公开(公告)号：WO2018136545A1

公开(公告)日：2018-07-26

申请号：PCT/US2018/014089

申请日：2018-01-17

Applicant: IROBOT CORPORATION

Inventor： FARMER, William ,  SCHREGARDUS, Thomas P. ,  ERIC, Burbank

IPC: B25J11/00 ,  A47L11/282 ,  A47L9/04

Abstract: This document describes a mobile cleaning robot that includes a chassis that supports a drive system, a debris collection volume; and a cleaning head formed to complete a bottom of the robot. The cleaning head includes a frame for affixing the cleaning head to the chassis, a monolithic housing having an interior cavity, a suspension linkage movably suspending the monolithic housing from the frame, the suspension linkage being configured to lift the monolithic housing, a diaphragm formed of a flexible material and mated to the monolithic housing, a rigid duct mated the frame to form a pneumatic path between the monolithic housing and the rigid duct through the diaphragm, and cleaning extractors disposed in the interior cavity of the monolithic housing.

公开(公告)号：WO2017079105A1

公开(公告)日：2017-05-11

申请号：PCT/US2016/059818

申请日：2016-11-01

Applicant: IROBOT CORPORATION

Inventor： OHM, Timothy R. ,  CLAFFEE, Mark R. ,  AMARAL, Erik ,  SHAMLIAN, Steven V. ,  MOZEIKA, Annan M.

IPC: B25J15/12 ,  A61F2/54 ,  B25J15/02 ,  B25J15/08

CPC classification number: B25J15/08 ,  B25J9/1045 ,  B25J13/084 ,  B25J15/0009

Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the linger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

Abstract translation: 机器人末端执行器包括手指和至少一个致动器。 手指沿手指轴从近端延伸到远端。 手指包括邻近近端的第一指骨，邻近远端的第二指骨以及包括插入第一指骨和第二指骨之间并分离第一指骨的至少一个椎骨的关节。 关节接头构造成允许第二趾骨相对于第一趾骨围绕垂直于徘徊轴线的枢转轴线枢转。 每个椎骨具有沿手指轴线延伸的轴向厚度和垂直于其轴向厚度延伸的横向宽度，并且其横向宽度大于其轴向厚度。 所述至少一个致动器可操作以使第二指骨相对于第一指骨围绕枢转轴线移动。

公开(公告)号：WO2016148745A1

公开(公告)日：2016-09-22

申请号：PCT/US2015/061866

申请日：2015-11-20

Applicant: IROBOT CORPORATION

Inventor： LU, Ping-Hong ,  JOHNSON, Joseph M. ,  FORAN, Daniel ,  WILLIAMS, Marcus ,  GRAZIANI, Andrew

IPC: A47L11/40

CPC classification number: A47L11/4036 ,  A47L9/0673 ,  A47L9/2805 ,  A47L9/2815 ,  A47L11/24 ,  A47L11/28 ,  A47L11/4002 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4083 ,  A47L11/4088 ,  A47L13/16 ,  A47L13/24 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  B08B1/001 ,  B08B7/04 ,  Y10S901/01

Abstract: An autonomous floor cleaning robot includes a body, a controller supported by the body, a drive supporting the body to maneuver the robot across a floor surface in response to commands from the controller, and a pad holder attached to an underside of the body to hold a removable cleaning pad during operation of the robot. The pad includes a mounting plate and a mounting surface. The mounting plate is attached to the mounting surface. The robot includes a pad sensor to sense a feature on the pad and to generate a signal based on the feature, which is defined in part by a cutout on the card backing. The mounting plate enables the pad sensor to detect the feature. The controller is responsive to the signal to perform operations including selecting a cleaning mode based on the signal, and controlling the robot according to a selected cleaning mode.

