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公开(公告)号：WO2004025947A3
公开(公告)日：2004-05-21
申请号：PCT/US0328624
申请日：2003-09-12
Applicant: IROBOT CORP , CHIAPPETTA MARK J , JONES JOSEPH L
Inventor： CHIAPPETTA MARK J , JONES JOSEPH L
CPC classification number: G05D1/0272 , G01S5/12 , G01S5/16 , G05D1/0225 , G05D1/0242 , G05D1/0274 , G05D2201/0203
Abstract: A navigational control system (10) for altering movement activity of a robotic device (100) operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device (100), the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system (100) and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units (112) being configured and operative to detect one or more of the directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred transmit a control signal to the robotic device, wherein reception of the control signal by the robotic device causes the robotic device (100) to implement a prescribed conduct that alters the movement activity of the robotic device (100).
Abstract translation: 一种用于改变在限定的工作区域中操作的机器人装置（100）的运动活动的导航控制系统（10），包括与所述机器人装置（100）组合的发射子系统，所述发射子系统包括用于发射多个 定向波束，每个定向波束具有预定的发射模式，以及用作基站的接收子系统，该基站包括定义用于导航控制系统（100）的预定触发事件的导航控制算法和位于 所述检测单元（112）被配置和操作以在所述导航控制算法的控制下检测所述定向波束中的一个或多个以确定所述预定触发事件是否已经发生， 并且如果预定的触发事件已经发生，则向机器人dev发送控制信号 冰，其中由所述机器人装置接收所述控制信号使所述机器人装置（100）执行改变所述机器人装置（100）的运动活动的规定行为。
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公开(公告)号：JP2012245386A
公开(公告)日：2012-12-13
申请号：JP2012204434
申请日：2012-09-18
Applicant: Irobot Corp , アイロボット コーポレイション
Inventor： JONES JOSEPH L , MACK NEWTON E , NUGENT DAVID M , SANDIN PAUL E
Abstract: PROBLEM TO BE SOLVED: To provide an autonomous floor-cleaning robot that is designed and configured to optimize the cleaning capability and efficiency of its cleaning mechanisms.SOLUTION: The autonomous floor-cleaning robot comprises: a housing infrastructure including a deck; a power subsystem for providing energy to the autonomous floor-cleaning robot; a motive subsystem operative to propel the autonomous floor-cleaning robot; a control module operative to control the autonomous floor-cleaning robot; and a cleaning head subsystem. The cleaning head subsystem includes: a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates, and being a dual-stage brush assembly having asymmetric first and second brushes, the second brush having an outer diameter greater than the outer diameter of the first brush; and means coupled to the brush assembly for collecting particulates swept up by the brush assembly.
Abstract translation: 要解决的问题：提供一种自主的地板清洁机器人，其设计和构造以优化其清洁机构的清洁能力和效率。 解决方案：自主地板清洁机器人包括：包括甲板的住房基础设施; 用于向自主地板清洁机器人提供能量的电力子系统; 用于推动自主地板清洁机器人的动力子系统; 控制模块，用于控制自动地板清洁机器人; 和清洁头子系统。 清洁头子系统包括：刷组件，其与甲板组合安装并由动力子系统驱动以清除微粒，并且是具有不对称第一和第二刷子的双级刷组件，第二刷具有大于 第一刷的外径; 以及联接到刷组件以用于收集由刷组件扫过的微粒的装置。 版权所有（C）2013，JPO＆INPIT
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公开(公告)号：JP2011056298A
公开(公告)日：2011-03-24
申请号：JP2010284344
申请日：2010-12-21
Applicant: Irobot Corp , アイロボット コーポレイション
Inventor： JONES JOSEPH L , MACK NEWTON E , NUGENT DAVID M , SANDIN PAUL E
Abstract: PROBLEM TO BE SOLVED: To provide an autonomous cleaning device capable of optimizing the cleaning capacity and efficiency of a cleaning mechanism.
SOLUTION: The autonomous cleaning robot includes a chassis, a driving system mounted to the chassis to move the autonomous cleaning robot, and a cleaning head mounted to the chassis to clean a floor surface. The cleaning head includes a deck mounted to the chassis so as to be vertically pivotable with respect to the floor surface; a brush assembly mounted to the deck; and a deck adjusting assembly for pivoting the deck according to the torque change of the brush assembly. The deck adjusting assembly includes a pulley mounted to the deck side, and a pulley cord with one end fixed to the chassis side and with the other end fixed to the pulley.
