公开(公告)号：WO2016148745A1

公开(公告)日：2016-09-22

申请号：PCT/US2015/061866

申请日：2015-11-20

Applicant: IROBOT CORPORATION

Inventor： LU, Ping-Hong ,  JOHNSON, Joseph M. ,  FORAN, Daniel ,  WILLIAMS, Marcus ,  GRAZIANI, Andrew

IPC: A47L11/40

CPC classification number: A47L11/4036 ,  A47L9/0673 ,  A47L9/2805 ,  A47L9/2815 ,  A47L11/24 ,  A47L11/28 ,  A47L11/4002 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4083 ,  A47L11/4088 ,  A47L13/16 ,  A47L13/24 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  B08B1/001 ,  B08B7/04 ,  Y10S901/01

Abstract: An autonomous floor cleaning robot includes a body, a controller supported by the body, a drive supporting the body to maneuver the robot across a floor surface in response to commands from the controller, and a pad holder attached to an underside of the body to hold a removable cleaning pad during operation of the robot. The pad includes a mounting plate and a mounting surface. The mounting plate is attached to the mounting surface. The robot includes a pad sensor to sense a feature on the pad and to generate a signal based on the feature, which is defined in part by a cutout on the card backing. The mounting plate enables the pad sensor to detect the feature. The controller is responsive to the signal to perform operations including selecting a cleaning mode based on the signal, and controlling the robot according to a selected cleaning mode.

Abstract translation: 自主地板清洁机器人包括主体，由主体支撑的控制器，响应于来自控制器的命令而支撑机身以操纵机器人跨越地板表面的驱动器，以及附接到主体的下侧以保持 机器人操作期间的可拆卸清洁垫。 垫包括安装板和安装表面。 安装板安装在安装面上。 机器人包括用于感测垫上的特征并且基于由卡背衬上的切口部分限定的特征产生信号的垫传感器。 安装板使焊盘传感器能够检测该特征。 控制器响应于信号执行操作，包括基于该信号选择清洁模式，并根据选择的清洁模式来控制机器人。

公开(公告)号：WO2016164072A1

公开(公告)日：2016-10-13

申请号：PCT/US2015/061286

申请日：2015-11-18

Applicant: IROBOT CORPORATION

Inventor： WOLFE, Brian ,  LU, Ping-Hong

IPC: A47L11/00

CPC classification number: A47L11/4011 ,  A47L9/2805 ,  A47L11/28 ,  A47L11/4061 ,  A47L11/4088 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0088 ,  G05D1/0219 ,  G05D1/0259 ,  Y10S901/01

Abstract: An example robot includes a body that is movable relative to a surface, a bumper mounted on the body to enable movement of the bumper relative to the body, a sensor to produce a signal in response to the movement of the bumper relative to the body caused by contact between the bumper and the surface, and a controller to control movement of the body to cause the body to track the surface based on a value. The bumper is movable between an uncompressed position relative to the body and a compressed position relative to the body. The signal varies linearly with the movement of the bumper relative to the body. The value is based on the signal and indicates that the bumper in a partially compressed position has a compression range between the uncompressed position and the compressed position.

Abstract translation: 示例性机器人包括可相对于表面移动的主体，安装在主体上以使保险杠相对于主体移动的保险杠，响应于保险杠相对于身体的运动产生信号的传感器，引起 通过保险杠和表面之间的接触，以及控制器，用于控制身体的运动，以使身体基于一个值跟踪表面。 保险杠可在相对于车身的未压缩位置和相对于车身的压缩位置之间移动。 信号随保险杠相对于车体的运动而线性变化。 该值基于信号，并且指示部分压缩位置中的保险杠具有在未压缩位置和压缩位置之间的压缩范围。

公开(公告)号：WO2016164071A1

公开(公告)日：2016-10-13

申请号：PCT/US2015/061283

申请日：2015-11-18

Applicant: IROBOT CORPORATION

Inventor： WILLIAMS, Marcus ,  LU, Ping-Hong ,  JOHNSON, Joseph

IPC: G05B19/10

CPC classification number: B25J9/1666 ,  B25J5/00 ,  B25J9/1694 ,  B25J9/1697 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.

