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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
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.