal representative of the particulates detected by the debris sensor. 16. The autonomous cleaning apparatus of claim 13, further comprising a processor operable to process a signal from the debris sensor to generate a signal representative of a quantity or volumetric parameter of the particulates.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (384)
Kato Shigeru (Tokyo JPX), Active autofocusing type rangefinder optical system.
Slipy, Michael John; Coullahan, Kevin Christian; Esslinger, Hartmut Heinrich; Lake, Jon Christopher; Nuk, Howard Geoffrey, Base for a cordless telephone.
Kadonoff Mark B. (Somerville MA) Maddox James F. (Arlington MA) George ; II Robert W. (Windham NH) Benayad-Cherif Faycal E. (Somerville MA), Beacon navigation system and method for guiding a vehicle.
Maddox James F. (Arlington MA) Kadonoff Mark B. (Somerville MA) Berger Alan D. (Pittsburgh PA) Taivalkoski Amy L. (Salem NH) George ; II Robert W. (Windham NH) Benayad-Cherif Faycal E. (Somerville MA, Beacon proximity detection system for a vehicle.
Osawa, Hiroshi; Hosonuma, Naoyasu, Charging system for mobile robot, method for searching charging station, mobile robot, connector, and electrical connection structure.
DeMenthon Daniel F. (Columbia MD), Computer vision system for position monitoring in three dimensions using non-coplanar light sources attached to a monito.
Raymond H. Byrne ; John J. Harrington ; Steven E. Eskridge ; John E. Hurtado, Cooperative system and method using mobile robots for testing a cooperative search controller.
Wright Michael F. ; Shumaker Laurie M. ; Saunders Craig M. ; Lazarra Joseph ; Cipolla Mark ; Specht Glenn E. ; Farone Richard C. ; Kalman Jeffrey M. ; Zahuranec Terry L., Cordless wet mop and vacuum assembly.
Wright Michael F. ; Shumaker Laurie M. ; Saunders Craig M. ; Lazarra Joseph ; Cipolla Mark ; Specht Glenn E. ; Farone Richard C. ; Kalman Jeffrey M. ; Zahuranec Terry L., Cordless wet mop and vacuum assembly.
Wright Michael F. ; Shumaker Laurie M. ; Saunders Craig M. ; Lazarra Joseph ; Cipolla Mark ; Specht Glenn E. ; Farone Richard C. ; Kalman Jeffrey M. ; Zahuranec Terry L. ; Dieterich Gary J., Cordless wet mop and vacuum assembly.
Wright Michael F. ; Shumaker Laurie M. ; Saunders Craig M. ; Lazzara Joseph ; Cipolla Mark ; Specht Glenn E. ; Farone Richard C. ; Kalman Jeffrey M. ; Zahuranec Terry L., Cordless wet mop and vacuum assembly.
Wright Michael F. ; Shumaker Laurie M. ; Saunders Craig M. ; Lazzara Joseph ; Cipolla Mark ; Specht Glenn E. ; Farone Richard C. ; Kalman Jeffrey M. ; Zahuranec Terry L., Cordless wet mop and vacuum assembly.
Halsall James R. (Runcorn GB2) Larcombe Michael H. E. (Cannon Park GB2) Robertson James R. (Northwich GB2) Rogers Mark A. M. (Chester GB2), Driverless vehicle autoguide by light signals and two directional detectors.
Halsall James R. (Runcorn GB2) Larcombe Michael H. (Coventry GB2) Robertson James R. (Northwich GB2) Rogers Mark A. (Chester GB2), Driverless vehicle autoguided by light signals and three non-directional detectors.
Ikegami Masashi (Osaka-fu JPX) Matsuhashi Toshihiko (Osaka-fu JPX) Yamaue Yoshiya (Osaka-fu JPX) Tanaka Takashi (Hyogo-ken JPX) Hayashi Katsunori (Hyogo-ken JPX) Takaoka Daizo (Osaka-fu JPX), Electric working apparatus supplied with electric power through power supply cord.
Hardin Larry C. (735 Harrison Bandon OR 97411) Nash Larry V. (31770 Chantrelle La. Gold Beach OR 97444), Electro-optical range finding and speed detection system.
Grimsley Richard L. (Cincinnati OH) Teets Dale A. (Mason OH) Coomer Timothy A. (Cinncinnati OH) Allen Paul M. (Cinncinnati OH), Electronic animal confinement system.
Podoloff Robert M. (Framingham MA) Benjamin Michael H. (Quincy MA) Winters Jay (Andover MA) Golden Robert F. (Boston MA), Flexible tactile sensor for measuring foot pressure distributions and for gaskets.
