DETAILED DESCRIPTION OF THE DRAWINGS

[0048] FIGS. 1, 2 and 3 A show the apparatus 20 of the present invention in an exemplary configuration as a robotic vacuum cleaner. The apparatus 20 includes a cover 22 , formed of sections 100 , 101 , 104 and 106 (detailed below), with openings 24 a - 24 g in the bumper section (bumper) 104 . There is also a control panel (user interface) 25 , supported on the main sections 100 , 101 . This control panel 25 includes various control knobs 26 a , indicators 26 b (Light Emitting Diodes (LED) or the like), 26 c (LED Display or the like), as well as a socket 27 for receiving a cord (plug end or the like) for charging the apparatus 20 in an electrical outlet or the like. A leash 28 also extends from this control panel 25 .

[0049] The apparatus 20 includes sensors, that are part of sensing systems. Door detection sensors 30 a , 30 b in openings 31 a , 31 b are on or near the control panel 25 on the upper side of the apparatus 20 . The front side of the apparatus 20 includes contour sensors 34 , 35 ( FIG. 13 ) for lateral obstacle and wall detection, in openings 24 a and 24 b ( FIG. 13 ), frontal obstacle detection sensors 36 a , 36 b in openings 24 c and 24 d , corner sensors 37 , in openings 24 e , a shelf detection sensor 38 in opening 24 f and remote control sensors 40 in upper opening 24 g and lateral openings 24 h (see also FIG. 13 ). These sensors 40 receive signals, typically infrared (IR) light signals, from a remote controller 46 or a coded transmitter 1300 , as shown in FIG. 25 and detailed below.

[0050] The apparatus 20 is formed of multiple systems, including a power system, drive (motion) system, navigation system, payload, or vacuuming system, bumper system, sensing (including obstacle detecting) systems, all coupled to a control system 1000 ( FIG. 23 ), allowing for autonomous operation. This autonomous operation includes for example, vacuum cleaning or vacuuming, and other surface cleaning operations and movement therefore, by the apparatus 20 . The apparatus 20 also includes numerous other systems, shown and detailed below.

[0051] Turning also to FIG. 3 B, the apparatus 20 is formed of a chassis 50 , having a base 52 and an extending portion 54 ( FIG. 4 ), for supporting the components and systems (detailed herein). The chassis 50 rests on drive wheels 72 and a support wheel 74 , the drive wheels are typically limited to a single degree of freedom and are “active”, with each drive wheel 72 controlled by conventional axial drive mechanisms 73 (motors, etc.- FIG. 19 ). The support wheel 74 , is “passive”, and typically has having multiple degrees of freedom, as it is used for position, distance and orientation control of the apparatus (shown in FIG. 16 and detailed below). This support wheel 74 is for example, a castor wheel, as detailed in FIG. 16 below.

[0052] In normal operation, the drive wheels 72 are forward of the support wheel 74 , such that the apparatus 20 moves in the direction of the arrow 75 , this arrow indicating the “forward” direction. Accordingly, for description purposes of this document, the terms “forward” and “front” will refer to direction or orientation from the support wheel 74 to the drive wheels 72 , while the terms “rear” and “backward” will refer to the direction or orientation opposite of arrow 75 , the direction from the drive wheels 72 to the support wheel 74 (and associated electronics). Drive wheels 72 are driven independently of each other, so as to allow for steering (turning and directional changes), and define the steering system 1030 ( FIG. 23 ). These drive wheels 72 (forming the steering system 1030 ) couple with the support wheel 74 , to form the drive system 1040 ( FIG. 23 ). The steering system 1030 and drive system 1040 couple with the control system 1000 . Additionally, the drive wheels 72 and support wheel 74 couple with the navigation system (processed through the microprocessor 1004 in FIG. 23 ).

[0053] Turning also to FIG. 4 , battery housings 85 (only one shown), envelope batteries 86 , typically 12 volt batteries, typically rechargeable, or other similar power source(s) that provide power to the apparatus 20 . The battery housings 85 include handles 87 , for ease in placement and removal of the batteries 86 (by a user 88 ) into and out of the apparatus 20 . The housings 86 , typically at their bottom sides, include electrical plugs (not shown) for receipt in correspondingly configured sockets (not shown) on the chassis 50 , or vice versa, or other suitable paired electrical contacts. The sockets couple with power distribution electronics, to provide power to all components and systems of the apparatus 20 , as well as the control system 1000 . The batteries 86 and associated electronics and circuitry (detailed above) form the power system 1070 ( FIG. 23 ) for the apparatus 20 .

[0054] There is also a charging system 1074 ( FIG. 23 ) formed by a charging module (not shown), and associated circuitry. The charging module is electrically coupled to the batteries 86 . The charging module is also connected to the socket 27 or port, that can connect with an electrical line, that plugs into a conventional wall socket or the like, to provide electricity to the charging module and ultimately to the batteries.

