Control of a cleaner head

Abstract

A control system for controlling the actuation of one or more bleed members of a vacuum cleaner head. The control system comprises processor configured to receive an input signal indicative of the size of debris located in the vicinity of the cleaner head and determine a debris signal characteristic in dependence on the signal. The processor is also configured to receive another input signal indicative of a surface type to be cleaned and set a debris signal characteristic criteria in dependence on the surface type. If the debris signal characteristic satisfies the debris signal characteristic criteria, an output signal is issued comprising an instruction to open the one or more bleed members. A system comprising a and a cleaner head, a method and computer readable instruction are also disclosed.

Description

[0001] Control of a Cleaner Head

[0002] BACKGROUND

[0003] It is known to provide a vacuum cleaner comprising a cleaner head which has one or more selectively openable bleeds for admitting larger pieces of debris into the suction chamber. Typically it is desirable to open the bleeds when operating the cleaner head on a hard surface where larger debris otherwise tends to collect at the front of the cleaner head, large debris being unable to pass under the cleaner head via the relatively small gap between the bottom of the cleaner head and the floor. It is also useful to open the bleeds when operating the vacuum cleaner on carpeted surfaces to collect larger pieces of debris. However, the loss of suction head which results from opening the bleeds is undesirable during operation on a carpeted surface as generally a high suction head is required to sufficiently clean a carpeted surface.

[0004] SUMMARY

[0005] The present invention provides a control system for controlling the actuation of one or more bleed members of a cleaner head for a vacuum cleaner, the control system comprising at least one processor configured to: receive a first input signal indicative of the size of debris located in the vicinity of the cleaner head; determine a debris signal characteristic in dependence on the first input signal; receive a second input signal indicative of a surface type to be cleaned; determine the surface type to be cleaned in dependence on the second input signal; set a debris signal characteristic criteria in dependence on the determined surface type; and if the debris signal characteristic satisfies the debris signal characteristic criteria, issue an output signal comprising an instruction to open the one or more bleed members.

[0006] The invention is advantageous as the control system selectively opens the bleed members in dependence on both the size of debris detected and the type of surface being cleaned. This allows a more stringent bleed opening criteria to be applied when operating on carpet to preserve suction head. Optionally the control system may be configured to: detect a change from a first surface type to a second surface type in dependence on the second input signal; and upon detection of a change from the first surface type to the second surface type, re-set the debris signal characteristic criteria in dependence on the determined second surface type. This is advantageous as the criteria for bleed opening automatically changes on change of operational mode from hard floor to carpet or vice versa.

[0007] The debris signal characteristic criteria optionally comprises: a minimum value which, if not met, results in non- satisfaction of the debris signal characteristic criteria, for example a minimum size of debris; or a maximum value which, if not met, results in non-satisfaction of the debris signal characteristic criteria, for example a maximum amount of light detected. The quantum of the debris signal characteristic may reduce as the size of the debris increases.

[0008] In one example, the first input signal may be derived from the output of a light sensor, light sensors being a convenient and inexpensive sensor to use in this application.

[0009] In another aspect, the present invention provides a system for controlling the actuation of one or more bleed members of a cleaner head for a vacuum cleaner, the system comprising: the control system substantially as described above; a cleaner head comprising a housing having one or more bleed openings, wherein the bleed openings are selectively openable by actuation of an associated bleed member; and one or more sensors for sensing the size of debris located in the vicinity of the cleaner head.

[0010] Optionally one or more of the sensors comprise a light gate having a light source and a light receiver, wherein the light receiver is configured to output a signal indicative of an amount of light received by the light receiver from the light source, wherein the first input signal is derived from the output signal of the light receiver.

[0011] The light gate optionally comprises a first lens configured to spread the light emitted from the light source, and a second lens configured to focus the light received from the light source onto the light receiver. This is advantageous as the amount of light blocked by the debris can be used as an indicator of the size of the debris.

[0012] The light emitted from the light source may be redirected by at least one reflector or light pipe before being received by the light receiver. This is advantageous as the light emitted by the light source may be directed without limitation by the size of light emitter / sensor components.

[0013] In one example, the light gate is located on a follower member which is configured to follow the upper surface of the floor surface to be cleaned. This is advantageous as the light gate can be maintained at a height above the surface to be cleaned, helping to ensure false triggering of the light sensor on soft surfaces such as carpet.