COPYRIGHT: (C)2011,JPO&INPITAbstract translation: 要解决的问题：提供能够优化清洁机构的清洁能力和效率的自主清洁装置。 解决方案：自主清洁机器人包括底盘，安装到底架以驱动自主清洁机器人的驱动系统以及安装到底盘上以清洁地板表面的清洁头。 清洁头包括安装在底盘上以相对于地板表面可垂直转动的平台; 安装到甲板上的刷子组件; 以及用于根据电刷组件的扭矩变化枢转甲板的甲板调整组件。 甲板调整组件包括安装到甲板侧的滑轮和一个滑轮绳，其一端固定到底盘一侧，另一端固定在滑轮上。 版权所有（C）2011，JPO＆INPIT
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公开(公告)号：JP2009189880A
公开(公告)日：2009-08-27
申请号：JP2009133437
申请日：2009-06-02
Applicant: Irobot Corp , アイロボット コーポレイション
Inventor： JONES JOSEPH L , MACK NEWTON E , NUGENT DAVID M , SANDIN PAUL E
Abstract: PROBLEM TO BE SOLVED: To optimize cleaning performance and as well to minimize power requirement. SOLUTION: An autonomous floor cleaning robot comprises a housing basic structure, a power subsystem, a drive subsystem, a command/control subsystem, and a self-adjusting cleaning head subsystem. The self-adjusting cleaning head subsystem includes: a deck mounted in pivotal combination with a chassis; a brush assembly mounted in combination with the deck and powered by the drive subsystem to sweep up particulates during cleaning operations; a vacuum assembly disposed in combination with the deck and powered by the drive subsystem to ingest particulates during cleaning operations; and a deck adjusting subassembly mounted in combination with the drive subsystem, the brush assembly, and the chassis, and automatically operating in response to an increase in brush torque in the brush assembly to pivot the deck with respect to the chassis. COPYRIGHT: (C)2009,JPO&INPIT
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公开(公告)号：WO2011014785A3
公开(公告)日：2011-10-27
申请号：PCT/US2010043922
申请日：2010-07-30
Applicant: IROBOT CORP , LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL N , CHIAPPETTA MARK J , JONES JOSEPH L
Inventor： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL N , CHIAPPETTA MARK J , JONES JOSEPH L
IPC: G05D1/02
CPC classification number: A47L11/4011 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0272 , G05D3/12 , G05D2201/0215
Abstract: An autonomous cleaning apparatus (100) includes a chassis ( 102 ), a drive system (112) disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller (114) in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system (145) disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor (125) for generating a debris signal, a bump sensor (120) for generating a bump signal, and an obstacle following sensor (126) disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.
Abstract translation: 自主清洁设备（100）包括底盘（102），设置在底盘上的驱动系统（112），其可操作以使清洁设备能够移动，以及与驱动系统通信的控制器（114）。 控制器包括可操作以控制驱动系统以引导清洁设备的运动的处理器。 自主清洁装置包括设置在底盘上的清洁头系统（145）和与控制器通信的传感器系统。 传感器系统包括用于产生碎片信号的碎片传感器（125），用于产生凸起信号的凸块传感器（120）和设置在自动清洁装置的侧面上的障碍物跟随传感器（126），用于产生障碍物信号 。 处理器执行优先级仲裁方案，以基于从传感器系统接收的至少一个信号来识别和实现一个或多个显性行为模式。
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Patent Agency Ranking
公开(公告)号：WO2007109624A3
公开(公告)日：2008-07-31
申请号：PCT/US2007064323
申请日：2007-03-19
Applicant: IROBOT CORP , SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS JR DAVID M , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
Inventor： SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS JR DAVID M , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
IPC: G05D1/02
CPC classification number: A01D34/008 , B60L3/0023 , B60L11/126 , B60L11/1803 , B60L11/1805 , B60L11/1816 , B60L11/1861 , B60L11/1877 , B60L2200/40 , B60L2210/30 , B60L2210/40 , B60L2240/36 , B60L2240/425 , B60L2240/662 , B60L2250/16 , B60L2260/32 , B60L2270/145 , G05D1/0225 , G05D1/0255 , G05D1/0259 , G05D1/0265 , G05D1/028 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02T10/6217 , Y02T10/642 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/7072 , Y02T10/7077 , Y02T10/7094 , Y02T10/7241 , Y02T10/7291 , Y02T90/127 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/09
Abstract: An autonomous coverage robot system (5) includes an active boundary responder (600, 6012) comprising a wire (600, 6012) powered with a modulated current placed along a perimeter (1006A, 1006B) of a property (1001), at least one. passive boundary responder (600, 6001, 6010) placed on a property interior (1001A) circumscribed by the active boundary responder (600, 6012), and an autonomous coverage robot (10- 19). The robot (10 - 19) includes drive system (400) carried by a body (100) and configured to maneuver the robot (10 - 19) across the property interior (1001A). A signal emitter (1510) emits a signal, where the passive boundary responder responsive to the signal. A boundary' responder detection system (1500, 1520) is carried by the body (100) and configured to detect both the active (600, 6012) and passive boundary responders. The drive system (400) is configured to redirect the robot' both in response to the responder detection system (1500, 1520) detecting an active boundary responder (600, 6012) and in response to detecting a passive boundary responder.