[0055] The cover 22 is typically formed in sections 100 , 101 , 104 , 106 . There are two underlying or main sections 100 , 101 , mounted to the extending portion 54 of the chassis 50 in a fixed manner, overlapped in the from of the apparatus 20 by a bumper section (or bumper) 104 and in the rear of the apparatus 20 by a handle section 106 . The handle section 106 includes openings 108 , 118 where the filtration unit 148 ( FIG. 8 ) is viewable and a handle 106 a is formed from the handle opening 118 .

[0056] The bumper section 104 is pivotally mounted on the apparatus 20 as it mounts (along its inner wall 110 ) to the bumper member 360 , as shown in FIGS. 13 and 14 and detailed below. This mounting suspends the bumper section 104 , allowing it to absorb impacts for the apparatus 20 . This bumper section 104 covers an arc of approximately 200 degrees (front and sides). Accordingly, this bumper section can handle frontal and lateral impacts to the apparatus 20 as well as impacts from points along the top of the apparatus 20 . This bumper section 104 forms part of the shock detection or bumper system 1082 ( FIGS. 13, 14 and 23 ) and detailed below.

[0057] The handle section 106 is pivotally mounted to the extending portion 54 of the chassis 50 . This section 106 includes an opening 118 , that when the apparatus 20 is in a use position, snap-fits into the main section 100 . The opening 118 is dimensioned such that the filtration unit 148 ( FIG. 8 ), can be viewed. When the apparatus 20 is in the non-use position, the lower portion of the section 106 is pivoted upward, whereby it is a handle 106 a , allowing the apparatus 20 to be carried by the user.

[0058] Turning additionally FIGS. 5A and 5B , there is detailed the payload 130 of the apparatus 20 . The payload 130 will be discussed along with other components from other systems, that are explained herein below. The payload 130 , for example, is a vacuum cleaning system, and includes a nozzle 140 that connects to a tube 142 , through a duct 144 . The tube 142 extends into, and is typically part of, a filtration unit 148 (also in FIG. 3 ), that includes filter elements 150 and a particle collection area 152 .

[0059] A conduit 154 connects the filtration unit 148 to an impeller chamber 156 , that houses an impeller 158 , that is rotated by a motor 160 . The impeller chamber 156 , that houses the impeller 158 and motor 160 , is typically formed of shells 161 a , 161 b joined by mechanical fasteners, adhesives or other conventional arrangements, a support member 162 (attached to the chassis 50 ), along a rim 162 r . The support member 162 includes a vent 163 , formed of bars 163 a , the vent 163 open to the ambient environment. This allows for air intake for suction (in the direction toward the impeller 158 , or downstream for purposes of this document). This arrangement forms a flow path for particles, that is considered to be indirect, since the filtration unit 148 is before the impeller 158 , in the particle flow path.

[0060] An agitator unit 164 is at the base of the nozzle 140 . This agitator unit 164 includes a cover 164 a typically includes a compartment 165 for accommodating rotating members 166 a , 166 b , and is positioned upstream of the nozzle 140 . The rotating members 166 a , 166 b are typically brushes or the like, whose rotation is controlled by a conventional rotator motor 308 . The agitator unit 164 may include rollers 168 or the like for contact with the surface or ground 183 , and may be mounted onto the chassis 50 in a manner, so as to contact the ground or surface 183 , providing resistance to it, and adjust to various levels in accordance with the contour of the ground or surface. There may also be a static brush portion 169 intermediate the rotating members 166 a , 166 b.

[0061] The cover 164 a , for example, at its front, begins at a height hh off of the ground 183 (for example, approximately 2 to 4 cm), exposing the rotating members 166 a , 166 b , so as to be an “open brush”. This “open brush” construction, allows obstacles to be agitated by the rotating members 166 a , 166 b and suctioned away for enhanced cleaning and obstacle free movement of the apparatus 20 . These rotating members 166 a , 166 b in this construction can assist with drive movements.

[0062] Turning also to FIGS. 6A and 6B , the nozzle 140 includes a neck 170 and a body 172 , that form an inner cavity 174 for particles (e.g., debris, etc.) to pass through. At one end, the neck 170 terminates in an opening 176 for attachment to the tube 142 of the filtration unit 148 . The other end extends to an outwardly tapered portion of the body 172 . The body 172 terminates in a lip 178 , that is typically rounded, with an opening 180 . This opening 180 includes a first, and typically upper edge 180 a , and is narrow at its middle 180 m or midsection and wide at the sides 180 s , as a result of the tapering (upward, away from the ground 183 ) of the lip 178 , so as to have uniform airflow into the nozzle opening 180 .

