07288912 is referenced by 111 patents and cites 105 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
11/533294
Publication Number
7288912 (B2)
Application Date
September 19, 2006
Publication Date
October 30, 2007
Inventor
Daniel Ozick
Newton
MA, US
David A Cohen
Brookline
MA, US
Gregg W Landry
Gloucester
MA, US
Agent
David Jacobs
Jacobs & Kim
Assignee
iRobot Corporation
MA, US
IPC
G05D 1/00
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