Abstract translation: 机器人包括能够相对于表面移动的主体，所述主体内的一个或多个测量装置基于在所述表面上的初始位置处的所述身体的取向来输出信息，以及所述身体内的控制器，以确定所述身体的方向 并且通过防止身体超过基于身体的取向和初始位置的障碍物的移动来限制身体到区域的运动。

公开(公告)号：WO2016148744A1

公开(公告)日：2016-09-22

申请号：PCT/US2015/061277

申请日：2015-11-18

Applicant: IROBOT CORPORATION

Inventor： LU, Ping-Hong ,  FORAN, Dan ,  WILLIAMS, Marcus ,  JOHNSON, Joe ,  GRAZIANI, Andrew

IPC: A47L11/24

CPC classification number: A47L11/4061 ,  A47L9/0673 ,  A47L9/2805 ,  A47L11/4044 ,  A47L11/4066 ,  A47L2201/00 ,  A47L2201/04

Abstract: An autonomous floor cleaning robot includes a robot body defining a forward drive direction, a controller supported by the robot body, a drive supporting the robot body and configured to maneuver the robot across a surface in response to commands from the controller, a pad holder disposed on an underside of the robot body and configured to retain a removable cleaning pad during operation of the cleaning robot; and a pad sensor arranged to sense a feature of a cleaning pad held by the pad holder and generate a corresponding signal. The controller is responsive to the signal generated by the pad sensor, and configured to control the robot according to a cleaning mode selected from a set of multiple robot cleaning modes as a function of the signal generated by the pad sensor.

Abstract translation: 自主地板清洁机器人包括限定正向驱动方向的机器人主体，由机器人主体支撑的控制器，支撑机器人主体的驱动器，并且被配置成响应于来自控制器的命令而使机器人跨越表面操纵， 在所述机器人主体的下侧并且被配置为在所述清洁机器人的操作期间保持可移除的清洁垫; 以及垫传感器，其布置成感测由所述垫保持器保持的清洁垫的特征并产生相应的信号。 控制器响应于由垫传感器产生的信号，并且被配置为根据从多个机器人清洁模式的集合中选择的清洁模式来控制机器人，作为由垫传感器产生的信号的函数。

公开(公告)号：EP3473154B1

公开(公告)日：2020-08-05

申请号：EP18207860.0

申请日：2015-08-13

Applicant: iRobot Corporation

Inventor： LU, Ping-Hong ,  FORAN, Dan ,  WILLIAMS, Marcus ,  JOHNSON, Joe ,  GRAZIANI, Andrew

IPC: A47L9/06 ,  A47L9/28 ,  A47L11/40

公开(公告)号：EP3167786A1

公开(公告)日：2017-05-17

申请号：EP16200763.7

申请日：2015-11-20

Applicant: iRobot Corporation

Inventor： LU, Ping-Hong ,  JOHNSON, Joseph M. ,  FORAN, Daniel ,  WILLIAMS, Marcus ,  GRAZIANI, Andrew

IPC: A47L11/24 ,  A47L11/40 ,  A47L13/16 ,  A47L13/24 ,  A47L9/06 ,  A47L9/28 ,  B08B1/00 ,  B08B7/04

CPC classification number: A47L11/4036 ,  A47L9/0673 ,  A47L9/2805 ,  A47L9/2815 ,  A47L11/24 ,  A47L11/28 ,  A47L11/4002 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4083 ,  A47L11/4088 ,  A47L13/16 ,  A47L13/24 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  B08B1/001 ,  B08B7/04 ,  Y10S901/01

Abstract: An autonomous floor cleaning robot includes a body, a controller supported by the body, a drive supporting the body to maneuver the robot across a floor surface in response to commands from the controller, and a pad holder attached to an underside of the body to hold a removable cleaning pad during operation of the robot. The pad includes a mounting plate and a mounting surface. The mounting plate is attached to the mounting surface. The robot includes a pad sensor to sense a feature on the pad and to generate a signal based on the feature, which is defined in part by a cutout on the card backing. The mounting plate enables the pad sensor to detect the feature. The controller is responsive to the signal to perform operations including selecting a cleaning mode based on the signal, and controlling the robot according to a selected cleaning mode.