Burke Steven A. (Champlin MN) Liang Cao Z. (Tianjin OH CNX) Hall Ernest L. (Cincinnati OH), Guiding an unmanned vehicle by reference to overhead features.
Roberts Kenneth L. ; Simek Diane M. ; Hall Jeffrey A. ; Huffman Eric C. ; Reed ; Jr. Charles A. ; Meek Steven K. ; Keung Lau Wai,HKX ; Shing Ng Tat,HKX, Handheld extraction cleaner.
Keeler R. Norris (McLean VA) Manthy Robert S. (Suffield CT) LaMontague Troy J. (Broad Brook CT) McGee Randall (Tucson AZ), Imaging lidar transmitter downlink for command guidance of underwater vehicle.
Macri Vincent J. ; Zilber Paul ; Magaw Robert O., Instruction for groups of users interactively controlling groups of images to make idiosyncratic, simulated, physical movements.
Vercammen Jan Maria Ludovicus,BEX ; De Feyter Walter Maria Alfons,BEX, Measuring system for testing the position of a vehicle and sensing device therefore.
Pryor Timothy R.,CAX ; Hockley Bernard,CAX ; Liptay-Wagner Nick,CAX ; Hageniers Omer L.,CAX ; Pastorius W. J.,CAX, Method and apparatus for electro-optically determining the dimension, location and attitude of objects.
Pryor Timothy R. (Windsor CAX) Hockley Bernard (Windsor CAX) Liptay-Wagner Nick (Windsor CAX) Hageniers Omer L. (Windsor CAX) Pastorius W. J. (Windsor CAX), Method and apparatus for electro-optically determining the dimension, location and attitude of objects including light s.
Stafsudd, Oscar M.; Kanellakopoulos, Ioannis; Nelson, Phyllis R.; Bambos, Nicholas, Method and apparatus for intelligent ranging via image subtraction.
Huang, Kuo-Liang; Kuo, Enzo; Chen, Patrick; Lin, Yuan-Chich; Lai, Chih-Yi; Liu, Chun-Hung, Method and apparatus for monitoring the operation of a wafer handling robot.
Bertram, Andre; Ennen, Guenther; Tiekoetter, Stefan, Method and circuit arrangement for preventing the stand-by discharge of a battery-powered signal evaluation circuit of a sensor.
Svetkoff Donald J. (Ann Arbor MI) Doss Brian L. (Ypsilanti MI), Method and system for high-speed, high-resolution, 3-D imaging of an object at a vision station.
Boultinghouse Karlan D. (Sandia Park NM) Schoeneman J. Lee (Albuquerque NM) Tise Bertice L. (Albuquerque NM), Method for laser-based two-dimensional navigation system in a structured environment.
Wright Michael F. ; Shumaker Laurie M. ; Saunders Craig M. ; Lazarra Joseph ; Cipolla Mark ; Specht Glenn E. ; Farone Richard C. ; Kalman Jeffrey M. ; Zahuranec Terry L., Method for mopping and drying a floor.
Allard James R. (St. Paul MN) Cochran Edward L. (Minneapolis MN) Wolff Alan S. (Minneapolis MN), Method of construction of hierarchically organized procedural node information structure including a method for extracti.
Papanikolopoulos, Nikolaos P.; Krantz, Donald G.; Voyles, Richard M.; Bushey, John A.; Johnson, Alan N.; Nelson, Bradley J.; Rybski, Paul E.; Griggs, Kathleen A.; Urban, II, Ellison C., Miniature robotic vehicles and methods of controlling same.
Bloomfield John W. (Hilton Head Island SC) Bischoff Rudi A. (Hilton Head Island SC) Payne Robert L. (Hilton Head Island SC) Wagner Scott B. (Hilton Head Island SC) Sang-Gweon Kim (Kyonggi KRX) Tae-Si, Mobile detection system.
Evans ; Jr. John M. (Brookfield CT) King Steven J. (Woodbury CT) Weiman Carl F. R. (Westport CT), Mobile robot navigation employing retroreflective ceiling features.
Parker, Andrew J.; McKinney, Jr., Edward C.; Christianson, Tristan M.; Thalheimer, Richard J.; Lau, Shek Fai; Duncan, Mark; Taylor, Charles E., Multi-functional robot with remote and video system.
