Abstract: The present disclosure provides a movable electric device. The movable electric device includes a movable device body and a contact detection electrode. The movable device body has an electric drive means. The contact detection electrode is mounted on the movable device body. When the contact detection electrode _contacts diffusible dirt, a resistance, capacitance or impedance of the contact detection electrode varies.

Abstract: A robotic cleaner may include a chassis, a single drive wheel rotatably coupled to the chassis, the single drive wheel being configured to rotate about a steering axis and a drive axis, an agitator chamber having an agitator rotatable therein, and a cleaning motor assembly configured to cause the agitator to rotate and further configured to cause air to flow into the agitator chamber.

Abstract: A personal, electronic target vision system renders targets in the field of view of the user in real-time so that the user can visualize where the targets are relative to him, in an orientation analogous to unaided human vision. An electronic vision device exchanges target selection information with a target vision server which returns to the electronic vision device the corresponding selected target location information for rendering selected targets in accordance with the user's changing viewpoint. The target vision server queries a target information server in order to access, filter and provide the real-time target location information required by the electronic vision device. A surveillance system of sensors and target tracking systems provides the target information server with target location information.

Abstract: A manual input device for a machine includes an elongate handle rigidly connected at one end to a frame of a machine and configured to be engaged by a hand of an operator, and a control portion connected to a free end of the elongate handle. The control portion includes a first plurality of control surfaces and a second plurality of control surfaces associated with sensors providing control signals. The first plurality of control surfaces is positioned and oriented relative to the handle portion so it is accessible for interaction by a thumb of the hand of the operator, and the second plurality of control surfaces is positioned and oriented relative to the handle portion so it is accessible for interaction by an index finger of the hand of the operator.

Abstract: A method for operating a cleaning appliance, which moves automatically inside a surrounding area, wherein the cleaning appliance performs a cleaning of a defined spatially defined partial surface area of the surrounding area. To optimize the cleaning operation as a function of a measured soiling, it is proposed that a detection device of the cleaning appliance measures a level of soiling of the partial surface area during the cleaning of the partial surface area, wherein the level of soiling is compared to a defined reference level of soiling and wherein the partial surface area is enlarged automatically by adding a defined additional partial area, which adjoins the partial surface area, if a level of soiling above the reference level of soiling is determined inside the partial surface area.

Abstract: A hand-held surface cleaning device includes circuitry to communicate with a robotic surface cleaning device to cause the same to target an area/region of interest for cleaning. Thus, a user may utilize the hand-held surface cleaning device to perform targeted cleaning and conveniently direct a robotic surface cleaning device to focus on a region of interest. Moreover, the hand-held surface cleaning device may include sensory such as a camera device for extracting three-dimensional information from a field of view. This information may be utilized to map locations of walls, stairs, obstacles, changes in surface types, and other features in a given location. Thus, a robotic surface cleaning device may utilize the mapping information from the hand-held surface cleaning device as an input in a real-time control loop, e.g., as an input to a Simultaneous Localization and Mapping (SLAM) routine.

Abstract: The present disclosure related to a robotic working tool 100 comprising a controller 110 and at least a first and at least a second magnetic sensor arranged to sense a magnetic signal. The controller 110 is configured to detect a first magnetic signal; determine a signal strength of the detected first magnetic signal; determine if the signal strength of the detected magnetic signal is above or below a threshold value, and if the signal strength is above the threshold value, accept signal detection input for the first magnetic signal from a first set of sensors, and if the signal strength is below the threshold value, accept signal detection input for the first magnetic signal from a second set of sensors, wherein the second set of sensors is a subset of the first set.

Abstract: An automated control system in a work vehicle for automating operation of a task is provided. The control system includes one or more electronic controllers having processing and memory architecture including a potential field module and an actuator control module. The potential field module includes a state determination unit configured to determine a state of the work vehicle based on input data; a potential field function selection unit configured to select at least one potential field function based on the determined state; vector calculation unit configured to calculate an action vector based on the at least one potential field function; and an action unit configured to generate an actuator command based on the action vector. The actuator control module is configured to receive the actuator command and to generate command signals for at least one actuator of the work vehicle to, at least in part, perform the task.

Abstract: A computer includes a processor and a memory, the memory storing instructions executable by the processor to identify a contaminant on a lens of a sensor upon determining a force applied to the lens based on an electric current exceeding a threshold and to actuate a cleaning component to remove the contaminant from the lens.