Abstract translation: 自主地板清洁机器人包括主体，由主体支撑的控制器，响应于来自控制器的命令而支撑机身以操纵机器人跨越地板表面的驱动器，以及附接到主体的下侧以保持 机器人操作期间的可拆卸清洁垫。 垫包括安装板和安装表面。 安装板安装在安装面上。 机器人包括用于感测垫上的特征并且基于由卡背衬上的切口部分限定的特征产生信号的垫传感器。 安装板使焊盘传感器能够检测该特征。 控制器响应于信号执行操作，包括基于该信号选择清洁模式，并根据选择的清洁模式来控制机器人。

公开(公告)号：WO2016126297A2

公开(公告)日：2016-08-11

申请号：PCT/US2015/061261

申请日：2015-11-18

Applicant: IROBOT CORPORATION

Inventor： KEARNS, Justin, H. ,  TAKA, Orjeta

IPC: G06K9/00 ,  H04N7/18

CPC classification number: G06K9/00664 ,  B25J11/002 ,  G05D1/0094 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0209 ,  G06K9/00288 ,  H04N7/18 ,  H04N7/185

Abstract: A method of operating a mobile robot includes receiving a layout map corresponding to a patrolling environment at a computing device and maneuvering the robot in the patrolling environment based on the received layout map. The method further includes receiving imaging data of a scene about the robot when the robot maneuvers in the patrolling environment at the computing device. The imaging data is received from one or more imaging sensors disposed on the robot and in communication with the computing device. The method further includes identifying a person in the scene based on the received imaging data and aiming a field of view of at least one imaging sensor to continuously perceive the identified person in the field of view. The method further includes capturing a human recognizable image of the identified person using the at least one imaging sensor.

Abstract translation: 操作移动机器人的方法包括：接收与计算设备的巡逻环境相对应的布局图，并根据所接收的布局图在巡逻环境中操纵机器人。 该方法还包括当机器人在计算设备的巡逻环境中操纵时，接收关于机器人的场景的成像数据。 从设置在机器人上并与计算设备通信的一个或多个成像传感器接收成像数据。 该方法还包括基于所接收的成像数据识别场景中的人，并且瞄准至少一个成像传感器的视野以在视野中连续感知识别的人物。 该方法还包括使用至少一个成像传感器捕获识别的人的人可识别图像。

公开(公告)号：WO2016093911A1

公开(公告)日：2016-06-16

申请号：PCT/US2015/050565

申请日：2015-09-17

Applicant: IROBOT CORPORATION

Inventor： MORIN, Russell Walter ,  BOESCHENSTEIN, Harold ,  BURSAL, Faruk ,  GRACE, Chris

IPC: A47L9/10

CPC classification number: A47L9/2805 ,  A47L7/0004 ,  A47L9/106 ,  A47L2201/024

Abstract: A robot floor cleaning system (10,10') features a mobile floor cleaning robot (100,100') and an evacuation station (200,200'). The robot includes: a chassis (102) with at least one drive wheel (142a, 142b) operable to propel the robot across a floor surface; a cleaning bin ( 122, 122 ', 122") disposed within the robot and arranged to receive debris ingested by the robot during cleaning; and a robot vacuum (120) configured to pull debris into the cleaning bin from an opening (109,109') on an underside of the robot. The evacuation station is configured to evacuate debris from the cleaning bin of the robot, and includes: a housing (202,202') defining a platform (206,206') for receiving the cleaning robot with the opening on the underside of the robot aligned with a suction opening (216) of the platform; and an evacuation vacuum (212) operable to draw air into the evacuation station housing through the suction opening.

Abstract translation: 机器人地板清洁系统（10,10'）具有移动地板清洁机器人（100,100'）和撤离站（200,200'）。 所述机器人包括：具有至少一个驱动轮（142a，142b）的底盘（102），所述驱动轮可操作以将所述机器人推进穿过地板表面; 设置在所述机器人内并且布置成在清洁期间接收由所述机器人吸收的碎屑的清洁箱（122,122'，122“）;以及机构真空（120），其构造成将碎屑从开口（109,109'）拉入所述清洁仓 在所述机器人的下侧，所述撤离站被配置为从所述机器人的清洁箱排出碎屑，并且包括：壳体（202,202'），其限定用于接收所述清洁机器人的平台（206,206'），所述平台具有在所述下侧上的开口 所述机器人与所述平台的吸入口（216）对准;以及抽空真空（212），其可操作以通过所述吸入口将空气吸入所述抽空站壳体。

公开(公告)号：WO2016085716A1

公开(公告)日：2016-06-02

申请号：PCT/US2015/061146

申请日：2015-11-17

Applicant: IROBOT CORPORATION

Inventor： ROMANOV, Nikolai ,  CASE, James, Philip ,  GRIEST, Kenneth ,  SWETT, David, O.