[0063] The body 172 also includes sidewalls 172 a , that border a cutout edge 182 . This cut out edge 182 defines a second, typically lower, edge of the opening 180 , and provides for ground clearance and greater maneuverability. The horizontal orientation of the nozzle body 172 , coupled with the lip 178 extending beyond the cutout edge 182 , allows a flow cavity to be formed with the floor or surface 183 . This cavity is of a constant vertical aperture with respect to the opening 180 , as indicated by typically equal lengths 180 ′. This constant vertical aperture maintains acceleration of the airflow into the nozzle opening 180 and nozzle body 172 . Additionally, the cavity, coupled with the shape of the rotating members 166 a , 166 b creates a horizontal acceleration channel with horizontal air flow for particulates (debris, etc.) into the nozzle 140 .

[0064] Turning also to FIGS. 7A and 7B , arms 184 extend laterally from the neck 170 and terminate in blocks 186 . The blocks 186 are mounted in boxes 188 , with receiving portions 189 , outer sidewalls 189 a and inner (cut-out) sidewalls 189 b . As detailed in FIG. 7 B, the blocks 186 are forced into the receiving portions 189 by biasing members (typically flexible), for example, springs 192 , that extend inside the blocks 186 and can be covered with an electrically insulation sheath 192 a tube or the like, and frictionally retain the blocks 186 in the boxes 188 . The springs 192 can also be made of nonconducting material, for example, plastics or non-conducting metals (to avoid a short circuit between the plates 194 , 198 and the spring 192 , detailed below). This arrangement provides the blocks 186 with the ability for pivotal movement therein, ultimately allowing the nozzle 140 to pivot about the boxes 188 .

[0065] The boxes 188 include electrical contacts 194 , 195 , typically metal sheets, plates, or the like, in communication with wiring 196 (from wire leads 196 a ) linked to the control system 1000 . The blocks 186 include a metal plate 198 at one end and a metal stub 199 (also FIG. 6B ) at the other end (along the arm 184 ), also connected by the wiring 196 . The plates 194 , 198 between the respective boxes 188 and the blocks 186 , form “normally open” contacts, while the respective plates 195 of boxes 188 , and stubs 199 form “normally closed” contacts. This series of contacts and associated electronics defines a nozzle obstacle detection system 1080 ( FIG. 23 ).

[0066] In operation, the open contact (plates 194 , 198 ) and the closed contact (plate 195 and stub 199 ) are registered with the control system 1000 . Should the nozzle 140 , upon its movement encounter a hard object, obstacle, or the dragging force become too great, the nozzle 140 will move. If the force is great enough, and movement of the nozzle 140 closes any of the normally open contacts, such that the plate 198 physically contacts the plate 194 , and/or opens the physical contact between the plate 195 and the stub 199 , a signal, typically indicating a closed or open circuit respectively (from the initially open and closed circuits, respectively), will be sent to the control system 1000 .

[0067] With the requisite signal sent to the control system 1000 , the control system 1000 will signal the nozzle/rotating member height mechanism 560 , to raise the nozzle 140 (and the rotating members 166 a , 166 b attached thereto) over the obstacle. With the nozzle 140 and rotating members 166 having cleared the obstacle, travel of the apparatus 20 continues as normal. Alternately, the control system 1000 can be programmed to signal the drive system 1040 to cease operation immediately. (This is also true for other drive system stoppages throughout this document, that are not specifically detailed).

[0068] The nozzle 140 is typically made of resilient materials, such as plastic (HDPE, PVC, Nylon, etc.) and is easily separable from both the base 52 of the chassis 50 and the agitator unit 164 . The nozzle 140 typically snaps into the base 54 with the agitator unit 164 snapping into the nozzle 140 , in a “tools free” manner. For example, the agitator unit 164 snaps into the nozzle 140 as edges 204 of the agitator fit into slots 206 on the nozzle 140 ( FIGS. 6A, 6B and 19 ). This engagement is held together by a resilient clip 208 on the agitator unit 164 having a spike (not shown) on its lower surface, the engages a correspondingly configured opening (not shown) on the nozzle 140 , holding the nozzle 140 and agitator unit 164 together. This snap-together arrangement allows for different nozzles to be placed onto the apparatus 20 . These different nozzles are designed for the specific type of particulate and surface that the apparatus 20 is to be operated on.

[0069] Turning also to FIG. 8 , the tube 142 is formed of a neck 222 and an outwardly tapered head portion 224 . The head portion 224 is typically of a diameter larger than the neck 222 , and is of a configuration to push particles around the filter element 150 (having pleats 150 a ), that is open on its lateral sides and above it. This results in air circulation along the pleats 150 a , that causes a self-cleaning effect, resulting in longer life for the filter element 150 . Pressure loss is minimized due to reduced blockage of the material forming the filter element 150 .