[0014] Optionally the light gate is configured so that the light emitter is located proximate a first side of a bleed opening and the light receiver is located proximate a second side of the bleed opening to sense debris located adjacent to the bleed opening.

[0015] The light gate optionally comprises a plurality of light sources and a plurality of light receivers, wherein the first input signal is derived from the output signals of the plurality of light receivers. This is advantageous as the number of light beams blocked by the debris can be used as an indicator of the size of the debris. In one example, the light gate optionally comprises a beam splitter configured to split a single beam of light from a light source into multiple beams of light.

[0016] In a further aspect, the present invention provides a vacuum cleaner comprising the system described above.

[0017] In a still further aspect the present invention provides a method of controlling the actuation of one or more bleed members of a cleaner head for a vacuum cleaner, the method comprising: receiving a first input signal indicative of the size of debris located in the vicinity of the cleaner head; determining a debris signal characteristic in dependence on the first input signal; receiving a second input signal indicative of a surface type to be cleaned; determining the surface type to be cleaned in dependence on the second input signal; setting a debris signal characteristic criteria in dependence on the determined surface type; and if the debris signal characteristic satisfies the debris signal characteristic criteria, issuing an output signal comprising an instruction to open the one or more bleed members.

[0018] In yet another aspect the present invention provides computer readable instructions which, when executed by a computer, are arranged to perform the method described above.

[0019] BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 shows a schematic isometric view of a vacuum cleaner;

[0021] Figure 2 shows a schematic isometric view of a cleaner head of the vacuum cleaner;

[0022] Figure 3 shows an alternative schematic isometric view of the cleaner head;

[0023] Figure 4 shows a schematic partial isometric view of the interior of the cleaner head.

[0024] Figures 5A to 5D show illustrative test results;

[0025] Figure 6 shows a schematic representation of a control system for controlling the actuation of bleed members located on the cleaner head;

[0026] Figure 7 shows a flow diagram of a method for controlling the actuation of bleed members located on the cleaner head;

[0027] Figure 8 shows a schematic representation of a sensor arrangement;

[0028] Figure 9 shows a schematic representation of an alternative sensor arrangement;

[0029] Figure 10 shows a schematic representation of a further alternative sensor arrangement; and Figure 11 shows a schematic representation of a still further alternative sensor arrangement.

[0030] DETAILED DESCRIPTION

[0031] Figure 1 shows a hand-held vacuum cleaner 10 comprising a main body 12, a wand 14 and a cleaner head 20. The main body 12 comprises a separating system, in the form of a cyclonic separator, a motor and impeller (not visible) arranged to draw air through the separating system, and a power supply 13, in the form of a battery, for powering the motor. The wand 14 is attached at one end to the main body 12 via an adaptor 17, and at the other end to the cleaner head 20 via an adaptor 15. The wand 14 provides fluid communication between the cleaner head 20 and the separating system and supports the cleaner head 20 during use.

[0032] Referring to Figure 2, the cleaner head 20 comprises an adaptor 21 which is releasably attached to the adaptor 15 of the wand 14. A spring loaded button 22 operates to secure the cleaner head 20 to the wand 14. If it is desired to remove the cleaner head 20 from the wand 14 (for example to replace the cleaner head 20 with an alternative cleaner head), the button 22 is depressed to allow the cleaner head 20 to be released from the wand 14.

[0033] The cleaner head 20 comprises a housing 23 which defines a suction chamber (not shown) and an outlet 24 which provides fluidic communication between the suction chamber and the separating system 11 via the adaptor 21 and the wand 14. An agitator element (not shown), such as a brush bar, is rotatably mounted within the suction chamber between end supports 25, 26 (see Figure 4).

[0034] The housing 23 comprises a cover 29 and a sole plate 30. As best seen in Figure 4, the sole plate 30 comprises an opening 31 which defines the main inlet to the suction chamber. The agitator element is configured and mounted with respect to the opening 31 so that, in use, at least part of the agitator element contacts the floor to be cleaned via the opening 31 to agitate dust and debris on the floor. The cleaner head 20 may also be operated with a stationary agitator element such that suction head alone causes dust and debris to be drawn into the suction chamber. The sole plate 30 comprises two bleeds 32, 33 each of which comprises a bleed opening 34, 35 and a selectively openable bleed member 36, 37. When the bleed members 36, 37 are in the open position, the bleed openings 34, 35 provide access to the suction chamber through which larger items of debris, which will not fit between the bottom of the sole plate 30 and the ground, may pass.