Abstract translation: 一种自主地面清洁机器人，包括主体，由主体支撑的控制器，支撑主体以响应来自控制器的命令操纵机器人穿过地板表面的驱动器以及附接到主体下侧以保持 机器人操作期间的可移除清洁垫。 该垫包括安装板和安装表面。 安装板连接到安装表面。 该机器人包括一个传感器，用于检测衬垫上的特征，并根据该特征生成一个信号，该信号部分由卡背衬上的切口定义。 安装板使垫传感器能够检测到该功能。 控制器响应于信号来执行操作，包括基于信号选择清洁模式，以及根据选择的清洁模式控制机器人。

公开(公告)号：EP3785590A1

公开(公告)日：2021-03-03

申请号：EP20189186.8

申请日：2015-08-13

Applicant: iRobot Corporation

Inventor： LU, Ping-Hong ,  FORAN, Dan ,  WILLIAMS, Marcus ,  JOHNSON, Joe ,  GRAZIANI, Andrew

IPC: A47L9/06 ,  A47L9/28 ,  A47L11/40

Abstract: An autonomous floor cleaning robot includes a robot body defining a forward drive direction, a controller supported by the robot body, a drive supporting the robot body and configured to maneuver the robot across a surface in response to commands from the controller, a pad holder disposed on an underside of the robot body and configured to retain a removable cleaning pad during operation of the cleaning robot; and a pad sensor arranged to sense a feature of a cleaning pad held by the pad holder and generate a corresponding signal. The controller is responsive to the signal generated by the pad sensor, and configured to control the robot according to a cleaning mode selected from a set of multiple robot cleaning modes as a function of the signal generated by the pad sensor.

公开(公告)号：EP3459411A1

公开(公告)日：2019-03-27

申请号：EP18192868.0

申请日：2015-11-20

Applicant: iRobot Corporation

Inventor： WOLFE, Brian ,  LU, Ping-Hong

IPC: A47L9/00

Abstract: An example robot includes a body that is movable relative to a surface, a bumper mounted on the body to enable movement of the bumper relative to the body, a sensor to produce a signal in response to the movement of the bumper relative to the body caused by contact between the bumper and the surface, and a controller to control movement of the body to cause the body to track the surface based on a value. The bumper is movable between an uncompressed position relative to the body and a compressed position relative to the body. The signal varies linearly with the movement of the bumper relative to the body. The value is based on the signal and indicates that the bumper in a partially compressed position has a compression range between the uncompressed position and the compressed position.

公开(公告)号：EP3962339A1

公开(公告)日：2022-03-09

申请号：EP20798214.1

申请日：2020-04-17

Applicant: iRobot Corporation

Inventor： LU, Ping-Hong ,  WILLIAMS, Marcus ,  GOSS, Adam ,  O'DEA, Melissa

IPC: A47L11/00 ,  A47L11/20 ,  A47L11/32 ,  A47L11/36

公开(公告)号：EP3711648A1

公开(公告)日：2020-09-23

申请号：EP20159286.2

申请日：2015-11-20

Applicant: iRobot Corporation

Inventor： WOLFE, Brian ,  LU, Ping-Hong

IPC: A47L9/28

Abstract: An example robot includes a body that is movable relative to a surface, a bumper mounted on the body to enable movement of the bumper relative to the body, a sensor to produce a signal in response to the movement of the bumper relative to the body caused by contact between the bumper and the surface, and a controller to control movement of the body to cause the body to track the surface based on a value. The bumper is movable between an uncompressed position relative to the body and a compressed position relative to the body. The signal varies linearly with the movement of the bumper relative to the body. The value is based on the signal and indicates that the bumper in a partially compressed position has a compression range between the uncompressed position and the compressed position.