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公开(公告)号：EP3224003A4
公开(公告)日：2018-07-04
申请号：EP15863494
申请日：2015-11-17
Applicant: IROBOT CORP
Inventor： ROMANOV NIKOLAI , CASE JAMES PHILIP , GRIEST KENNETH , SWETT DAVID O
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.
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公开(公告)号：EP2961306A4
公开(公告)日：2016-11-09
申请号：EP14861189
申请日：2014-10-24
Applicant: IROBOT CORP
Inventor： DOOLEY MICHAEL J , ROMANOV NIKOLAI , CASE JAMES PHILLIP
CPC classification number: A47L11/284 , A47L11/125 , A47L11/34 , A47L11/4005 , A47L11/4008 , A47L11/4011 , A47L11/4036 , A47L11/4066 , A47L11/408 , A47L11/4083 , A47L11/4088 , A47L2201/00 , A47L2201/04 , A47L2201/06
Abstract: A mobile floor cleaning robot (100) includes a body (110) defining a forward drive direction (F), a drive system (120), a cleaning system (160), and a controller (150) in communication with the drive and cleaning systems. The cleaning system includes a pad holder (190) having a bottom surface (194b) for receiving a cleaning pad (400), and a fluid applicator (162) configured to apply fluid (172) to the floor surface (10). The controller controls the drive system and the fluid applicator while executing a cleaning routing. The cleaning routine includes applying fluid to a floor surface area substantially equal to a footprint area (AF) of the robot and returning the robot to the floor surface area in a movement pattern that moves a center (Pc) and lateral edges (P R and P L ) of the cleaning pad separately through the floor surface area to moisten the cleaning pad with the applied fluid.
Abstract translation: 移动地板清洁机器人包括限定正向驱动方向的主体，驱动系统，清洁系统和控制器。 清洁系统包括垫座，储存器，喷雾器和清洁系统。 垫架具有用于接收清洁垫的底面。 储存器容纳一定体积的流体，喷雾器将流体向前喷射垫垫。 控制器与驱动器和清洁系统通信。 控制器执行清洁程序，其包括向前方向驱动第一距离到第一位置，然后以反向驱动方向驱动第二距离到第二位置。 从第二位置起，机器人向前驱动方向喷射流体，但在第一位置向后喷射流体。 然后机器人沿着地板表面涂抹清洁垫，沿着交替的正向和反向驱动方向驱动。
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公开(公告)号：EP2945521A4
公开(公告)日：2017-02-15
申请号：EP14861203
申请日：2014-11-11
Applicant: IROBOT CORP
Inventor： DOOLEY MICHAEL J , ROMANOV NIKOLAI , WILLIAMS MARCUS , JOHNSON JOSEPH M
CPC classification number: A47L13/16 , A47L11/28 , A47L11/408 , A47L13/22 , A47L2201/00
Abstract: A pad particularly adapted for surface cleaning. The pad includes an absorbent core having the ability to absorb and retain liquid material, and a liner layer in contact with and covering at least one side of the absorbent core. The liner layer has the ability to retain and wick liquid material through the liner layer. Cleaning apparatus containing such pads and methods of using such pads are also described.
Abstract translation: 特别适用于表面清洁的垫子。 垫包括具有吸收和保持液体材料的能力的吸收芯和与吸收芯的至少一侧接触并覆盖吸收芯的至少一侧的衬垫层。 衬里层具有保持和吸收液体材料通过衬里层的能力。 还描述了包含这种垫的清洁装置以及使用这种垫的方法。
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公开(公告)号：EP2834048A4
公开(公告)日：2015-05-20
申请号：EP13839692
申请日：2013-09-23
Applicant: IROBOT CORP
Inventor： SHAMLIAN STEVEN V , DUFFLEY SAMUEL , ROMANOV NIKOLAI
CPC classification number: G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
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公开(公告)号：AU2016225774B2
公开(公告)日：2019-02-21
申请号：AU2016225774
申请日：2016-09-05
Applicant: IROBOT CORP
Inventor： SHAMLIAN STEVE V , DUFFLEY SAMUEL , ROMANOV NIKOLAI
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) 5 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, 10 defining a first volume (V1) that detects a floor surface (10) within a first threshold distance (Ds). The second and third fields of view intersect, defining a second volume (V2) that detects a floor surface within a second threshold distance (DAC). cco aa +U 0 Ni
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Patent Agency Ranking
公开(公告)号：CA2900857C
公开(公告)日：2018-09-25
申请号：CA2900857
申请日：2014-10-24
Applicant: IROBOT CORP
Inventor： DOOLEY MICHAEL J , ROMANOV NIKOLAI , CASE JAMES PHILLIP
IPC: A47L11/284 , A47L11/03 , A47L11/12 , B25J5/00 , G05D1/02
Abstract: A mobile floor cleaning robot (100) includes a body (110) defining a forward drive direction (F), a drive system (120), a cleaning system (160), and a controller (150) in communication with the drive and cleaning systems. The cleaning system includes a pad holder (190) having a bottom surface (194b) for receiving a cleaning pad (400), and a fluid applicator (162) configured to apply fluid (172) to the floor surface ( 10). The controller controls the drive system and the fluid applicator while executing a cleaning routing. The cleaning routine includes applying fluid to a floor surface area substantially equal to a footprint area (AF ) of the robot and returning the robot to the floor surface area in a movement pattern that moves a center (Pc) and lateral edges (PR and PL) of the cleaning pad separately through the floor surface area to moisten the cleaning pad with the applied fluid.