Abstract: A transport vehicle system includes a controller that controls multiple transport vehicles. The controller performs, push out control to, when a transport vehicle travelling on a main route approaches a push out target vehicle, transmit a travel command to the push out target vehicle, and travel stop control, when there is no transport vehicle to which a transport command is assigned on the main route, sequentially transmit a travel stop command to the multiple transport vehicles travelling on the main route. In push out control, when there is a transport vehicle to which a transport command is assigned on the main route, a first travel command for a first distance is transmitted, and when there is no transport vehicle to which a transport command is assigned on the main route, a second travel command for a second distance smaller than the first distance is transmitted.

Abstract: An interactive autonomous robot is configured for deployment within a social environment. The disclosed robot includes a show subsystem configured to select between different in-character behaviors depending on robot status, thereby allowing the robot to appear in-character despite technical failures. The disclosed robot further includes a safety subsystem configured to intervene with in-character behavior when necessary to enforce safety protocols. The disclosed robot is also configured with a social subsystem that interprets social behaviors of humans and then initiates specific behavior sequences in response.

Abstract: An operation device includes a grip to be grasped by an operator, and a supporting portion supporting the grip and allowing the grip to be turned in an arbitrary turning direction. A rotation fulcrum of the grip is positioned inside the grip. In this manner, the present invention requires less hand operation and is configured to be stably operated even when a machine body is shaken.

Abstract: A display device may extract an edge of a data signal based on the data signal and phase conversion clock signals, extract a phase of the data signal based on the edge, and generate a clock phase calibration signal based on the phase of the data signal. The display device may calibrate a phase of a clock signal using the clock phase calibration signal that has a phase corresponding to the phase of the clock signal, thereby improving transmission characteristic of the signal.

Abstract: Systems, methods and computer-readable media enabled methods are disclosed for detecting LIDAR window obstructions in an FMCW LIDAR system, analyzing the operational effects of the LIDAR window obstructions on the FMCW LIDAR system, and mitigating the operational effects on the FMCW LIDAR system.

Abstract: A tangible, non-transitory, machine readable medium storing instructions that when executed by an image processor effectuates operations including: causing the camera to capture one or more images of an environment of the robotic device; receiving, with the image processor, one or more multidimensional arrays including at least one parameter that describes a feature included in the one or more images, wherein values of the at least one parameter correspond with pixels of a corresponding one or more images of the feature; determining, with the image processor, an amount of asymmetry of the feature in the one or more images based on at least a portion of the values of the at least one parameter; and, transmitting, with the image processor, a signal to the processor of the controller to adjust a heading of the robotic device by an amount proportional to the amount of asymmetry of the feature.

Abstract: An apparatus and method for transporting a plurality of articles is disclosed. The apparatus includes a wheeled chassis, and a platform disposed on the wheeled chassis. The apparatus also includes a manipulator coupled to the wheeled chassis and operably configured to load a first article of the plurality of articles at a first position on the platform, or unload the first article of the plurality of articles from the first position on the platform. The apparatus further includes at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles.

Abstract: The invention relates to a self-propelled floor treatment device (1), in particular to a cleaning robot, with a floor treatment element (2), at least two motorized wheels (3, 4) and a detection device for detecting a floor type of a surface to be treated. In order to easily achieve an optimal detection of the floor type, it is proposed that the detection device have a frictional resistance element (6), which contacts the surface during a movement in such a way that a resultant force outside of a reference axis (7) acts on the floor treatment device (1), wherein the reference axis (7) is oriented parallel to a main direction of movement (8) of the floor treatment device (1) prescribed by the orientation of the wheels (3, 4), and is aligned centrally between the wheels (3, 4) in relation to a direction perpendicular to the reference axis (7). Further proposed is a method for operating a self-propelled floor treatment device (1).

Abstract: 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.

Abstract: The invention relates to a mobile robot having running gear and at least one robot arm mounted on the running gear, a sensor system for sensing obstacles in the surroundings of the robot and a navigation unit for laying down a route along which the running gear can be moved while avoiding the obstacles, and a control unit for the robot arm which is adapted to lay down a permissible position for the robot arm by reference to the obstacles sensed and the route.

Abstract: Apparatus is provided for delivery of an implantable neural stimulator to a sphenopalatine ganglion (SPG) of a subject. The apparatus includes a tool having a proximal portion and having a distal portion coupled to the implantable neural stimulator; and a slide-bar at the proximal portion of the tool. The slide-bar includes a distal portion and a proximal portion. The proximal portion of the slide-bar is coupled to the stimulator such that distal advancement of the proximal portion of the slide-bar produces distal advancement of the stimulator. The proximal and distal portions of the slide-bar include respective magnetic coupling elements. The magnetic coupling elements are configured to couple the proximal and distal portions of the slide-bar to each other unless a distally-directed force applied to the distal portion of the slide-bar exceeds a threshold. Other embodiments are also described.

