公开(公告)号：WO2007065033A2

公开(公告)日：2007-06-07

申请号：PCT/US2006046400

申请日：2006-12-04

Applicant: IROBOT CORP ,  SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

Inventor： SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

IPC: G05D1/02

CPC classification number: A47L11/40 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  B25J9/0003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04L1/16 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01 ,  Y10S901/50

Abstract: An autonomous coverage robot includes a chassis (102), a drive system (104) to maneuver the robot, an edge cleaning head (106,214,274,316), and a controller (108) configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, the autonomous coverage robot includes a bump sensor (132) and a proximity sensor (134). The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor (134) indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor (132) indicating contact with an obstacle.

Abstract translation: 一种自主覆盖机器人包括机架（102），用于操纵机器人的驱动系统（104），边缘清洁头（106,214,274,316）和控制器（108），所述控制器被配置为监控与边缘清洁头相关联的电动机电流并且反转 响应于升高的电机电流偏置边缘清洁头电机，同时继续在地板上操纵机器人。 另一方面，自主覆盖机器人包括碰撞传感器（132）和接近传感器（134）。 驱动系统被配置为响应于来自接近传感器（134）的指示沿向前方向检测到潜在障碍物的信号来减小速度设置，同时根据航向设置继续前进机器人。 此外，驱动系统被配置为响应于从碰撞传感器（132）接收的指示与障碍物接触的信号而改变航向设置。

公开(公告)号：JP2013146587A

公开(公告)日：2013-08-01

申请号：JP2013086629

申请日：2013-04-17

Applicant: Irobot Corp ,  アイロボット コーポレイション

Inventor： SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

IPC: A47L9/28 ,  G05D1/02

CPC classification number: A47L9/0477 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4027 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  B25J9/0003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04L1/16 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: PROBLEM TO BE SOLVED: To provide an autonomous cleaning robot capable of appropriately detecting the presence/absence of a cliff, such as stairs, on a floor surface to avoid a fall when coming to the cliff while moving.SOLUTION: An autonomous coverage robot includes a chassis, a drive system mounted on the chassis and configured to maneuver the autonomous cleaning robot, a plurality of floor proximity sensors each held by the chassis and configured to detect a cliff on a floor surface. Each of the floor proximity sensors includes a beam emitter configured to direct a beam toward the floor surface, a beam receiver responsive to a reflection of the directed beam from the floor surface, a holding portion including a front portion and a rear portion for holding the beam emitter and the beam receiver inside, respectively, and a beam-transparent cover attached to the holding portion for covering the beam emitter and the beam receiver, each beam-transparent cover having a surface angled to the floor surface so that a forward edge positions higher than a rearward edge with respect to the floor surface.

Abstract translation: 要解决的问题：提供一种自动清洁机器人，其能够适当地检测楼梯上的悬崖的存在/不存在，以避免在移动时到达悬崖时的下落。解决方案：自主覆盖机器人包括 底盘，安装在底盘上并被配置为操纵自主清洁机器人的驱动系统，多个地板接近传感器，每个地板接近传感器均由底盘保持并且被配置为检测地板表面上的悬崖。 每个地板接近传感器包括射束发射器，其被配置为将射束引向地板表面;响应于来自地板表面的定向光束的反射的光束接收器，保持部分，包括前部和后部，用于保持 光束发射器和光束接收器，以及附接到保持部分用于覆盖光束发射器和光束接收器的光束透明盖，每个光束透明盖具有与地板表面成一定角度的表面，使得前边缘位置 高于相对于地板表面的后边缘。

