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    REMOVING DEBRIS FROM CLEANING ROBOTS
    1.
    发明申请
    REMOVING DEBRIS FROM CLEANING ROBOTS 审中-公开
    从清洁机器人去除车辆

    公开(公告)号：WO2007137234A3

    公开(公告)日：2008-04-17

    申请号：PCT/US2007069389

    申请日：2007-05-21

    Applicant: IROBOT CORP ,  WON CHIKYUNG ,  HICKEY STEPHEN A ,  SCHNITTMAN MARK ,  DUBROVSKY ZIVTHAN A ,  SVENDSEN SELMA ,  LOWRY JED ,  SWETT DAVID ,  DEVLIN JOHN

    Inventor： WON CHIKYUNG ,  HICKEY STEPHEN A ,  SCHNITTMAN MARK ,  DUBROVSKY ZIVTHAN A ,  SVENDSEN SELMA ,  LOWRY JED ,  SWETT DAVID ,  DEVLIN JOHN

    IPC: A47L11/33 ,  A47L9/10

    CPC classification number: A47L11/4091 ,  A47L9/106 ,  A47L9/108 ,  A47L11/24 ,  A47L11/33 ,  A47L11/4002 ,  A47L11/4008 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4025 ,  A47L11/4041 ,  A47L11/4044 ,  A47L11/4066 ,  A47L11/4069 ,  A47L2201/02 ,  A47L2201/024 ,  A47L2201/028 ,  A47L2201/04

    Abstract: A cleaning robot system (5) includes a robot (10) and a robot maintenance station (100,1100,1200,1300,1400). The robot (10) includes a chassis (31), a drive system (45) configured to maneuver the robot (10) as directed by a controller (49), and a cleaning assembly (43) including a cleaning assembly housing (40) and a driven cleaning roller (60,65). The robot maintenance station (100,1100,1200,1300,1400) includes a station housing (120) and a docking platform (122) configured to support the robot (10) when docked. A mechanical agitator (510,520) engages the roller (60,65) of the robot (10) with the robot (10) docked. The agitator (510,520) includes an agitator comb (511) having multiple teeth (512) configured to remove accumulated debris from the roller (60,65) as the agitator comb (511) and roller (60,65) are moved relative to one another. The robot maintenance station (100,1100,1200,1300,1400) includes a collection bin (150) arranged to receive and hold debris removed by the mechanical agitator (510,520).

    Abstract translation: 清洁机器人系统（5）包括机器人（10）和机器人维护站（100,1100,1200,1300,1400）。 机器人（10）包括底盘（31），驱动系统（45），其被配置为按照控制器（49）的指示来操纵机器人（10）;以及清洁组件（43），其包括清洁组件壳体（40） 和驱动清洁辊（60,65）。 所述机器人维护站（100,1100,1200,1300,1400）包括被配置为在对接时支撑所述机器人（10）的站外壳（120）和对接平台（122）。 机械搅拌器（510,520）与机器人（10）的辊（60,65）接合，机器人（10）对接。 搅拌器（510,520）包括具有多个齿（512）的搅拌器梳（511），其配置成当搅拌器梳（511）和辊（60,65）相对于一个移动时，从辊（60,65）中除去积聚的碎屑 另一个。 机器人维护站（100,1100,1200,1300,1400）包括收集箱（150），其被布置成接收和保持由机械搅拌器（510,520）去除的碎屑。

    Autonomous coverage robot
    3.
    发明专利
    Autonomous coverage robot 未知

    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

    IPC: A47L9/28 ,  B25J9/16 ,  B25J13/08

    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.

    AUTONOMOUS COVERAGE ROBOT
    4.
    发明专利
    AUTONOMOUS COVERAGE ROBOT 未知

    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

    IPC: A47L9/28 ,  B25J9/16 ,  B25J13/08

    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.

    Robot autónomo de cubrimiento compacto
    5.
    发明专利
    Robot autónomo de cubrimiento compacto 未知

    公开(公告)号：ES2559128T3

    公开(公告)日：2016-02-10

    申请号：ES12195256

    申请日：2008-05-09

    Applicant: IROBOT CORP

    Inventor： SCHNITTMAN MARK ,  DUBROVSKY ZIVTHAN A ,  MAMMEN JEFFREY W ,  SOLOCHEK AARON

    IPC: A47L9/28 ,  A47L9/00 ,  A47L9/04 ,  G05D1/02

    Abstract: Robot autónomo de cubrimiento (100, 101) que comprende: un chasis (200) que tiene partes delantera y posterior (210, 220), definiendo la parte delantera (210) una forma sustancialmente rectangular y definiendo la parte posterior (220) una forma arqueada; un sistema de accionamiento (400) portado por el chasis (200) configurado para maniobrar el robot (100, 101) sobre una superficie de limpieza; ruedas motrices accionadas de manera diferencial derecha e izquierda (410, 420); un conjunto de limpieza (500) montado en la parte delantera del chasis (200); y un compartimento de basura (610) dispuesto adyacente al conjunto de limpieza (500) y configurado para recibir residuos agitados por el conjunto de limpieza (500); caracterizado por que el robot (100, 101) comprende además sensores antichoque (800) dispuestos en las esquinas delanteras del chasis (200), con al menos un sensor antichoque (800) dispuesto a cada lado de cada esquina, permitiendo así que el robot (100, 101) determine una dirección y / o una ubicación de una colisión.

    AUTONOMOUS COVERAGE ROBOT
    6.
    发明专利
    AUTONOMOUS COVERAGE ROBOT 未知

    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

    IPC: A47L9/28 ,  B25J9/16 ,  B25J13/08

    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.

    AUTONOMOUS COVERAGE ROBOT
    7.
    发明专利
    AUTONOMOUS COVERAGE ROBOT 未知

    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

    IPC: A47L9/28 ,  B25J9/16 ,  B25J13/08

    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.

    AUTONOMOUS MOBILE ROBOT
    9.
    发明公开
    AUTONOMOUS MOBILE ROBOT 审中-公开
    自动化BEWEGLICHER机器人

    公开(公告)号：EP3091887A4

    公开(公告)日：2017-09-13

    申请号：EP14877998

    申请日：2014-12-30

    Applicant: IROBOT CORP

    Inventor： SCHNITTMAN MARK ,  BUSHMAN THOMAS W

    IPC: A47L9/28 ,  B25J13/08 ,  G05D1/02 ,  G05D1/10

    CPC classification number: B25J9/1694 ,  G05D1/0227 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

    Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.

    Abstract translation: 自主移动机器人包括机器人主体，驱动系统，传感器系统和控制器。 驱动系统支持机器人机身并在地面上操纵机器人。 传感器系统包括用于测量机器人姿态的惯性测量单元并且发出包括具有关于机器人姿态的信息的数据的传感器信号。 控制器与驱动器和传感器系统进行通信并执行行为系统。 行为系统接收来自传感器系统的传感器信号并执行行为。 行为系统响应于指示机器人被约束以评估约束状态的传感器信号来执行防呆行为。 另外，行为系统响应于指示机器人相对于重力方向倾斜的传感器信号来执行防倾斜行为以评估倾斜状态。

    AUTONOMOUS COVERAGE ROBOT
    10.
    发明专利
    AUTONOMOUS COVERAGE ROBOT 未知

    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

    IPC: A47L9/28 ,  B25J9/16 ,  B25J13/08

    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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