Abstract: Described are systems and methods for determining if assistance is to be provided to a user. In some instances, a total weight associated with a user pattern may be monitored by sensors of a base surface and a determination made if an abnormality related to the user pattern is present. If an abnormality exists, the appropriate assistance may be determined based on the abnormality and provided to the user.

Abstract: Disclosed are a moving robot and a controlling method thereof. The moving robot which selectively moves an area based on a stored map to search a charging station within a short time when there is a need for charging due to consumption of a battery. Although a position of the moving robot is optionally changed, the moving robot recognizes a position thereof so that it is easy to move between areas and an influence according to complexity of an obstacle is reduced. Since the charging station in an area may be searched through small moving by setting a specific point in the area as a search position to search the charging station, stop of an operation during searching the charging station may be solved and the charging station may be exactly searched within a short time.

Abstract: A system for zone passage control for a zone of an autonomously operating mobile object includes at least a set of detection units to detect at least one mobile object entering and/or exiting the zone, a set of identification units arranged to identify the mobile object entering and/or exiting the zone, and a central controller being arranged in operational connection with the set of the detection units and with the set of the identification units. An admissibility level for a mobile object to enter the zone is determined and a control signal to stop at least one autonomously operating mobile object existing in the zone is provided in response to the determined admissibility level being negative for the mobile object entered the zone.

Abstract: A system and method for debris particle detection with adaptive learning are provided. The method includes receiving oil debris monitoring (ODM) sensor data from an oil debris monitor sensor and fleet data from a database, detecting a feature in the ODM sensor data, generating an anomaly detection signal based on detecting an anomaly by comparing the feature in the ODM sensor data to a limit defined by system information stored in the fleet data, selecting a maintenance action request based on the anomaly detection signal, and adjusting one or more of the feature, the anomaly, the limit, and the maintenance action request by applying an adaptive learning algorithm that uses the ODM sensor data, fleet data, and feedback from field maintenance of one or more engines that evolves over time.

Abstract: An automated distribution center includes an array with storage locations arranged along aisle(s) having a floor, and a mezzanine platform above the floor, the floor and mezzanine being configured for human picker access to the storage locations, an automated guided vehicle (AGV) configured for traverse of the floor and mezzanine to the storage locations, and for transporting a storage container to and from the storage locations, the floor and mezzanine each having an undeterministic traverse surface for the AGV, the AGV is configured so that the surface provides holonomic selectable paths for the AGV substantially everywhere on the surface, each path being selectable by the AGV, and an order filling station, where one or more goods are picked from container(s) to fill order(s), wherein the AGV is configured to pick the container from a storage location and transport the container on the surface between the storage array and the station.

Abstract: A robot includes: a base which is provided on a first surface; and a robot arm which is provided on the base, in which the robot arm includes an n-th arm and an (n+1)th arm, in which the n-th arm rotates around an n-th rotating axis, in which the (n+1)th arm is provided to rotate around an (n+1)th rotating axis which is an axial direction different from an axial direction of the n-th rotating axis, in the n-th arm, in which the length of the n-th arm is longer than the length of the (n+1)th arm, and, when viewed from the axial direction of the (n+1)th rotating axis, the n-th arm and the (n+1)th arm overlap each other, and in which a connection part between the base and the robot arm is positioned above the first surface in a vertical direction.

Abstract: A method of mowing an area with an autonomous mowing robot comprises storing, in non-transient memory of the robot, a set of geospatially referenced perimeter data corresponding to positions of the mowing robot as the mowing robot is guided about a perimeter of an area to be mowed, removing from the set of perimeter data one or more data points thereby creating a redacted data set and controlling the mowing robot to autonomously mow an area bounded by a boundary corresponding to the redacted data set, including altering direction of the mowing robot at or near a position corresponding to data in the redacted data set so as to redirect the robot back into the bounded area.