公开(公告)号：JP2011092750A

公开(公告)日：2011-05-12

申请号：JP2010282185

申请日：2010-12-17

Applicant: Irobot Corp ,  アイロボット コーポレイション

Inventor： SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

IPC: A47L9/28 ,  A47L9/00 ,  G05D1/02

CPC classification number: A47L9/009 ,  A47L5/30 ,  A47L9/0411 ,  A47L9/0466 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/1409 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1666 ,  B25J9/1694 ,  B25J11/0085 ,  B25J13/006 ,  B60L1/003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1825 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  B60R19/38 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04B1/02 ,  H04B1/06 ,  H04L1/16 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: PROBLEM TO BE SOLVED: To provide an autonomous cleaning robot which suitably detects existence of a cliff, such as a set of stairs in a floor surface to prevent the robot from moving down the cliff when the robot meeting with the cliff while moving. SOLUTION: The autonomous cleaning robot includes a chassis, a drive system mounted on the chassis and configured to maneuver the autonomous cleaning robot, a floor proximity sensor carried by the chassis and configured to detect the cliff in the floor surface. The floor proximity sensor includes a beam emitter configured to direct a beam toward the floor surface, and a beam receiver receiving a reflection of the emitted beam from the floor surface, and a beam-transparent cover covering the beam emitter and the beam receiver. The beam-transparent cover has a surface tilted with respect to the direction of travel and has the forward edge elevated above the rearward edge to prohibit accumulation of sediment. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种适当地检测悬崖的存在的自主清洁机器人，例如在地板表面中的一组楼梯，以防止当机器人在移动时与悬崖会晤时机器人向下移动 。 解决方案：自主清洁机器人包括底盘，安装在底盘上并被配置为操纵自主清洁机器人的驱动系统，由底盘承载并被配置为检测地板表面中的悬崖的地板接近传感器。 地板接近传感器包括被配置为将梁引向地板表面的射束发射器，以及接收来自地板表面的发射光束的反射的光束接收器，以及覆盖光束发射器和光束接收器的光束透明盖。 光束透明盖具有相对于行进方向倾斜的表面，并且前缘在后边缘上方升高以防止沉积物的积聚。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2012130781A

公开(公告)日：2012-07-12

申请号：JP2012087445

申请日：2012-04-06

Applicant: Irobot Corp ,  アイロボット コーポレイション

Inventor： SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

IPC: A47L9/28 ,  A47L9/00

CPC classification number: A47L9/009 ,  A47L5/30 ,  A47L9/0411 ,  A47L9/0466 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/1409 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1666 ,  B25J9/1694 ,  B25J11/0085 ,  B25J13/006 ,  B60L1/003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1825 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  B60R19/38 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04B1/02 ,  H04B1/06 ,  H04L1/16 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: PROBLEM TO BE SOLVED: To provide an autonomous cleaning robot which suitably detects existence of a cliff, such as a set of stairs in a floor surface to prevent the robot from falling down the cliff when the robot meeting with the cliff while moving.SOLUTION: The autonomous cleaning robot includes: a chassis; a drive system mounted on the chassis and having a plurality of wheels configured to maneuver the autonomous cleaning robot; a floor proximity sensor carried by the chassis and configured to detect the cliff in the floor surface; a run off sensor disposed in the proximity of the wheel and detecting a downward displacement of the wheel relative to the chassis; and a verification system for verifying whether the floor proximity sensor is blocked, based on the detection result of the floor proximity sensor, when the run off sensor detects that all the wheels of the drive system run off.

Abstract translation: 要解决的问题：提供一种自动清洁机器人，其适当地检测在地板表面中的一组楼梯等悬崖的存在，以防止机器人在移动时与悬崖会合时落下悬崖 。

解决方案：自主清洁机器人包括：底盘; 驱动系统，其安装在所述底盘上并具有配置成操纵所述自主清洁机器人的多个车轮; 底架接近传感器，由底盘承载并且构造成检测地板表面中的悬崖; 设置在车轮附近并检测车轮相对于底盘的向下位移的越野传感器; 以及用于当跑道关闭传感器检测到驱动系统的所有车轮跑掉时，基于地板接近传感器的检测结果来验证地板接近传感器是否被阻挡的验证系统。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：ES2378138T3