[0035] An actuator 38 is operatively attached to each of the bleed members 36, 37. The actuator 38 is configured to open and / or close the bleed members 36, 37 on receipt of an instruction to do so. In an alternative example, each bleed member 36, 37 may be provided with its own actuator.

[0036] Two bleeds 32, 33 are shown in the example of Figure 4. However, it will be understood that only one bleed, or more than two bleeds, may be provided. Alternatively or additionally, one or more bleeds may be provided in the housing 23 on the opposite side of the opening 31 to the bleeds 32, 33 illustrated in Figure 4. Referring to Figures 2 and 3, the bleeds 32, 33 are shown in their closed configuration in Figure 2 and in their open configuration in Figure 3.

[0037] Each bleed 32, 33 has a debris sensor 40 associated with it. The debris sensors 40 each comprise a light source 42 and a light sensor 44 which are positioned with respect to the bleeds 32, 33 so that light emitted from the light sources 42 is directed across the bleed openings 34, 35 to be received at the light sensors 44. When no debris blocks the path of the light emitted by a light source 42, there is no impediment to the passage of the light. However, if debris is located in front of a bleed 32, 33, such that the path of the light emitted by the light source 42 is blocked, no light is received at the associated light sensor 44. The debris sensors 40 are thereby able to detect if debris is located in front of the bleeds 32, 33. A control system 100 (described in greater detail below) for controlling the actuation of the bleed members 36, 37 is mounted on the housing 23 as shown in Figures 1, 2 and 3. The ability of the debris sensors 40 to sense debris in the location of the bleeds 32, 33 is dependent on the size of the debris. It has been found in experiments conducted by the applicant that debris of a size below a size which can physically interrupt the light emitted by a light source 42 can still be detected. Without wishing to be bound to a particular theory, it thought that this might be caused by reflections from the debris which is detected by the light sensor 44.

[0038] Figures 5A to 5D show schematic representations of the results of the experiments described above. Figure 5A shows the voltage output of a light sensor when no debris is present (about 180mV). Figure 5B shows the voltage output of the light sensor when debris too small to be detected is present (about 180mV). Figure 5C shows the voltage output of the light sensor when debris which is too small to directly interfere with the light emitted by the light source, but which is of a size sufficient to be detected (as illustrated by the increased voltage output of about 250 mV), is present. Figure 5D shows the voltage output of the light sensor when debris large enough to block the light emitted by the light source is present (about 750m V).

[0039] The experiments indicate that debris sensors comprising a light gate, such as the debris sensors 40 described above, may be used to detect debris which is not large enough to directly interfere with the light emitted by the light source 42. This capability may be usefully harnessed to distinguish between the size of debris, information which may then be used to determine when the bleeds 32, 33 will open, and when they will remain closed.

[0040] As discussed above, it is typically desirable to open the bleeds 32, 33 when operating the cleaner head 20 on a hard surface where larger debris otherwise tends to collect at the front of the cleaner head. It can also be useful to open the bleeds 32, 33 when operating the vacuum cleaner on carpeted surfaces to collect larger pieces of debris. However, it is advantageous for this to be balanced with the loss of suction head which results from opening the bleeds 32, 33.

[0041] Figure 6 shows the control system 100 for controlling the actuation of the bleed members 110. The control system 100 is configured to receive a first input signal 141 indicative of the size of debris located in the vicinity of the cleaner head 20. In this example the signal 141 is generated by at least one of the debris sensors 40.

[0042] As discussed above, the debris sensors 40 are able to detect debris of a size large enough to block the light emitted by the light source 42 (Figure 5D), and debris of a size which is too small to directly interfere with the light emitted by the light source 42, but which is of a size sufficient to be detected (Figure 5C). Therefore, if the quantum of the signal 141 generated by the debris sensor 40 is at or above a first amount (e.g. 250 mV Figure 5C), the signal 141 is indicative of debris at least large enough to be detected - albeit not by directly blocking the light emitted by the light source 42 - is present in the vicinity of the cleaner head 20. Similarly, if the quantum of the signal 141 generated by the debris sensor 40 is at or above a second amount (e.g. 750 mV Figure 5D), the signal 141 is indicative of debris large enough to block the light emitted by the light source 42 being present in the vicinity of the cleaner head 20.