Abstract translation: 自动覆盖机器人系统（5）包括主动边界应答器（600,60612），该有源边界应答器包括由沿属性（1001）的周边（1006A，1006B）放置的调制电流供电的电线（600,61212），至少一个 。 被动边界响应器（600,6001,6010）放置在由主动边界应答器（600,6012）限定的属性内部（1001A）和自动覆盖机器人（10-19）上。 机器人（10-19）包括由主体（100）承载并被构造成通过物业内部（1001A）操纵机器人（10-19）的驱动系统（400）。 信号发射器（1510）发射信号，其中无源边界响应器响应信号。 边界应答器检测系统（1500,1520）由主体（100）承载并且被配置为检测活动（600,6012）和被动边界应答器。 驱动系统（400）被配置为响应于检测活动边界应答器（600,6012）的响应器检测系统（1500,1520）以及响应于检测到被动边界应答器而重定向机器人。
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公开(公告)号：WO2007109627A2
公开(公告)日：2007-09-27
申请号：PCT/US2007064326
申请日：2007-03-19
Applicant: IROBOT CORP , SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS DAVID M JR , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
Inventor： SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS DAVID M JR , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
CPC classification number: A01D34/008 , B60L3/0023 , B60L11/126 , B60L11/1803 , B60L11/1805 , B60L11/1816 , B60L11/1861 , B60L11/1877 , B60L2200/40 , B60L2210/30 , B60L2210/40 , B60L2240/36 , B60L2240/425 , B60L2240/662 , B60L2250/16 , B60L2260/32 , B60L2270/145 , G05D1/0225 , G05D1/0255 , G05D1/0259 , G05D1/0265 , G05D1/028 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02T10/6217 , Y02T10/642 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/7072 , Y02T10/7077 , Y02T10/7094 , Y02T10/7241 , Y02T10/7291 , Y02T90/127 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/09
Abstract: A robot lawnmower (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) includes a drive system (400) carried by a body (100) and configured to maneuver the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) across a lawn (20, 1020). The robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) includes a grass cutter (200, 200A, 200B, 2000A, 2050, 2100, 2200) carried by the body (100) and a swath edge detector (310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I) carried by the body (100) and configured to detect a swath edge (26) between cut grass (24) and uncut grass (22) while the drive system (400) maneuvers the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) across the lawn (20, 1020) while following a detected swath edge (26). The swath edge detector (310, 310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I) includes a calibrator (320, 320A, 320B) that monitors uncut grass (22) adjacent the swath edge (26) for calibration of the swath edge detector (310, 310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I).
Abstract translation: 机器人割草机（10,11,12,13,14,15,16,17,18,19）包括由主体（100）承载并被构造成操纵机器人（10,11,12）的驱动系统（400） ，13,14,15,16,17,18,19）穿过草坪（20,1020）。 机器人（10,11,12,13,14,15,16,17,18,19）包括由本体（100）承载的割草机（200,200A，200B，2000A，2050,2100,2200）和 由所述主体（100）承载并被配置为检测切割草（24）和未切割草（24）之间的条带边缘（26）的条带边缘检测器（310A，310B，310C，310D，310E，310F，310G，310H， 22），同时驱动系统（400）在沿着检测到的条带边缘（26）的同时操纵跨越草坪（20,1020）的机器人（10,11,12,13,14,15,16,17,18,19） 。 所述条带边缘检测器（310,310A，310B，310C，310D，310E，310F，310C，310D，310E，310F，310G，310H，310I）包括校准器（320,320A，320B），其监测与所述条边缘（26）相邻的未切割草 条边缘检测器（310,310A，310B，310C，310D，310E，310F，310G，310H，310I）的校准。
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公开(公告)号：WO2004025947A9
公开(公告)日：2005-04-14
申请号：PCT/US0328624
申请日：2003-09-12
Applicant: IROBOT CORP , CHIAPPETTA MARK J , JONES JOSEPH L
Inventor： CHIAPPETTA MARK J , JONES JOSEPH L
CPC classification number: G05D1/0272 , G01S5/12 , G01S5/16 , G05D1/0225 , G05D1/0242 , G05D1/0274 , G05D2201/0203
Abstract: A navigational control system (10) for altering movement activity of a robotic device (100) operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device (100), the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system (100) and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units (112) being configured and operative to detect one or more of the directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred transmit a control signal to the robotic device, wherein reception of the control signal by the robotic device causes the robotic device (100) to implement a prescribed conduct that alters the movement activity of the robotic device (100).