[0070] This filtration unit 148 is a box-like article of a transparent material, such as plastic or the like, to allow for full bin sensing (detailed below) and inspection by viewing. It can be easily removed, by lifting, from the apparatus 20 , when the handle section 106 is lifted (as shown in FIG. 4 ). It typically separates into two pieces 230 , 231 (allowing for emptying of dirt held therein), that when placed together along edges 230 e , 231 e , lock in a frictional engagement. A fist piece 230 forms the bottom of the unit 148 , with its inner side serving as the particle collection area 152 or dirt cup.

[0071] The preferred material for the filter 150 is a material having a permeability of approximately 100 CFM per square foot.

[0072] Proximate the filtration unit 148 and within the apparatus 20 is a light transmitter 232 and a light receiver 233 , that coupled with the requisite electronics, form a full bin sensing system 1020 ( FIG. 23 ). The transmitter 232 and receiver 233 communicate with the filtration unit 148 through openings 232 a , 233 a in the extending portion 54 of the chassis 50 that borders the filtration unit 148 . The light transmitter 232 and light receiver, with associated electronics, couple to the control system 1000 . A “full bin” is sensed when dirt has accumulated in the filtration unit 148 to a point where light transmitted from the transmitter 232 can not be detected by the receiver 233 . A signal is then sent to from the control system 1000 , for example, to an indicator light 26 b indicating a full bin. (The filtration unit 148 can be removed and emptied as detailed above).

[0073] FIGS. 9 A- 9 D show the impeller 158 in detail. The impeller 158 is constructed to pull particulates downstream upon rotation by the motor 160 . The impeller 158 includes a central member 250 , typically conical in shape, with a bore 251 therein for accommodating a motor shaft 270 or the like and plates 254 , 255 , with two types of blades 256 , 258 therebetween. The upper plate 254 for example, has a radius of curvature RA of approximately 53 mm, while the conical portion 250 defining the lower plate 255 has a radius of curvature RB, for example, of approximately 39 mm.

[0074] These blades 256 , 258 include short blades 256 , that typically extend from at least proximate the ends of the plates 254 , 255 to a point before the conical contour of the central member 250 , and longer twisted blades 258 , that extend from at least proximate the ends of the plates 254 , 255 to the conical contour of the central member 250 . The upper plate 254 includes an opening 262 to receive portions of the twisted blades 258 .

[0075] Blades 256 , 258 are typically arranged in threes, with typically two arced (or short) blades 256 between each twisted blade 258 . There are typically five series of these three blade arrangements (two short blades and one twisted blade). Arced blades 256 are typically curved, so as to have exit angles α, typically 30±5 degrees, while twisted blades 258 typically are curved such that exit angles β are typically 30±5 degrees. These twisted blades include an upper blade twist angle λ along the conical portion 250 of for example, approximately 10 degrees, and an input angle Φ of approximately 60 degrees, and a radius of curvature RX of for example, approximately 9 mm.

[0076] The blades 256 , 258 are typically arced in the same direction, between the plates 254 , 255 . This configuration of blades 256 , 258 provides for high impeller efficiency of approximately 60 %. (This efficiency defined by the output airflow divided by the motor input power). The impeller 158 is typically an integral, one piece structure, made of hard plastic, such as HDPE, PVC, Nylon. It is typically made by techniques such as injection molding or the like.

[0077] The motor 160 is typically an 80 watt standard motor, or other similar motor. It includes a shaft 270 extending therefrom, to which the impeller 158 attaches. This motor 160 is electrically connected to the power system 1070 , and can operate at relatively low RPMs, for example here, the motor 160 may operate at approximately 7500 rpm. By operating at low RPMs, the motor operates at a low noise level and is energy efficient. The motor 160 is held on a motor support 272 ( FIG. 5A ), that may be incorporated into the support member 162 .

[0078] Turning to FIGS. 6 A and 10 A- 10 C, the agitator unit 164 includes rotating members 166 a , 166 b , typically brushes. These rotating members 166 a , 166 b are joined together by a pulley 300 , attached thereto, that is received in a belt 302 . The other end of the belt 302 is received by a shaft 306 of a motor (agitator motor) 308 , that rotates the shaft 306 , the motor 308 operated by the control system 1000 .

[0079] Speed of the rotating members 166 a , 166 b (i.e., brushes) can be changed according to surface type, detected by the method detailed below and signaled to the control system that signals the motor 308 , or manually entered into the control system 1000 by the user (typically via the remote controller 46 or through the user interface 25 ). For example, the rotating members 166 a , 166 b or brush speed may be approximately 3000 RPM on carpet, and about 500 RPM on hard floors. The low RPM on hard floors is to eliminate particles from escaping under the nozzle 140 due to their high energy. This problem does not exist in carpets since there is not a gap between the nozzle 140 and the carpet.

