06956348 is referenced by 157 patents and cites 52 patents.

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.

Title
Debris sensor for cleaning apparatus
Application Number
10/766303
Publication Number
6956348 (B2)
Application Date
January 28, 2004
Publication Date
October 18, 2005
Inventor
Daniel Ozick
Newton
MA, US
David A Cohen
Brookline
MA, US
Gregg W Landry
Gloucester
MA, US
Agent
Gesmer Updegrove
Assignee
IRobot Corporation
MA, US
IPC
G05D 001/00
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