公开(公告)号：US09949608B2

公开(公告)日：2018-04-24

申请号：US14291682

申请日：2014-05-30

Applicant: iRobot Corporation

Inventor： Gregg W Landry ,  David A. Cohen ,  Daniel N. Ozick ,  Mark J. Chiappetta ,  Joseph L. Jones

IPC: A47L11/33 ,  A47L11/40 ,  G05D1/02 ,  G05D3/12

CPC classification number: A47L11/4011 ,  A47L2201/06 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0272 ,  G05D3/12 ,  G05D2201/0215

Abstract: An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.