Patent ID: 9144361
Filing Date: 2015-09-29
Classification: A47L,G05D,Y10S

Abstract:
1. An autonomous cleaning apparatus comprising: a chassis; a drive system disposed on the chassis and configured to move of 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 impact sensing element, each debris impact sensing element carried by the chassis and arranged to detect the debris moved toward the dust bin wherein each of the first and second debris sensing elements is configured to generate an electrical pulse in response to being struck with debris; a controller in communication with the drive system and the first and second debris impact sensing elements, the controller configured to steer the drive system immediately in a pattern of movement based at least in part on a signal received from at least one of the first and second debris impact sensing elements.