Abstract: A wire feeder has a motor, mounting plate, intermediate mounting plate, and base assembly. The mounting plate has a plurality of mounting hole patterns and a shaft hole. The motor a mounting hole pattern that aligns with at least one of the plurality. One of a plurality of motor types can be mounted to the mounting plate. The mounting plate is mounted to the intermediate mounting plate, which is mounted to the base assembly. The base assembly includes a drive gear, which is connected to rotate with an insulating cap that receives a gear hub. The gear hub is connected to rotate with the motor shaft via matching keys. The insulating hub, intermediate mounting plate and mounting plate are electrically insulating, so that the base assembly is electrically isolated from the motor.

Abstract: A controller includes a first body portion, adapted to be grasped by a person's middle finger, ring finger, and pinky finger, a second body portion adapted to be grasped by a person's index finger, and a third body portion that defines a first surface adapted to receive a person's thumb. A finger switch is positioned on a front surface of the second body portion. The finger switch is positioned such that it may be actuated by the person's index finger. The second body portion is disposed between the first body portion and the third body portion. The second body portion defines an offset with respect to the first body portion. The third body portion defines a second surface above the finger switch, which may receive the person's index finger.

Abstract: A system for manipulation of objects. The system includes N objects, where N is greater than or equal to 2 and is an integer; and a mechanism for controlling and 2D locating of the N objects. A method for manipulating objects. The method includes the steps of receiving information from N objects, where N is greater than or equal to 2 and is an integer, at a centrally controlling and 2D locating controller; determining 2D locations by the controller of the N objects; and transmitting from the controller directions to the N objects for the N objects to move. An apparatus for tracking. The apparatus includes N objects, where N is greater than or equal to 2 and is an integer, each object having an emitter which emits light; and a mechanism for 2D sensing of the N objects over time from the light emitted by each emitter. The present invention pertains to a method for tracking.

Abstract: An image processing apparatus, includes a processor configured to obtain a marker image including a first pixel area including a first image indicating a shape of an outer frame and a second pixel area and a second image arranged within the outer frame, extract an intersecting point of a first line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a predetermined direction and a second line segment in parallel with a boundary between the first pixel area and the second pixel area which are adjacent to each other along a direction perpendicular to the predetermined direction, a first apex indicating an apex of four corners of the outer frame, and a second apex included in the second image, and identify a display position using the intersecting point, the first apex, or the second apex.

Abstract: A method for controlling an autonomous vehicle includes obtaining information describing a roadway; defining a plurality of layers along the roadway between a starting position and a goal position, each layer having a first width, and each layer having a plurality of nodes that are spaced from one another transversely with respect to the roadway within the first width; and determining a first trajectory from the starting position to the goal position, by minimizing a cost value associated with traversing the layers. Determining the first trajectory includes, for each layer, determining layer-specific weighting factors for each of a plurality of cost components, based on information associated with the respective layer, and determining, for each node of the respective layer, a cost for travelling to one or more of the nodes in a subsequent layer based on the plurality of cost components and the layer-specific weighting factors.

Abstract: An arrangement and a method are described for safeguarding driver attentiveness to the task of steering while operating a vehicle having a lane keeping aid system. The arrangement and method provide for measuring a pinion angle and a torsion bar torque when the lane keeping aid system is applying an overlaying steering torque. Driver applied torque is estimated from the measurements. A hands-off metric is calculated based on a relation between the measurements and the estimate. Hands-off is determined based on a comparison of the metric with a predefined threshold. The arrangement and method further provide for evaluating hands-on between torque interventions by the lane keeping aid system. An action is determined based on the determined hands-off and the evaluated hands-on and the action determined performed.

Abstract: 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.

Abstract: A system, method and computer program product for attending to an environmental condition by an electronic cleaning device. A computer receives one or more data signals from one or more sensors through a network, with each of the one or more sensors associated with a physical location. The computer determines that due to an environmental condition a signal strength of the one or more data signals received from the one or more sensors is out of a threshold value range. The computer determines an optimal route from a current location of the electronic cleaning device to the one or more physical locations of the one or more sensors associated with the one or more data signals experiencing signal strength out of the threshold value range.

Abstract: This application describes the software invented to control an electric motor system. The electric motor system is mounted on one or more aircraft main wheels or nose wheels to drive an aircraft independently on the ground without aircraft engines or tow vehicles. The software uses closed-loop control together with several other control laws to operate the drive motor or motors. Knowledge of the current operating state of the drive motor, together with knowledge of the commands given to taxi forward, taxi in reverse, or brake in reverse, is used to configure the motors to optimal operating parameters. The software architecture is described along with the pilot interface and many details of software implementation.