[0080] One method for defining or detecting the surface type is by measuring the load on the motor 308 that drives the rotating members 166 a , 166 b (brushes). This is due to a difference in load on the motor 308 between hard floors and medium to deep (e.g. medium to deep pile) carpets. These loads are signaled to the control system 1000 , that processes this information and signals the motor 308 to rotate the rotating members, at the above described speeds for hard floors and carpets respectively.

[0081] When on deep carpets, the height of the rotating members 166 a , 166 b is relative to the position of the drive wheels 72 , so that in deep carpets (e.g., deep pile carpets) a noticeable height can be measured as the drive wheels 72 sink in the carpet, while the rotating members 166 a , 166 b , float on the carpet. Accordingly, the control system 1000 can detect that deep carpet is the surface over which the apparatus is traveling 20 , as detailed below. Based on this height detection, the control system can signal the motor 308 to the aforementioned speeds. For example, greater heights with respect to the surface 183 are indicative of carpets, and thus, the control system 1000 signals the motor 308 to rotate the rotating members 166 a , 166 b at the high speed, of approximately 3000 RPM. Alternately, lower heights with respect to the surface 183 are indicative of hard floors, and thus, the control system 1000 signals the motor 308 to rotate the rotating members 166 a , 166 b at the low speed, of approximately 500 RPM.

[0082] These two surface detection mechanisms typically operate dynamically and “on the fly”. They are typically sufficient in detecting most surfaces. However, the aforementioned surface detection mechanisms may be of lesser accuracy with respect to low or low pile carpets.

[0083] Accordingly, the motor 308 and rotating members 166 a , 166 b , as coupled with the control system 1000 , can also serve as a third surface detection mechanism. This system is particularly effective in detecting these low or low pile carpets. This is done in the microprocessor 1004 , that will analyze the load on the motor 308 for the rotating members 166 a , 166 b as a function of resistance provided by the surface being traversed. This detection mechanism involves a short shut down of the motor 308 , for example, approximately 0.5 seconds. Accordingly, rotation of the rotating members 166 a , 166 b ceases. If the surface or ground provides resistance to the rotating members 166 a , 166 b , this resistance and resulting movement (rotation) of the rotating members 166 a , 166 b , will result in a back electromotive/electromagnetic force (EMF) on the motor 308 , that is measured as a voltage. These measurements are sent to the control system 1000 , that signals the motor 308 .

[0084] For example, where back EMF is low to negligible, the surface being traversed is most likely a hard floor, whereby the control system 1000 will signal the motor 308 to rotate the rotating members 166 a , 166 b , at a slow speed, typically approximately 500 RPM for hard floors, as detailed above. Alternately, where back EMF is large, the surface being traversed is most likely a carpet, such as the low or low pile carpet, whereby the control system 1000 will signal the motor 308 to rotate the rotating members 166 a , 166 b , at a high speed, typically approximately 3000 RPM for carpets, as detailed above.

[0085] Turning to FIGS. 10 A- 10 C, the rotating members 166 a , 166 b will be described with respect to a single rotating member 166 a , that is exemplary of both rotating members 166 a , 166 b . Accordingly, all components of both rotating members 166 a , 166 b are the same and are numbered as such, except for grooves 314 a , 314 b , that are the same in construction, but are numbered differently to illustrate operational principles, as detailed below. The rotating members 166 a , 166 b both include a core 316 of diameter DC and a helical groove 314 a , 314 b , respectively, that extends into the core 316 . Diameter DC is typically large, for example, approximately 30 mm, resulting in a typically large perimeter of approximately 10 cm, so as not to allow fringes or other carpet or rug fragments to wrap around the core 316 . The groves 314 a , 314 b include a leading edge 318 , that is preferably straight and at least substantially parallel with respect to the vertical, and a trailing edge 319 that is preferably rounded. (The leading edge 318 and trailing edge 319 of the grove 314 a , 314 b are referred to as such, in accordance with the preferred rotational direction of the rotating members 166 a , 166 b , indicated by arrow RM.) Bristles 320 , anchored into the core 316 of the rotating member 166 a , 166 b , by conventional fastening techniques, extend from the core 312 , through the groove 314 a , 314 b to slightly beyond the outer surface 322 of the rotating member 166 a , 166 b . By resting in the grooves 314 a , 314 b and the grooves 314 a , 314 b dimensioned as detailed herein, the bristles 320 can bend, so as not to inhibit torque on the rotating members 166 a , 166 b . These bristles 320 are typically made of nylon or the like.