McTamaney Louis S. (Cupertino CA) Wong Yue M. (Saratoga CA) Chandra Rangasami S. (Pleasanton CA) Walker Robert A. (Sunnyvale CA) Lastra Jorge E. (San Jose CA) Wagner Paul A. (Cambridge MA) Sharma Uma, Multi-purpose autonomous vehicle with path plotting.
Takada Yuji,JPX ; Matsuda Hiroshi,JPX ; Nishikawa Takayuki,JPX, Optical displacement measuring system using a triangulation including a processing of position signals in a time sharing.
Krouglicof Nicholas (Montreal West CAX) McKinnon Gordon M. (Montreal CAX) Svoboda Jaroslav (Hudson Heights CAX), Optical position and orientation measurement techniques.
Everett ; Jr. Hobart R. ; Gilbreath Gary A. ; Inderieden Rebecca S. ; Tran Theresa T. ; Holland John M., Optically based position location system for an autonomous guided vehicle.
Guidetti Dario,ITX, Process for controlling the operation of machines for processing articles, for example for packaging food products, and the machine thereof.
Decker Lawrence G. (Loveland OH) Poston Janet R. (Alexandria KY) Hume Edward F. (Cincinnati OH), Pulsed-laser detection with pulse stretcher and noise averaging.
Rybeck Nils R. C. (Cary NC) Hansson Magnus (Malmo SEX) Holmqvist Peter (Lund SEX), Rechargeable battery pack with identification circuit, real time clock and authentication capability.
Kim, Ki-Ho; Park, Jang-Jin; Yang, Myung-Seung; Park, Hyun-Soo, Remote-controlled mobile cleaning apparatus for removal and collection of high radioactive waste debris in hot-cell.
Watanabe Mutsumi (Kobe JPX) Onoguchi Kazunori (Kobe JPX) Kweon In S. (Seoul KRX), Running control system for mobile robot provided with multiple sensor information integration system.
Jonas Andr (31 ; Chemin du Colombier 06650 Le Rouret FRX) Jonas Bernard (29 ; Chemin du Colombier 06650 Le Rouret FRX), Self-guided mobile unit and cleaning apparatus such as a vacuum cleaner comprising such a unit.
Coughlan Joel B. (Bonnerville County ID) Farnstrom Kenneth A. (Anderson County TN) Harvey Howard W. (Roane County TN) Upton R. Glen (Anderson County TN) White John R. (Roane County TN) Walker Kenneth, Small all terrain mobile robot.
Pierson Mark V. (65 Hospital Hill Rd. Binghamton NY 13901) Lin How T. (1200 Hartwick La. Binghamton NY 13903), Solar recharge station for electric vehicles.
Jaworski, Thomas; Harwig, Jeffrey L.; Gipp, Mark M.; Laru, Kathleen M.; Chen, Seakee; Cheng, Fukyuen; Tam, Kamfong, Surface treating device with top load cartridge-based cleaning system.
Stam, Joseph S.; Bechtel, Jon H.; Reese, Spencer D.; Roberts, John K.; Tonar, William L.; Poe, G. Bruce; Newhouse, Douglas J., System for controlling exterior vehicle lights.
Stotler James G. (16 SE. 50th Ave. Portland OR 97215) Lowe Dennis G. (3610 NE. 113th Portland OR 97220), System for simulating the appearance of the night sky inside a room.
Sorimachi Kanehiro (Yokohama JPX) Yamada Shigeru (Chofu JPX) Sakamoto Yasurou (Yokohama JPX), Three-dimensional information processing method and apparatus for obtaining three-dimensional information of object by p.
Goldfarb Adolph E. (1432 SE. Wind Cir. Westlake Village CA 91361) Everitt Delmar K. (Woodland Hills CA), Ultracompact miniature toy vehicle with four-wheel drive and unusual climbing capability.
Delmas Gilles,FRX ; Driessen Johannes A. T.,NLX, Vacuum cleaner with floor type detection means and motor power control as a function of the detected floor type.
Evans ; Jr. John M. (Brookfield CT) Weiman Carl F. R. (Westport CT) King Steven J. (Woodbury CT), Visual navigation and obstacle avoidance structured light system.
Evans ; Jr. John M. (Brookfield CT) Weiman Carl F. R. (Westport CT) King Steven J. (Woodbury CT), Visual navigation and obstacle avoidance structured light system.
Wright Michael F. ; Shumaker Laurie M. ; Saunders Craig M. ; Lazzara Joseph ; Cipolla Mark ; Specht Glenn E. ; Farone Richard C. ; Kalman Jeffrey M. ; Zahuranec Terry L. ; Dieterich Gary J. ; Shimko , Wet mop and vacuum assembly.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.