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An autonomous coverage robot includes a body having at least one outer wall, a drive
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(57) ABSTRACT A piezoelectric debris sensor and associated signal processor responsive
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Int. Cl. responsive to debris Strikes enable an autonomous or non G06F 9/00(2006.01)
autonomous cleaning device to detect the presence of debris G05D I/00(2006.01) and in …

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Jun. 24, 2005, now Pat. No. 8,412,377, which is a Assistant Examiner—Nicholas Kiswanto
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