[0086] The rotating members 166 a , 166 b are connected to the pulley 300 at an orientation where the respective grooves 314 a , 314 b form a “V”, such that these grooves 314 a , 314 b spiral outward from the center of the apparatus 20 . This orientation of the grooves 314 a , 314 b , coupled with their construction, the diameter of the core 316 , bristle 320 arrangement in the grooves 314 a , 314 b and length, moves dirt toward the center or inward into the nozzle 140 . These rotating members 166 a , 166 b are also detachable, and can be replaced with other suitable brushes or the like.

[0087] Alternately, as shown in FIG. 11 , there is an alternate rotating member 166 ′, typically a brush with a core 312 ′, that is attached to the agitator unit 164 as detailed above. The rotating member 166 ′ is similar in all aspects to the rotating members 166 a , 166 b , except where indicated. The rotating member 166 ′ is formed of resilient members 320 ′, for example, of hard plastic, rubber or the like, embedded therein or attached thereto. Upon rotation of the brush, the rotating members 320 ′ strike the surface with a force sufficient to agitate or bring up particulates. These members 320 ′ can also bend, so as to keep torque on the rotating member 166 ′ at suitable levels for proper operation.

[0088] FIGS. 12A and 12B detail alternate embodiments of the nozzle 140 ′ and for the agitator unit 164 ′. All components are the same as those in the nozzle 140 and agitator unit 164 detailed above, except where indicated. In the nozzle 140 ′, there are protrusions 328 at the nozzle opening 180 , to make airflow uniform at the nozzle opening 180 . In the agitator unit 164 ′, the rotating members have been replaced by a clapping unit 330 . The clapping unit 330 attaches to the nozzle 140 by a plate 331 , via screw mechanisms 331 a or the like. This clapping unit 330 includes the pulley 300 attached to a rod 332 , on which are connected wheels 334 and cams 335 with lips 335 a , that upon rotation of the rod, move clips 338 , by lifting their flanges 338 a , up and down, typically at different times (although all at the same time is also suitable), to create agitation of particulates for suction.

[0089] FIG. 12C details another alternate embodiment agitator unit 164 ″. Here, there are two motors 340 a , 340 b , that typically rotate cams 342 a , 342 b in opposite directions, as indicated by the arrows 343 a , 343 b . However, the same direction for rotation is also permissible. Non-motorized cams 344 , mounted to the apparatus 20 support belts 345 the include bristles 320 ″. The belts 345 and bristles 320 ″ travel in a direction substantially perpendicular to the direction of travel of the apparatus 20 (indicated by arrow 75 ). This substantially perpendicular direction of travel is sufficient to create the requisite agitation of particulates for suction as detailed above.

[0090] FIGS. 13 and 14 (in FIG. 14 , the support member 162 is partially cut away) detail the shock detection system 1082 ( FIG. 23 ) for the apparatus 20 . This system includes bumper member 360 , having rods 362 received in oppositely disposed lateral supports 364 , that abut lateral segments 162 a , typically having an inverted “L” shaped contour, on the support member 162 . The rods 362 are hooked to springs 366 , that in turn are hooked to the vent bars 163 a of the support member 162 . The springs 366 pull the rods 362 upward, such that the lateral supports 364 engage the lateral segments 162 a . This attachment provides the ends of the lateral supports 364 with pivotal movement at pivot points 365 a , 365 b , from the lateral segments 162 a . This pivotal movement may occur upon frontal or top impacts to the apparatus 20 . The lateral supports 364 include oppositely disposed protrusions 370 that are received in correspondingly configured tracks 372 on the inner wall 110 of the bumper section 104 (only one shown). The positioning of the bumper member 360 in the apparatus 20 is such that shock detection is provided along an arc of approximately 200 degrees.

[0091] The bumper section 104 is supported at its center of gravity, inhibiting tilting torque from developing during acceleration and deceleration of the apparatus 20 . The linear force on the center of gravity during acceleration, is balanced by the spring 366 force, where the front mounting eliminates any movement during deceleration. Additionally, the bumper section 104 and bumper member 360 are connected such that a static force of approximately 0.26 kilograms (Kg) on the upper and lower ends of the bumper section 104 and increasing to a static force of 1.2 Kg at the center will activate a signal to the control system 1000 that the bumper section 104 has contacted an obstacle and for example, the drive system 1040 must be signaled to cease motion, by the control system 1000 . Typically, the drive system 1040 will stop motion, such that the apparatus 20 has traveled not more than approximately 15 cm from the time of impact with the obstacle.

[0092] The rods 362 are connected by a central member 374 , that rests between arms 376 from a spring 378 . These arms 376 , each rest in grooves 380 , within a guide 382 , and while movable, provide a resistive force against lateral movement of the central member 374 , in the case of side impacts on the apparatus 20 .