[0043] Following receipt of the first input signal 141, the control system 100 is configured to determine a debris signal characteristic in dependence on the first input signal 141. In this example, the debris signal characteristic has three possible states. A first state indicating that no debris, or debris too small to be detected is present, a second state indicating that debris large enough to be detected (but too small to block the light emitted by the light source 42) is present, and a third state indicating that debris large enough to block the light emitted by the light source 42 is present.

[0044] The control system 100 is also configured to receive a receive a second input signal 142 indicative of a surface type to be cleaned. The second input 142 signal may be automatically generated by a sensor system (not shown) which is configured to determine if the vacuum cleaner 10 is being used on a hard or carpeted surface, or may be generated as a result of manual selection by a user of a hard floor mode or a carpet mode when operating the vacuum cleaner 10. Following receipt of the second input signal 142, the control system 100 is configured to determine the surface type to be cleaned in dependence on the second input signal 142, and set a debris signal characteristic criteria in dependence on the determined surface type. In this example, the debris signal characteristic criteria comprises a rule which requires the debris signal characteristic to have either the second or third state in order for the bleeds

[0045] 32, 33 to open when the vacuum cleaner is operating on a hard surface, and which requires the debris signal characteristic to have the third state in order for the bleeds 32, 33 to open when the vacuum cleaner is operating on a carpeted surface. This ensures that the bleeds

[0046] 33, 34 only open on carpeted surfaces when large debris is detected.

[0047] The control system 100 is configured to issue an output signal 150 comprising an instruction to open the one or more bleed members 36, 37 if the debris signal characteristic satisfies the debris signal characteristic criteria. In this example the output signal is received by a controller (not shown) of the actuator 38 which operates the bleed members 36, 37 in accordance with the output signal 150.

[0048] The control system 100 may be configured to detect a change from a first surface type to a second surface type in dependence on the second input signal 142 and, upon detection of a change from the first surface type to the second surface type, re-set the debris signal characteristic criteria in dependence on the determined second surface type. Therefore, the control system 100 will operate to control the bleed members 36, 37 to operate in a mode most suited to the floor surface to be cleaned.

[0049] As described above, the debris signal characteristic criteria may be a minimum value which, if not met, results in non-satisfaction of the debris signal characteristic criteria. Alternatively debris signal characteristic criteria may be a maximum value which, if exceeded, results in non-satisfaction of the debris signal characteristic criteria. As such, a quantum of the debris signal characteristic may reduce as the size of the debris increases. An example of this latter scenario is described below in relation to Figure 8.

[0050] The control system 100 as illustrated in Figure 6 comprises one controller 110, although it will be appreciated that the control system 100 may comprise a plurality of controllers 100 collectively configured to implement the method 50. The controller 110 comprises processing means 120 and memory means 130. The processing means 120 may be one or more electronic processing device 120 which operably executes computer-readable instructions. The memory means 130 may be one or more memory device 130. The memory means 130 is electrically coupled to the processing means 120. The memory means 130 is configured to store instructions, and the processing means 120 is configured to access the memory means 130 and execute the instructions stored thereon.

[0051] The controller 110 comprises an input means and an output means. The input means may comprise an electrical input of the controller 110, and the output means may comprise an electrical output of the controller. The input means is arranged to receive the first and second input signals 141, 142, and the output means is arranged to output the output signal 150.

[0052] Figure 7 shows a flow chart which describes a method 50 for controlling the actuation of bleed members 36, 37 depending on the size of the debris. In a first step 51, the first input signal 141 indicative of the size of debris located in the vicinity of the cleaner head 20 is received by the processor 110. In a second step 52, the debris signal characteristic is determined in dependence on the first input signal 141.

[0053] In a third method step 53, the second input signal 142 indicative of a surface type to be cleaned is received by the processor 110, and in a fourth step 54, the surface type to be cleaned is determined in dependence on the second input signal 142.