Abstract: A motor vehicle includes a plurality of electronic detection devices for detecting and making available vehicle-related information items, wherein the vehicle-related information items relate to various areas or components outside or inside the motor vehicle; a display unit for displaying the vehicle-related information items; an operator control device for detecting an operator control action; and a control unit. The control unit is configured and coupled with the detection devices, the display unit and the operator control device such that in a first display operating state, first vehicle-related information items and a first graphics object, which represents the motor vehicle, are displayed. In a second display operating state, second vehicle-related information items and a second graphics object, which represents the motor vehicle, are displayed. The first graphics object, which represents the motor vehicle, is larger than the second.

Abstract: A remote control system includes a mobile device and a receiver connected to a control target. The mobile device includes an input unit accepting user's input operation; an operation signal transmission unit wirelessly transmitting an operation signal corresponding to the input operation during the input operation; a frequency switching determination unit determining whether to switch the transmission frequency band from a first frequency band to a second frequency band based on at least any one of a manner of the input operation and a state of wireless communication; and a transmission frequency switching unit switching the transmission frequency band when the frequency switching determination unit determines to switch the transmission frequency band. The receiver includes an operation signal reception unit receiving the operation signal; and a control unit controlling the control target on the basis of the received operation signal.

Abstract: A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Abstract: In one aspect, the present disclosure is directed to a control system for a machine with traction devices. The control system may have a sensor configured to sense an ambient temperature. The control system may also have a controller in communication with the sensor. The controller may be configured to determine a load limit of a machine based on an expected speed of the machine and the ambient temperature. The controller may further be configured to enforce the load limit of the machine during loading.

Abstract: An autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to maneuver the robot according to a heading (turn) setting and a speed setting. The bump sensor is responsive to a collision of the robot with an obstacle in a forward direction. A method of navigating an autonomous coverage robot with respect to an object on a floor includes the robot autonomously traversing the floor in a cleaning mode at a full cleaning speed. Upon sensing a proximity of the object forward of the robot, the robot reduces the cleaning speed to a reduced cleaning speed while continuing towards the object until the robot detects a contact with the object. Upon sensing contact with the object, the robot turns with respect to the object and cleans next to the object, optionally substantially at the reduced cleaning speed.

Abstract: An autonomous coverage robot includes a chassis, a drive system configured to maneuver the robot, and a cleaning assembly. The cleaning assembly includes a cleaning assembly housing and at least one driven sweeper brush. The robot includes a controller and a removable sweeper bin configured to receive debris agitated by the driven sweeper brush. The sweeper bin includes an emitter disposed on an interior surface of the bin and a receiver disposed remotely from the emitter on the interior surface of the bin and configured to receive an emitter signal. The emitter and the receiver are disposed such that a threshold level of accumulation of debris in the sweeper bin blocks the receiver from receiving emitter emissions. The robot includes a bin controller disposed in the sweeper bin and monitoring a detector signal and initiating a bin full routine upon determining a bin debris accumulation level requiring service.

Abstract: A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.

Abstract: A device executes a preceding vehicle following driving control and successively calculates a friction-braking-start threshold value, an engine-braking-start threshold value, an acceleration-control-completion threshold value by using equations L1, L2 and L3, respectively. The device uses a constant vehicle speed zone determined between the engine-braking-start threshold value and the acceleration-control-completion threshold value. When a compensated-evaluation-index value KdB_c of a vehicle distance between the own vehicle and a preceding vehicle is within the constant vehicle speed zone, the device drives the own vehicle at a constant speed. This control suppresses fuel consumption because of decreasing an acceleration and deceleration frequency of the own vehicle.

Abstract: A computer program product includes a storage medium that stores instructions for execution by a processing circuit for practicing a method for synchronous communication in a control system. Within a first time interval, a first source task is executed to broadcast a first destination task, within a second sequential time interval, the first destination task is communicated over a channel to a first destination, and within a third sequential time interval, the first destination task is consumed. Within the first time interval, a second source task may be executed to broadcast a second destination task, within the second sequential time interval, the second destination task may be communicated over the channel to a second destination, and within the third sequential time interval, the second destination task may be consumed. The first source task is allowed to be scheduled ahead of the second source task, and the second source task is allowed to be scheduled ahead of the first source task.

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract: 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.

Abstract: A method, apparatus, and computer program product for identifying a number of air states for a vehicle. A deflection of a control surface associated with an actuator is identified to form an identified deflection. A current in the actuator is identified to form a measured current. The number of air states for the vehicle is estimated using the identified deflection and the measured current.

Abstract: The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile, and a profile of desired speed as a function of distance along the path.

Abstract: 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.