[0093] Metal clips or plates (not shown) extend along the inner sides of the lateral supports 364 , and contact metal members (not shown) at the pivot points 365 a , 365 b on the lateral segments 162 a , to form electrical contacts. Arms 376 , also of a metallic material, contact a metal band 388 on a member 390 rearward of the guide 382 . In the case of a front impact of sufficient force (overcoming that of the springs 366 ), the bumper member 360 will be moved pivotally. There are also electrical leads 392 throughout this member 360 to which wires or the like are connected for coupling with the electronics of the control system.

[0094] In operation, if at least one of the four electrical contacts at the pivot points 365 a , 365 b is broken, typically as a result of a front, side or top impact to the apparatus 20 , a signal will then be sent to the control system 1000 , that will then, for example, signal the drive system 1040 to cease motion immediately. In the case of a side impact, the bumper member 360 will move laterally, such that this movement causes at least one of the arms 376 to move out contact with the band 388 . This will also cause a signal to be sent to the control system 1000 , that will then, for example, signal the drive system 1040 to cease motion. Specifically, these pivotal and lateral movements are caused by contact to the bumper section 104 at the front of the apparatus 20 . The bumper member 360 is configured for example, such that movements of approximately 2 mm or greater to the bumper section 104 or forces as detailed above, will cause these pivotal or lateral movements, to occur, whereby at least one requisite electrical contact is made or broken. This change in electrical contact will result in a signal being sent to the control system 1000 , that will signal the drive system 1040 to stop, ceasing motion of the apparatus 20 (as detailed above). Motion ceases within the depression limits of the bumper member 104 , that is typically not more than 20 mm.

[0095] FIG. 15 shows a drive wheel 72 (representative of both drive wheels), that typically includes a tread portion 72 t formed of lateral protrusions 72 a , defining outer rows, with central “+” shaped protrusions 72 b , defining an inner row. This provides the drive wheel 72 with increased traction, to minimize slippage along various surfaces, for example, hard floors and carpets. This allows for precise movement of the apparatus 20 . The drive wheel 72 at this treaded portion is typically made of a soft rubber or the like.

[0096] The protrusions 72 b of the inner row are “+” shaped so as to be reinforced laterally, to establish a central point for turning. The protrusions 72 a of the outer rows are flexible laterally, to smooth the drive path and are flexible laterally allowing for turning with minimal movement of the turning center. The gaps between protrusions 72 a of the outer rows, improve climbing on carpets, should the carpet be approached from an angle.

[0097] FIG. 16 shows the support wheel 74 in an assembly that with associated electronics forms a portion of the drive system 1040 ( FIG. 23 ) that couples to the control system 1000 . The support wheel 74 is, for example, a castor wheel, typically formed of two shells 400 a , 400 b ( FIG. 2 ), so as to have a hollow inner chamber 402 . For additional traction, there can be a band 403 ( FIG. 2 ), made of rubber or the like, placed around the support wheel 74 . Here, there are magnets 404 , or other metal objects detectable by magnets or the like. The shells 400 a , 400 b also include aligned bores 408 for receiving the axial portion 410 of a movement arm 412 (the other portion of the movement arm 412 being the main portion 414 ). The support wheel 74 tracks odometry and angles of travel, to signal the control system 1000 for determining direction and orientation of the apparatus 20 .

[0098] The movement arm 412 , at its main portion 414 is rotatably mounted within a sensor unit 416 . This sensor unit 416 includes several, typically three, magnetic field sensors 418 , such as hall effect sensors, located over a circle around the arm 412 . These sensors 418 send signals to the control system 1000 .

[0099] The positions of the magnets 404 in the wheel inner chamber 402 , based on the angle with respect to the horizontal, coupled with the rotations of these magnets 404 , are utilized by the control system 1000 , in an odometer function, to determine total displacement. By monitoring the signal obtained from the magnetic field sensors 418 , both the travel distance and the orientation of the castor wheel 74 can be determined (the distance is obtained by counting the number of pulses induced by the traveling magnets 404 where the angle is calculated by comparing the strength of signal between the magnetic field sensors 418 ).

[0100] Based on these calculations of distance and displacement, the control system 1000 can adjust the steering 1030 and drive 1040 systems accordingly, to properly position the apparatus 20 . The control system 1000 with this information can also control the navigation system accordingly.

[0101] Turning to FIGS. 17 and 18 , there is the leash 28 as detailed above. The leash 28 is a wire 508 or the like, and includes a balled end 510 and a coiled end 512 , typically wrapped around a spring biased roller 514 in the body of the apparatus 20 . The wire 508 extends through a mechanical member 520 , intermediate its ends.