Abstract translation: 一种用于改变在限定的工作区域中操作的机器人装置（100）的运动活动的导航控制系统（10），包括与所述机器人装置（100）组合的发射子系统，所述发射子系统包括用于发射多个 定向波束，每个定向波束具有预定的发射模式，以及用作基站的接收子系统，该基站包括定义用于导航控制系统（100）的预定触发事件的导航控制算法和位于 所述检测单元（112）被配置和操作以在所述导航控制算法的控制下检测所述定向波束中的一个或多个以确定所述预定触发事件是否已经发生， 并且如果预定的触发事件已经发生，则向机器人dev发送控制信号 冰，其中由所述机器人装置接收所述控制信号使所述机器人装置（100）执行改变所述机器人装置（100）的运动活动的规定行为。
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公开(公告)号：JP2014030769A
公开(公告)日：2014-02-20
申请号：JP2013239447
申请日：2013-11-20
Applicant: Irobot Corp , アイロボット コーポレイション
Inventor： JONES JOSEPH L , MACK NEWTON E , NUGENT DAVID M , SANDIN PAUL E
Abstract: PROBLEM TO BE SOLVED: To provide an autonomous floor-cleaning robot capable of optimizing the cleaning capability and efficiency of a cleaning mechanism.SOLUTION: An autonomous floor-cleaning robot includes: left and right main wheel assembly for driving the robot; a vacuum system for cleaning a floor; a main brush assembly for collecting particles from a floor surface; a side-brush assembly for guiding particles toward the vacuum system or main brush assembly, the particles existing outside of a range of the vacuum system or main brush assembly, when cleaning the floor; and an upright part detection part for detecting a descending edge portion of a floor surface. Further, the side-brush assembly includes a hub and plural pieces of brush means that pass under the upright part detection part and have a length long enough to extend beyond an outer periphery of the robot, with each of the plural pieces of brush means disposed with a gap in a rotational direction.
Abstract translation: 要解决的问题：提供一种能够优化清洁机构的清洁能力和效率的自主地板清洁机器人。解决方案：自主地板清洁机器人包括：用于驱动机器人的左右主轮组件; 用于清洁地板的真空系统; 用于从地板表面收集颗粒的主刷组件; 用于在清洁地板时将颗粒引导到真空系统或主刷组件的侧刷组件，所述颗粒存在于真空系统或主刷组件的范围之外; 以及用于检测地板表面的下降边缘部分的直立部分检测部分。 此外，侧刷组件包括轮毂和多个刷装置，其在直立部分检测部分的下方通过，并且具有足够长的长度以延伸超过机器人的外周，其中设置多个刷装置中的每一个 在旋转方向上具有间隙。
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公开(公告)号：JP2012125652A
公开(公告)日：2012-07-05
申请号：JP2012085697
申请日：2012-04-04
Applicant: Irobot Corp , アイロボット コーポレイション
Inventor： JONES JOSEPH L , MACK NEWTON E , NUGENT DAVID M , SANDIN PAUL E
Abstract: PROBLEM TO BE SOLVED: To provide an autonomous cleaning robot that is designed and configured to optimize the cleaning capability and efficiency of its cleaning mechanisms.SOLUTION: The autonomous floor-cleaning robot comprises: wheels connected to a motor drive to maneuver the robot on a floor surface; a controller for controlling the motor drive to maneuver the robot in proximity to an obstacle encountered during cleaning; a housing for defining a periphery edge of the housing formed so that the robot can rotate freely when most approaching the obstacle; a cleaning head arranged in a position to engage with the floor surface outside the periphery of the housing; and a side brush extending beyond the peripheral edge of the housing for sweeping debris on the floor surface to an estimated course of the cleaning head. The controller of the autonomous floor-cleaning robot controls the motor drive so that the robot moves automatically along a wall part in a direction in which the side brush is arranged adjacently to the wall part.
Abstract translation: 要解决的问题：提供一种被设计和配置以优化其清洁机构的清洁能力和效率的自主清洁机器人。 解决方案：自动地板清洁机器人包括：连接到电动机驱动器的车轮，以在地板表面上操纵机器人; 控制器，用于控制电机驱动器以使机器人靠近清洁期间遇到的障碍物; 用于限定壳体的外围边缘的壳体，其形成为使得当最接近障碍物时机器人可以自由旋转; 清洁头，其布置在与所述壳体的外围外部的所述地板表面接合的位置; 以及侧刷延伸超过外壳的周边边缘，用于将地板表面上的碎屑扫除到清洁头的估计过程。 自动地板清洁机器人的控制器控制电机驱动器，使得机器人沿着侧壁沿壁部分相对于壁部分布置的方向自动地移动。 版权所有（C）2012，JPO＆INPIT
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