公开(公告)号：US08489234B2

公开(公告)日：2013-07-16

申请号：US12669208

申请日：2008-07-16

Applicant: Ho-Seon Rew ,  Dong-Hoon Yi ,  Young-Gie Kim ,  Young-Gyu Jung ,  Moon-Kee Chung ,  Jong-Il Park ,  Woo-Jin Choi

Inventor： Ho-Seon Rew ,  Dong-Hoon Yi ,  Young-Gie Kim ,  Young-Gyu Jung ,  Moon-Kee Chung ,  Jong-Il Park ,  Woo-Jin Choi

IPC: G06F19/00

CPC classification number: A47L9/009 ,  A47L2201/04 ,  G05D1/0255 ,  G05D2201/0215

Abstract: Disclosed are a mobile robot and a controlling method thereof. The mobile robot comprises: a case; and a sensor unit having two or more sending portions and two or more receiving portions arranged on an outer surface of the case separately and alternately. The plurality of sending portions and receiving portions are arranged in an alternating manner, thereby having a directivity. Also, since signals received through the receiving portions are judged based on a reference value, an area unallowable to be detected for an obstacle sensing is minimized, which allows an obstacle to be detected more accurately. When the obstacle corresponds to a side wall on the basis of a moving path of the mobile robot, a distance between the side wall and the mobile robot is calculated based on signals received by the receiving portion closest to the side wall. Accordingly, the mobile robot can move with maintaining a constant distance from the side wall.

Abstract translation: 公开了一种移动机器人及其控制方法。 移动机器人包括：壳体; 以及传感器单元，其具有两个或更多个发送部分和两个或更多个接收部分，分别和交替地布置在壳体的外表面上。 多个发送部分和接收部分以交替的方式布置，从而具有方向性。 此外，由于基于参考值判断通过接收部分接收到的信号，所以不容易被检测用于障碍物感测的区域被最小化，这允许更准确地检测障碍物。 当障碍物基于移动机器人的移动路径对应于侧壁时，基于最靠近侧壁的接收部分接收的信号来计算侧壁和移动机器人之间的距离。 因此，移动机器人可以在与侧壁保持恒定距离的情况下移动。

公开(公告)号：US20130085603A1

公开(公告)日：2013-04-04

申请号：US13613051

申请日：2012-09-13

Applicant: Mark J. Chiappetta ,  Joseph L. Jones

Inventor： Mark J. Chiappetta ,  Joseph L. Jones

IPC: B25J9/16

CPC classification number: G05D1/0231 ,  A47L2201/04 ,  B25J9/0003 ,  B25J9/1694 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/09

Abstract: A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, 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 and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system.

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的运动活动的导航控制系统，包括与所述机器人装置组合的发射子系统，所述发射子系统包括用于发射多个定向波束的装置，每个定向波束具有预定的 发射模式和用作基站的接收子系统，其包括导航控制算法，所述导航控制算法定义用于导航控制系统的预定触发事件以及以已知间隔关系定位在所定义的工作区内的一组检测单元， 一组检测单元被配置和操作以检测由发射系统发射的一个或多个定向波束。

公开(公告)号：US08380350B2

公开(公告)日：2013-02-19

申请号：US12343430

申请日：2008-12-23

Applicant: Daniel N. Ozick ,  Andrea M. Okerholm ,  Jeffrey W. Mammen ,  Michael J. Halloran ,  Paul E. Sandin ,  Chikyung Won

Inventor： Daniel N. Ozick ,  Andrea M. Okerholm ,  Jeffrey W. Mammen ,  Michael J. Halloran ,  Paul E. Sandin ,  Chikyung Won

IPC: G05B19/18 ,  G05B15/00

CPC classification number: A47L11/4011 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0411 ,  A47L9/0466 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/1409 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1666 ,  B25J9/1694 ,  B25J11/0085 ,  B25J13/006 ,  B60L1/003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1825 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  B60R19/38 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04B1/02 ,  H04B1/06 ,  H04L1/16 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.

公开(公告)号：US20130037050A1

公开(公告)日：2013-02-14

申请号：US13495689

申请日：2012-06-13

Applicant: Chi-Mou Chao

Inventor： Chi-Mou Chao

IPC: A47L1/02

CPC classification number: A47L1/02 ,  A47L2201/04 ,  B62D57/024 ,  G05D1/0212 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A cleaner includes at least one cleaning component, a pump module, a driving module and a control system. The at least one cleaning component and the plate delimit at least one space. The pump module is connected to the at least one space to pump air out of the at least a space to form a negative air pressure in the at least one space so that the cleaner is sucked on the plate. The driving module is connected to the at least a cleaning component to drive the at least a cleaning component. The control system is coupled to the pump module and the driving module and controls the driving module to cause the at least one driven cleaning component to make a movement on the plate.