IPC: B25J9/00 ,  B25J11/00 ,  B25J9/16 ,  B25J19/02 ,  A47L9/28

CPC classification number: B25J9/1697 ,  G05B2219/50393 ,  G05D1/0253 ,  G05D1/027 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

Abstract: Systems and methods for use of optical odometry sensor systems in a mobile robot. The optical odometry sensor system is positioned within a recessed structure on an underside of the mobile robot body and configured to output optical odometry data. The optical odometry sensor system includes an optical odometry camera that includes a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field that provides a range of viewing distances at which a tracking surface is captured in focus from a first distance within the recessed structure to a second distance below the underside of the mobile robot body.

Abstract translation: 在移动机器人中使用光学测距传感器系统的系统和方法。 光学测距传感器系统定位在移动机器人主体的下侧上的凹陷结构内，并被配置为输出光学测距数据。 光学测距传感器系统包括光学测距照相机，其包括远心透镜，其被配置为捕获身体下方的跟踪表面的图像，并且具有提供观察距离范围的景深的距离，在该范围内跟踪表面被聚焦从焦点 在凹陷结构内的第一距离到移动机器人主体的下侧之下的第二距离。

公开(公告)号：WO2014047557A1

公开(公告)日：2014-03-27

申请号：PCT/US2013/061183

申请日：2013-09-23

Applicant: IROBOT CORPORATION

Inventor： SHAMLIAN, Steven, V. ,  DUFFLEY, Samuel ,  ROMANOV, Nikolai

IPC: B25J9/10 ,  B25J19/02 ,  B25J5/00 ,  G01V8/10

CPC classification number: G05D1/0238 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/027 ,  G05D2201/0215

Abstract: A proximity sensor (520) includes first and second components (522, 523) disposed on a sensor body (514) adjacent to one another. The first component (522, 524) is one of an emitter (522) and a receiver (524), and the second component (522a, 524a) is the other one of an emitter and a receiver, A third component (522b, 524b) is disposed adjacent the second sensor opposite the first sensor. The third component is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each component has a respective field of view (523, 525). First and second fields of view intersect, defining a first volume (VI) that detects a floor surface (10) within a first threshold distance (¾). The second and third fields of view intersect, defining a second volume (V2) that detects a floor surface within a second threshold distance (D AC ).

Abstract translation: 接近传感器（520）包括彼此相邻设置在传感器主体（514）上的第一和第二部件（522,523）。 第一组件（522,524）是发射器（522）和接收器（524）之一，第二组件（522a，524a）是发射器和接收器中的另一个组件，第三组件（522b，524b ）被布置成与第二传感器相邻，与第一传感器相对。 如果第一传感器是接收器，则第一传感器是发射器或接收器，第三部件是发射器。 每个组件具有相应的视野（523,525）。 第一和第二视场相交，限定在第一阈值距离（¾）内检测楼层表面（10）的第一容积（VI）。 第二和第三视场相交，定义了检测第二阈值距离（DAC）内的地板表面的第二卷（V2）。

公开(公告)号：WO2013036284A1

公开(公告)日：2013-03-14

申请号：PCT/US2012/026998

申请日：2012-02-28

Applicant: IROBOT CORPORATION ,  WETHERN, Thomas, James

Inventor： WETHERN, Thomas, James

IPC: G01S15/93

CPC classification number: G01S15/003 ,  G01S7/52003 ,  G01S7/521 ,  G01S15/931 ,  G10K11/02 ,  G10K11/28

Abstract: A SONAR system for use with a robotic vacuum having SONAR emitters and receivers thereon. The SONAR system comprises a waveguide or horn located in front of the emitters and receivers that can improve the overall target resolution and reduce the number of "dead zones" where targets are not easily resolved.