[0054] In a fifth step 55, a debris signal characteristic criteria is set in dependence on the determined surface type, and in a sixth step 56, if the debris signal characteristic satisfies the debris signal characteristic criteria, an output signal 150 is issued comprising an instruction to open the one or more bleed members 36, 37.

[0055] The method 50 may be performed by the control system 100 illustrated in Figure 6. In particular, the memory 130 may comprise computer-readable instructions which, when executed by the processor 120, perform the method 50 according to an embodiment of the invention. Although in the method 50 shown in Figure 7, the steps are set out in a specific order, in implementations the order the steps are performed in may vary. For example, (the second input signal 142 indicative of a surface type to be cleaned may be received by the processor 110 (step 53) before the first input signal 141 indicative of the size of debris located in the vicinity of the cleaner head 20 is received by the processor 110 (step 51), e.g. step 53 may occur before steps 51 and 52.

[0056] Figure 8 shows a schematic representation of a light gate debris sensor 60. The debris sensor 60 is shown positioned across an example bleed opening 34. The debris sensor 60 comprises a light source 62 located on a first side of the bleed opening 34 and a light sensor 64 located on the second, opposite, side of the bleed opening 34. A first lens 65 is located on the first side of the bleed opening 34. The first lens 65 is configured and positioned so that the light emitted from the light source 62 is spread into a widened beam 66 than would otherwise be the case with no lens 65 present. A second lens 67 is located on the second side of the bleed opening 34. The second lens 67 is configured and positioned so that the beam 66 is focussed onto the light sensor 64.

[0057] The debris sensor 60 with its widened beam 66 may usefully be employed to provide a more refined indication of the size of debris than is possible using the debris sensor 40 described above. As discussed above, the debris sensor 40 is able to provide an indication of no debris or debris too small to be detected being present, of debris large enough to be detected (but too small to block the light emitted by the light source 42) being present, and of debris large enough to block the light emitted by the light source 42 being present. In contrast to this, the debris sensor 60 is able to provide a more refined indication of the size of debris depending on how much of the beam 66 is blocked by the debris.

[0058] Debris of a smaller size located in the path of the beam 66 will block a smaller portion of the beam 66 than debris of a larger size. Consequently, more light will reach the sensor 64 when a smaller size of debris blocks part of the beam 66 than when a larger size of debris blocks part of the beam 66. The amount of light which reaches the sensor 64 may therefore be used as an indication of the size of the debris and be provided to the controller system 100 as the first input signal 141. In this example, the debris signal characteristic criteria may have a maximum value corresponding to a maximum amount of light than may be received at the light sensor 64 which, if exceeded, results in non-satisfaction of the debris signal characteristic criteria. As such, in this example, the quantum of the debris signal characteristic (the amount of light to reach the light sensor 64) reduces as the size of the debris detected increases.

[0059] In the example of Figure 8, the debris signal characteristic criteria comprises a rule which requires the debris signal characteristic to have a quantum no higher than a first amount in order for the bleeds 32, 33 to open when the vacuum cleaner 10 is operating on a hard surface, and no higher than a second amount when the vacuum cleaner is operating on a carpeted surface. Where the first amount is greater than the second amount. This ensures that the bleeds 33, 34 only open on carpeted surfaces when large debris is detected.

[0060] It is beneficial to have the beam of light generated by the light source to be close to the surface to be cleaned to maximise the amount of debris that can be detected. As discussed above in relation to Figure 5B, if the debris is small, it is possible that the debris sensor will not be able to detect it.

[0061] Figure 9 depicts an alternative sensor arrangement comprising a light gate debris sensor 70 located across an example bleed opening 34. The debris sensor 70 comprises a light source 72 located towards the top of a first side of the bleed opening 34, and a light sensor 74 located towards the top of the second, opposite, side of the bleed opening 34. A first reflector 75 is located towards the bottom of the first side of the bleed opening 34, and a second reflector 77 is located towards the bottom of the second side of the bleed opening 34.