[0102] The mechanical member 520 includes a body 522 , and oppositely disposed ring members 524 , 525 with hemispherical protrusions 524 a , 525 a resting in each other in alignment. Ring members 524 , 525 also include a tubular guide 524 b , 525 b . Upper ring member 525 is held in place by a spring 528 , that is held in place by the body cover 530 and the neck 525 c of the ring member 525 . This spring 528 allows for movement of the upper ring member 525 when the leash 28 (wire 508 ) is pulled. A sensor(s) 540 , coupled to the control system 1000 , connects to the ring members 524 , 525 and detects which protrusions 524 a , 525 a , were temporarily pulled out of alignment, and signals this back to the control system 1000 . The control system 1000 recognizes this direction, and powers the drive wheels 72 accordingly, with the direction and orientation of the apparatus determined by the support wheel 74 and its sensors reporting to the control system 1000 .

[0103] Turning now to FIGS. 3B and 19 , there is a nozzle height adjusting system 560 ( FIG. 23 ), coupled to the control system 1000 , that raises and lowers the nozzle 140 , in response to the surface, and in some cases, obstacles detected. The nozzle 140 includes a bracket 561 with an opening 562 therein. This opening 562 is engaged by a rod 564 attached to an adjustment mechanism 566 , and with associated electronics, is coupled to the control system 1000 . The nozzle 140 is spring mounted, and can be pushed upward, to contact a metal or magnetic portion 570 of a member 572 within a spring 573 . The end of the metal member 570 is detected by a magnet (magnetic sensor) 580 , for example, a hall effect sensor, that senses a position change for the member 572 , and will indicate this change, via signals or the like to the control system 1000 , that will signal the adjustment mechanism 566 , typically including a motor 566 a . This motor 566 a will drive an eccentric member 566 b , that translates rotation to vertical movement by moving the rod 564 , and therefore the nozzle 140 up to the proper position. (The nozzle 140 will move down provided there is open space between the rotating members 166 a , 166 b , i.e., brushes, and the surface, as detailed below).

[0104] The nozzle height adjustment system 560 , in particular the adjustment mechanism 566 , typically functions to set only the minimum height for the nozzle 140 and rotating members 166 a , 166 b (i.e., brushes) (since the nozzle 140 is attached to the rotating members 166 a , 166 b , they are treated as a single unit-nozzle/rotating members, for purposes of this example description). Accordingly, it can adjust the nozzle 140 /rotating members 166 a , 166 b , for higher surfaces automatically, since the nozzle 140 /rotating members 166 a , 166 b can travel freely upward. The minimum height is required to keep the nozzle 140 /rotating members 166 a , 166 b (i.e., brushes) at a desired height, and therefore reducing the load on the nozzle/rotating members, as induced by the carpet. On hard floors or other surfaces, the rollers 168 maintain the nozzle 140 /brushes 166 a , 166 b at the correct height.

[0105] The measurement of height for the rotating members 166 a , 166 b (i.e., brushes) is also suitable for determining surface types, in particular, carpets versus hard floors or other surfaces. This can be achieved because the brushes 166 a , 166 b and nozzle 140 have a degree of freedom in the upward direction, and therefore, can follow the level or contour of the surface on which they are riding. For example, in carpets, the rollers 168 sink slightly, the brush height in relation to the rollers 168 will be different from this height on a hard floor, and thus the surface type can be determined.

[0106] The various sensors and systems formed by combinations thereof are further detailed below. All of these sensors are electrically coupled to the control system 1000 , that in turn signals the drive system 1040 and drive wheels 72 to operate in various modes, depending upon the obstacle or opening detected.

[0107] Turning also to FIGS. 20, 21A and 21 B, door detection sensor 30 a is typically formed of formed of two infra-red (IR) transmitters 600 a , 600 b , while the other door detection sensor 30 b is typically formed of an IR receiver(s) 602 . The transmitters 600 a , 600 b are positioned at an angle Θ, with respect to each other, that is, for example, approximately 20-30 degrees, and at a distance zz from each other, for example, approximately 10 mm. One transmitter, here, transmitter 600 a , and the receiver 602 are typically also tilted approximately 5 degrees (into the plane of the paper). This titling limits potentially unwanted reflections from horizontal highly reflective surfaces such as metal door frames, mirrors, lights, reflectors, etc., since most of the light energy in these cases will be projected 10 degrees forward rather than returning to the receiver 602 .

[0108] Door or boundary detectors include retro-reflectors 606 (reflectors that reflect light back at approximately the same angle received), typically sticker-like, of which one or more can be placed on the floor proximate the door 608 and/or within the doorjamb itself. Should a floor or wall boundary be desired, the retro-reflector 606 may be placed on the floor or wall, and similarly, the retro-reflector 606 may be placed on the ceiling to define the desired wall or floor boundary.

[0109] The transmitters 600 a , 600 b , by being arranged at this angle θ can detect the desired doors, and entryways for these doors, while distinguishing them from other locations, such as under tables, counters or the like. In operation, the transmitters 600 a , 600 b , emit light beams