Abstract translation: 用于具有SONAR发射器和接收器的机器人真空的SONAR系统。 SONAR系统包括位于发射器和接收器前面的波导或喇叭，其可以提高总体目标分辨率并减少目标不容易解决的“死区”的数量。

公开(公告)号：WO2013012568A1

公开(公告)日：2013-01-24

申请号：PCT/US2012/045641

申请日：2012-07-06

Applicant: IROBOT CORPORATION ,  YAHNKER, Christopher R. ,  HUGHES, Robert Eugene ,  HOFFMAN, Marc Jeremy ,  KARDES, Amber

Inventor： YAHNKER, Christopher R. ,  HUGHES, Robert Eugene ,  HOFFMAN, Marc Jeremy ,  KARDES, Amber

IPC: B63G8/00 ,  B63G8/22

CPC classification number: B63G8/001 ,  B63G8/18 ,  B63G8/22

Abstract: A sea glider (100) that includes a pressure hull (110) and fore and aft fairings (120a, 120b) encapsulating the pressure hull. At least one of the fore and aft fairings defines an Ogive profile.

Abstract translation: 一种海滑翔机（100），其包括压力船体（110）和封装所述压力船体的前后整流罩（120a，120b）。 前后整流罩中至少有一个定义了Ogive轮廓。

公开(公告)号：WO2012149572A2

公开(公告)日：2012-11-01

申请号：PCT/US2012/035894

申请日：2012-04-30

Applicant: IROBOT CORPORATION ,  GILBERT, Duane, Leigh, Jr. ,  BURSAL, Faruk, Halil ,  THERRIEN, Richard, Joseph ,  MORIN, Russell, Walter

Inventor： GILBERT, Duane, Leigh, Jr. ,  BURSAL, Faruk, Halil ,  THERRIEN, Richard, Joseph ,  MORIN, Russell, Walter

IPC: A47L9/04

CPC classification number: A47L11/4041 ,  A47L7/02 ,  A47L9/0477 ,  A47L9/2821 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4013 ,  A47L11/4027 ,  A47L11/4061 ,  A47L11/4063 ,  A47L2201/00 ,  A47L2201/028 ,  A47L2201/04 ,  A47L2201/06 ,  B25J11/0085 ,  Y10S901/01

Abstract: An autonomous coverage robot has a chassis having forward and rearward portions. A drive system is mounted to the chassis and configured to maneuver the robot over a cleaning surface. A cleaning assembly is mounted on the forward portion of the chassis and at has two counter-rotating rollers mounted therein for retrieving debris from the cleaning surface, the longitudinal axis of the forward roller lying in a first horizontal plane positioned above a second horizontal plane on which the longitudinal axis of the rearward roller lies. The cleaning assembly is movably mounted to the chassis by a linkage affixed at a forward end to the chassis and at a rearward end to the cleaning assembly. When the robot transitions from a firm surface to a compressible surface, the linkage lifts the cleaning assembly from the cleaning surface. The linkage lifts the cleaning assembly substantially parallel to the cleaning surface but such that the front roller lifts at a faster rate than the rearward roller.

Abstract translation: 自主覆盖机器人具有具有前后部分的底盘。 驱动系统安装在底盘上，并配置为使机器人在清洁表面上操纵。 清洁组件安装在底盘的前部上，并且具有安装在其中的两个反转辊，用于从清洁表面回收碎屑，前辊的纵向轴线位于位于第二水平面上方的第二水平面上 后辊的纵轴位于其上。 清洁组件通过一个连接件可移动地安装到底盘上，该连杆固定在前端到底架上，并在后端固定到清洁组件。 当机器人从牢固的表面转移到可压缩表面时，联动装置将清洁组件从清洁表面上提升。 联动装置将清洁组件基本上平行于清洁表面提升，而使得前轮以比后滚轮更快的速度提升。