[0062] In use, the beam of light 76 emitted by the light source 72 passes along the first side of the bleed opening 34 to the reflector 75 which reflect the beam 76 to the second reflector 77. The second reflector 77 then reflects the beam 66 along the second side of the bleed opening 34 to the light sensor 74. In this way, the beam of light 76 is able to pass closer to the surface to be cleaned than might otherwise be possible due to the size constraints of the light source 72 and / or light sensor 77. In another example (not shown), the light beam 76 may be directed from the light source 72 to near the bottom of the bleed opening 34 by one or more flexible and / or angled fibre optic light pipes, and directed to the light sensor 74 by one or more further flexible and / or angled fibre optic light pipes. In either case, in order to benefit from the widened beam example discussed above in relation to Figure 8, lenses may be used to widen / focus the beam 76 as it passes across the bleed opening 34. Such lenses may be positioned proximate the light source / light sensor, or near the bottom of the bleed opening 34, or in any other suitable position.

[0063] Figure 10 shows a further alternative sensor arrangement comprising a light gate debris sensor 80 located across an example bleed opening 34. The debris sensor 80 comprises first and second light sources 82a, 82b located on a first side of the bleed opening 34, and first and second light sensors 84a, 84b located on a second, opposite, side of the bleed opening 34. The second light source 82b is located above the first light source 82a (relative to Figure 10), and the second light sensor 84b is located above the first light sensor 84a (relative to Figure 10). The first light source 82a emits a beam of light 86a towards the first light sensor 84a, and the second light source 82b emits a beam of light 86b towards the second light source 84b such that the beam 86a is lower than the beam 86b.

[0064] The debris sensor 80 with its upper and lower light beams 86a, 86b may usefully be employed to provide an indication of the size of debris depending on whether one or both of the beams 86a, 86b is blocked by the debris. Debris of a smaller size located in the path of the debris sensor 80 will block only the lower beam 86a, whereas debris of a larger size will block both the upper and lower beams 86a, 86b. The count of beams 86a, 86b which reach their associated light sensor 84a, 84b may therefore be used as an indication of the size of the debris and be provided to the controller system 100 as the first input signal 141.

[0065] In this example, the debris signal characteristic criteria may have a maximum value corresponding to a maximum count of beams 86a, 86b that reach their associated light sensors 84a, 84b which, if exceeded, results in non- satisfaction of the debris signal characteristic criteria. As such, in this example, the quantum of the debris signal characteristic (the number of beams 86a, 86b to reach their associated light sensor 84a, 84b) reduces as the size of the debris increases.

[0066] In the example of Figure 10, the debris signal characteristic criteria comprises a rule which requires the debris signal characteristic to have a quantum of less than a first amount - two in this example - in order for the bleeds 32, 33 to open when the vacuum cleaner 10 is operating on a hard surface, and less than a second amount - one in this example - when the vacuum cleaner is operating on a carpeted surface. This ensures that the bleeds 33, 34 only open on carpeted surfaces when large debris is detected.

[0067] It will be understood that any suitable number of light source / emitter pairs 82, 84 may be used in the sensor 80 described above, and that the more light source / emitter pairs 82, 84 used, the more refined level of debris size sensing may be achieved. Alternatively or additionally, a beam splitter may be used to split a single beam 86a, 86b from one or both of the light sources 82a, 82b.

[0068] In another example (not shown), the reflector arrangement of Figure 9 may be used with one or more of the light source / emitter pairs 82, 84 in the debris sensor 80 in order to place the light beams 86 at the desired position (for example the lowermost light source / emitter pairs 82, 84).

[0069] Figure 11 shows a still further alternative sensor arrangement. The sensor arrangement shown in Figure 11 is the same in all respects to the sensor arrangement 80 shown in Figure 10 and all of the same modifications may be made as described above in relation to the arrangement of Figure 10. However, the sensor arrangement shown in Figure 11 differs from Figure 10 in that a pair of wheels 90 are located at the bottom of the bleed opening 34 and the bleed opening surround 91 is able to move in the vertical direction (with respect to Figure 11) relative to the housing 23.

[0070] The arrangement of Figure 11 is particularly useful when operating the vacuum cleaner 10 on a carpeted surface since the bleed opening surround 91 may lift relative to the housing 23 as the wheels 90 follow the surface of the carpet. This helps to ensure that the light beams 86a, 86b do not erroneously detect the fibres of the carpet and interpret them as debris. The bleed opening surround 91 comprises a follower member which is configured to follow the upper surface of the floor surface to be cleaned. The wheels 90 are not essential and may be omitted. In one example, not shown, the lower surface of the bleed opening surround 91 may be provided with a low friction material or the bleed opening surround 91 may comprise a low friction material.