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公开(公告)号：AU2018203583A1
公开(公告)日：2018-06-14
申请号：AU2018203583
申请日：2018-05-22
Applicant: IROBOT CORP
Inventor： ROMANOV NIKOLAI , WILLIAMS MARCUS , DOOLEY MICHAEL J , JOHNSON JOSEPH M
IPC: A47L13/16
Abstract: A mobile floor cleaning robot comprising:a robot body defining a forward drive direction; a drive supporting the robot body to maneuver the robot across a floor surface the drive comprising right and left drive wheels disposed on corresponding right and left portions of the robot body; and a cleaning assembly disposed on the robot body, the cleaning assembly comprising: a pad holder disposed forward of the drive wheels and having a top portion and a bottom portion, the bottom portion having a bottom surface to receive a cleaning pad, the bottom surface of the pad holder comprising at least 40% of a surface area of a footprint of the robot, and the bottom portion having raised protrusions extending therefrom; and an orbital oscillator having less than 1 cm of orbital range disposed on the top portion of the pad holder; wherein the pad holder is configured to permit more than 80 percent of the orbital range of the orbital oscillator to be transmitted from a top of the received cleaning pad to a bottom surface of the received cleaning pad and wherein the pad holder has a release mechanism configured to eject the received cleaning pad from the bottom surface of the pad holder upon actuation of a release mechanism. 102a A2 Layer 2: Airlaid Layer102 W~l 10a ~~~~LA3 ae1:AradL 100 10610 104 Layer : Airlaid Layer 100 105a 1 05b
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公开(公告)号：ES2656899T3
公开(公告)日：2018-02-28
申请号：ES13839692
申请日：2013-09-23
Applicant: IROBOT CORP
Inventor： SHAMLIAN STEVEN , DUFFLEY SAMUEL , ROMANOV NIKOLAI
Abstract: Un robot autónomo (100) que comprende: un cuerpo del robot (110) que define una dirección motriz de avance (F); un sistema motriz (120) que soporta el cuerpo del robot (110) y configurado para maniobrar el robot (100) sobre una superficie (10, 10a, 10b); al menos un detector de proximidad (520, 520a, 520b, 520c, 520d, 520e, 520f) que comprende: un primer componente (522, 524) que tiene un primer campo de visión (523, 525); un segundo componente (522a, 524a) que tiene un segundo campo de visión (523a, 525a), intersectando el primer campo de visión (523, 525) el segundo campo de visión (523a, 525a) para formar un primer volumen de intersección (V1); un cuerpo del detector (514) que tiene al menos dos deflectores (516, 519, 521) dispuestos para definir el campo de visión (523, 523a, 523b, 525, 525a, 525b) de al menos un componente (522, 522a, 522b, 523, 523a, 523b); y un controlador (200) en comunicación con el sistema motriz (120) caracterizado por que el al menos un detector de proximidad comprende además un tercer componente (522b) que tiene un tercer campo de visión, intersectando el primer campo de visión el tercer campo de visión para formar un segundo volumen de intersección (V2), estando el segundo volumen de intersección (V2) más distante del cuerpo del robot que el primer volumen de intersección (V1), en donde el primer componente es uno de un emisor y un receptor y cada uno del segundo componente y el tercer componente es el restante de un emisor y un receptor y caracterizado adicionalmente por que el controlador se configura para: de forma incremental o secuencial activar y desactivar cada uno de los componentes segundo y tercero (522a, 522b, 524a, 524b) de tal manera que sólo uno de los componentes segundo y tercero (522a, 522b, 524a, 524b) se active de una vez; y emitir una orden motriz (241) al sistema motriz (120) para maniobrar el robot (100) en base a una señal desde el al menos un detector de proximidad (520, 520a, 520b, 520c, 520d, 520e, 520f) generada cuando un objeto (10, 10a, 10b) interfiere con al menos uno de los volúmenes de intersección primero y segundo (V1, V2).
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公开(公告)号：CA3129679A1
公开(公告)日：2015-05-21
申请号：CA3129679
申请日：2014-10-24
Applicant: IROBOT CORP
Inventor： DOOLEY MICHAEL J , ROMANOV NIKOLAI , CASE JAMES PHILLIP
Abstract: A mobile floor cleaning robot (100) includes a body (110) defining a forward drive direction (F), a drive system (120), a cleaning system (160), and a controller (150) in communication with the drive and cleaning systems. The cleaning system includes a pad holder (190) having a bottom surface (194b) for receiving a cleaning pad (400), and a fluid applicator (162) configured to apply fluid (172) to the floor surface (10). The controller controls the drive system and the fluid applicator while executing a cleaning routing. The cleaning routine includes applying fluid to a floor surface area substantially equal to a footprint area (AF) of the robot and returning the robot to the floor surface area in a movement pattern that moves a center (P) and lateral edges (Pand P) of the cleaning pad separately through the floor surface area to moisten the cleaning pad with the applied fluid.
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公开(公告)号：AU2015396963B2
公开(公告)日：2020-08-20
申请号：AU2015396963
申请日：2015-11-19
Applicant: IROBOT CORP
Inventor： KLEINER ALEXANDER , ROMANOV NIKOLAI , HOOK FREDERIC
IPC: A61B5/05
Abstract: A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
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