公开(公告)日：2012-04-09

申请号：ES10174129

申请日：2006-12-04

Applicant: IROBOT CORP

Inventor： SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

IPC: G05D1/02

Abstract: Un robot autónomo (100, 200, 258, 270, 300) comprende: un chasis (102); un sistema de tracción (104) montado sobre el chasis (102) y configurado para maniobrar el robot un sensor de proximidad de piso (140) ubicado en el chasis (102) y configurado para detectar una superficie de piso adyacente, el sensor (140) comprende: un emisor de rayo (148) configurado para dirigir un rayo hacia la superficie del piso; y un receptor de rayo (150) sensible a una reflexión del rayo dirigido desde la superficie del piso y montado en un receptáculo dirigido hacia abajo (144, 146) del chasis (102); y una cubierta transparente a los rayos (152) que tiene un borde delantero (158) y un borde posterior (159) dispuesto a través de un extremo inferior del receptáculo (144, 146) para prohibir la acumulación de sedimento en el receptáculo, el borde delantero (158) elevado por encima del borde posterior (159) .

公开(公告)号：AU2014202140B2

公开(公告)日：2016-03-24

申请号：AU2014202140

申请日：2014-04-16

Applicant: IROBOT CORP

Inventor： HUSSEY PATRICK ALAN ,  ROY ROBERT PAUL ,  NEUMANN ROGELIO MANFRED ,  SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER JOHN ,  BURNETT SCOTT THOMAS ,  MORIN RUSSELL WALTER

IPC: A47L9/04 ,  A46B17/06

Abstract: H:\dxl\Intrwovn\NRPortbl\DCC\DXL\6205585_I.doc-4/16/2014 An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor 5 surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning 10 bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

公开(公告)号：AU2010282356A1

公开(公告)日：2012-03-01

申请号：AU2010282356

申请日：2010-08-13

Applicant: IROBOT CORP

Inventor： HUSSEY PATRICK ALAN ,  ROY ROBERT PAUL ,  NEUMANN ROGELIO MANFRED ,  SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER JOHN ,  BURNETT SCOTT THOMAS

IPC: A47L9/04 ,  A46B17/06

Abstract: An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

公开(公告)号：DE602006009148D1

公开(公告)日：2009-10-22

申请号：DE602006009148

申请日：2006-12-04

Applicant: IROBOT CORP

Inventor： SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

IPC: G05D1/02

公开(公告)号：CA2770336C

公开(公告)日：2015-02-17

申请号：CA2770336

申请日：2010-08-13

Applicant: IROBOT CORP

Inventor： HUSSEY PATRICK ALAN ,  ROY ROBERT PAUL ,  NEUMANN ROGELIO MANFRED ,  SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER JOHN ,  BURNETT SCOTT THOMAS

IPC: A47L9/04 ,  A46B17/06

Abstract: An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

公开(公告)号：AT534941T

公开(公告)日：2011-12-15

申请号：AT10174129

申请日：2006-12-04

Applicant: IROBOT CORP

Inventor： SVENDSEN SELMA ,  OZICK DANIEL N ,  CASEY CHRISTOPHER M ,  KAPOOR DEEPAK RAMESH ,  CAMPBELL TONY L ,  WON CHIKYUNG ,  MORSE CHRISTOPHER ,  BURNETT SCOTT THOMAS

IPC: G05D1/02

Abstract: An autonomous robot includes a chassis (102), a drive system (104) mounted on the chassis (102) and configured to maneuver the robot, a floor proximity sensor (140) carried by the chassis (102) and configured to detect an adjacent floor surface, the sensor (140) comprising a beam emitter (148) configured to direct a beam toward the floor surface, and a beam receiver (150) responsive to a reflection of the directed beam from the floor surface and mounted in a downwardly-directed receptacle (144,146) of the chassis (102), and a beam-transparent cover (152) having a forward (158) and rearward edge (159) disposed across a lower end of the receptacle (144,146) to prohibit accumulation of sediment in the receptacle, the forward edge (158) elevated above the rearward edge (159).