[0071] The vacuum cleaner 10, cleaner head 20 and control system 100 described above comprise and receive data from light sensors 40, 60, 70, 80. In another example (not shown), the vacuum cleaner 10, cleaner head 20 and control system 100 may comprise and receive data from any other type of suitable sensor capable of providing a first input signal 141 indicative of the size of debris located in the vicinity of the cleaner head 20. Example sensors include touch sensors, capacitive sensors, cameras, lidar and microwave radar. In the case of cameras, lidar and microwave radar, it is not necessary that the sensor or sensors be located on the cleaner head 20 as they do not need to make physical contact, or have light beam interference, in order to detect and provide an indication of debris size. In these examples, the sensor or sensors may be located on the wand 14 or main body 12. Any type of sensor may be used together with any other type of sensor as desired.

Claims

CLAIMS1. A control system for controlling the actuation of one or more bleed members of a cleaner head for a vacuum cleaner, the control system comprising at least one processor configured to: receive a first input signal indicative of the size of debris located in the vicinity of the cleaner head; determine a debris signal characteristic in dependence on the first input signal; receive a second input signal indicative of a surface type to be cleaned; determine the surface type to be cleaned in dependence on the second input signal; set a debris signal characteristic criteria in dependence on the determined surface type; and if the debris signal characteristic satisfies the debris signal characteristic criteria, issue an output signal comprising an instruction to open the one or more bleed members.

2. The control system of claim 1, configured to: detect a change from a first surface type to a second surface type in dependence on the second input signal; and upon detection of a change from the first surface type to the second surface type, re-set the debris signal characteristic criteria in dependence on the determined second surface type.

3. The control system of claim 1 or 2, wherein the debris signal characteristic criteria comprises: a minimum value which, if not met, results in non-satisfaction of the debris signal characteristic criteria; or a maximum value which, if not met, results in non-satisfaction of the debris signal characteristic criteria.

4. The control system of any preceding claim, wherein a quantum of the debris signal characteristic reduces as the size of the debris increases.

5. The control system of any preceding claim, wherein the first input signal is derived from the output of a light sensor.

6. A system for controlling the actuation of one or more bleed members of a cleaner head for a vacuum cleaner, the system comprising: the control system of any preceding claim; a cleaner head comprising a housing having one or more bleed openings, wherein the bleed openings are selectively openable by actuation of an associated bleed member; and one or more sensors for sensing the size of debris located in the vicinity of the cleaner head.

7. The system of claim 6, wherein one or more of the sensors comprise a light gate having a light source and a light receiver, wherein the light receiver is configured to output a signal indicative of an amount of light received by the light receiver from the light source, wherein the first input signal is derived from the output signal of the light receiver.

8. The system of claim 7, wherein the light gate comprises a first lens configured to spread the light emitted from the light source, and a second lens configured to focus the light received from the light source onto the light receiver.

9. The system of claim 7 or 8, wherein the light emitted from the light source is redirected by at least one reflector or light pipe before being received by the light receiver.

10. The system of any one of claims 7 to 9, wherein the light gate is located on a follower member which is configured to follow the upper surface of the floor surface to be cleaned.

11. The system of any one of claims 7 to 10, wherein the light gate is configured so that the light emitter is located proximate a first side of a bleed opening and the light receiver is located proximate a second side of the bleed opening.

12. The system of any one of claims 7 to 11, wherein the light gate comprises a plurality of light sources and a plurality of light receivers, wherein the first input signal is derived from the output signals of the plurality of light receivers.

13. A vacuum cleaner comprising the system of any one of claims 6 to 12.

14. A method of controlling the actuation of one or more bleed members of a cleaner head for a vacuum cleaner, the method comprising: receiving a first input signal indicative of the size of debris located in the vicinity of the cleaner head; determining a debris signal characteristic in dependence on the first input signal; receiving a second input signal indicative of a surface type to be cleaned; determining the surface type to be cleaned in dependence on the second input signal; setting a debris signal characteristic criteria in dependence on the determined surface type; and if the debris signal characteristic satisfies the debris signal characteristic criteria, issuing an output signal comprising an instruction to open the one or more bleed members.

15. Computer readable instructions which, when executed by a computer, are arranged to perform the method according to claim 14.

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