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公开(公告)号：WO2013138574A3
公开(公告)日：2013-11-14
申请号：PCT/US2013031264
申请日：2013-03-14
Applicant: IROBOT CORP , HICKEY STEPHEN A , PASTORE ANDREW , WON CHIKYUNG , GAMBLE ROGER DALE
Inventor： HICKEY STEPHEN A , PASTORE ANDREW , WON CHIKYUNG , GAMBLE ROGER DALE
IPC: G05D1/02
CPC classification number: B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
Abstract: A robot bumper assembly (108) includes a bumper body (107), a first sensor array (120a) and a second sensor array (120b). The first sensor array is disposed along and contoured to the periphery of a forward facing portion (110) of the bumper body and senses contact with an external environment at positions along the contour of the periphery forward facing portion of the bumper body. The second sensor array is disposed along and contoured to the periphery of a top portion (109) of the forward facing portion of the robot body. The top portion is angled, ramping up. The second sensor array senses contact with an external environment at positions along the periphery of the angled top portion of the bumper body.
Abstract translation: 机器人保险杠组件（108）包括保险杠主体（107），第一传感器阵列（120a）和第二传感器阵列（120b）。 第一传感器阵列沿着保险杠本体的前向部分（110）的周边设置并且轮廓形状，并且在沿着保险杠主体的周边前向部分的轮廓的位置处感测到与外部环境的接触。 第二传感器阵列沿机器人主体的前面部分的顶部（109）的周边设置并且轮廓化。 顶部是倾斜的，上升。 第二传感器阵列在保险杠主体的倾斜顶部的周边的位置处感测与外部环境的接触。
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公开(公告)号：AU2016200330A1
公开(公告)日：2016-02-11
申请号：AU2016200330
申请日：2016-01-20
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor 5 (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image 10 having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.
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公开(公告)号：AU2013338354A1
公开(公告)日：2014-10-16
申请号：AU2013338354
申请日：2013-10-17
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.
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公开(公告)号：AU2017228620B2
公开(公告)日：2019-01-24
申请号：AU2017228620
申请日：2017-09-14
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.
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公开(公告)号：AU2016200330B2
公开(公告)日：2017-07-06
申请号：AU2016200330
申请日：2016-01-20
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor 5 (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image 10 having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.
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Patent Agency Ranking
公开(公告)号：AU2016200330C1
公开(公告)日：2018-02-01
申请号：AU2016200330
申请日：2016-01-20
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor 5 (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image 10 having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.
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公开(公告)号：AU2015224421A1
公开(公告)日：2015-10-01
申请号：AU2015224421
申请日：2015-09-09
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor 5 (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image 10 having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.
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公开(公告)号：EP2838410A4
公开(公告)日：2015-05-27
申请号：EP13852108
申请日：2013-10-17
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
IPC: A47L9/28 , A47L11/40 , B25J9/16 , B25J13/08 , G05D1/02 , G06T7/00 , G06T7/20 , G06T7/40 , G06T7/60
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
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公开(公告)号：AU2017228620A1
公开(公告)日：2017-10-05
申请号：AU2017228620
申请日：2017-09-14
Applicant: IROBOT CORP
Inventor： CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW , ROSENSTEIN MICHAEL T
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images.
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公开(公告)号：AU2015224421B2
公开(公告)日：2017-04-06
申请号：AU2015224421
申请日：2015-09-09
Applicant: IROBOT CORP
Inventor： ROSENSTEIN MICHAEL T , CHIAPPETTA MARK , SCHNITTMAN MARK , PASTORE ANDREW
Abstract: A mobile floor cleaning robot (100) includes a robot body (110) supported by a drive system (120) configured to maneuver the robot over a floor surface (10). The robot also includes a cleaning system (160) supported by the robot body, an imaging sensor 5 (510) disposed on the robot body, and a controller (150) in communication with the drive system and the imaging sensor. The controller receives a sequence of images (514b) of the floor surface. The controller segments each image into color blobs (23) by color quantizing pixels (514) of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations (517), and identifies areas of the image 10 having a threshold spatial distribution for that color. The controller then tracks a location (12a) of the color blobs with respect to the imaging sensor across the sequence of images. cDO ~Lo ~Lo CO
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