Abstract translation: 清洁器包括至少一个清洁部件，泵模块，驱动模块和控制系统。 至少一个清洁部件和板限定至少一个空间。 泵模块连接到至少一个空间以将空气抽出至少一个空间，以在至少一个空间中形成负空气压力，使得清洁器被吸入板上。 所述驱动模块连接到所述至少一个清洁部件以驱动所述至少一个清洁部件。 所述控制系统耦合到所述泵模块和所述驱动模块并且控制所述驱动模块以使所述至少一个从动清洁部件在所述板上进行移动。

公开(公告)号：US08347444B2

公开(公告)日：2013-01-08

申请号：US13245095

申请日：2011-09-26

Applicant: Mark Schnittman ,  Zivthan A. Dubrovsky ,  Jeffrey W. Mammen ,  Aaron Solochek

Inventor： Mark Schnittman ,  Zivthan A. Dubrovsky ,  Jeffrey W. Mammen ,  Aaron Solochek

IPC: A47L11/24

CPC classification number: A47L11/4025 ,  A47L9/00 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/2805 ,  A47L11/282 ,  A47L11/302 ,  A47L11/34 ,  A47L11/4011 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/408 ,  A47L2201/00 ,  A47L2201/04 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2220/44 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0215 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16

Abstract: An autonomous coverage robot includes a chassis having forward and rearward portions and a drive system carried by the chassis. The forward portion of the chassis defines a substantially rectangular shape. The robot includes a cleaning assembly mounted on the forward portion of the chassis and a bin disposed adjacent the cleaning assembly and configured to receive debris agitated by the cleaning assembly. A bin cover is pivotally attached to a lower portion of the chassis and configured to rotate between a first, closed position providing closure of an opening defined by the bin and a second, open position providing access to the bin opening. The robot includes a body attached to the chassis and a handle disposed on an upper portion of the body. A bin cover release is actuatable from substantially near the handle.

公开(公告)号：US08306659B2

公开(公告)日：2012-11-06

申请号：US11950241

申请日：2007-12-04

Applicant: Shai Abramson ,  Ido Ikar

Inventor： Shai Abramson ,  Ido Ikar

IPC: G06F19/00

CPC classification number: B25J9/0003 ,  A01D34/008 ,  A01G25/00 ,  A47L2201/00 ,  A47L2201/04 ,  G05D1/0225 ,  G05D1/0265 ,  G05D2201/0208 ,  G05D2201/0215 ,  H04B3/54 ,  H04B3/548 ,  H04B2203/5458 ,  Y10S901/01

Abstract: A method for communication between a charging station and a robot, via a pair of power lines coupled between a power supply in the charging station and a battery in the robot. In operation, the power supply is sequentially switched between a first voltage level and a second voltage level in accordance with a predetermined signal pattern. The voltage level on the power lines in the robot is monitored and correlated with a specific command to be executed by the robot.

Abstract translation: 一种用于充电站和机器人之间通过耦合在充电站中的电源与机器人中的电池之间的一对电力线进行通信的方法。 在操作中，根据预定的信号模式，在第一电压电平和第二电压电平之间依次切换电源。 监视机器人电源线上的电压电平，并与机器人执行的特定命令相关联。

公开(公告)号：US20120265343A1

公开(公告)日：2012-10-18

申请号：US13314398

申请日：2011-12-08

Applicant: Duane L. Gilbert, JR. ,  Marcus R. Williams ,  Andrea M. Okerholm ,  Elaine H. Kristant ,  Sheila A. Longo ,  Daniel E. Kee ,  Marc D. Strauss

Inventor： Duane L. Gilbert, JR. ,  Marcus R. Williams ,  Andrea M. Okerholm ,  Elaine H. Kristant ,  Sheila A. Longo ,  Daniel E. Kee ,  Marc D. Strauss

IPC: B25J13/08 ,  B25J19/02

CPC classification number: A47L11/4025 ,  A47L9/00 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/2805 ,  A47L11/282 ,  A47L11/302 ,  A47L11/34 ,  A47L11/4011 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/408 ,  A47L2201/00 ,  A47L2201/04 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2220/44 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0215 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16

Abstract: An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.

Abstract translation: 自动覆盖机器人检测系统包括被配置为发射定向波束的发射器，被配置为检测定向波束的检测器和被配置为响应于由检测器检测到的信号引导机器人的控制器。 在一些示例中，检测系统检测机器人的停滞状态。 在一些示例中，检测系统检测墙壁并且可以响应于检测到的信号而跟随墙壁。

公开(公告)号：US20120232697A1

公开(公告)日：2012-09-13

申请号：US13509342

申请日：2010-11-11

Applicant: Jeihun Lee ,  Suuk Choe ,  Hyuksoo Son ,  Donghoon Yi ,  Younggie Kim ,  Jeongsuk Yoon ,  Seongsoo Lee ,  Taegon Park ,  Yiebin Kim ,  Yoojin Choi ,  Sangik Na ,  Seungmin Baek

Inventor： Jeihun Lee ,  Suuk Choe ,  Hyuksoo Son ,  Donghoon Yi ,  Younggie Kim ,  Jeongsuk Yoon ,  Seongsoo Lee ,  Taegon Park ,  Yiebin Kim ,  Yoojin Choi ,  Sangik Na ,  Seungmin Baek

IPC: A47L9/28 ,  B25J13/08 ,  B25J19/04

CPC classification number: G05D1/0246 ,  A47L2201/04 ,  A47L2201/06 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: Disclosed are a robot cleaner capable of performing a cleaning operation by selecting a cleaning algorithm suitable for the peripheral circumstances based on an analysis result of captured image information, and a controlling method thereof. The robot cleaner comprises an image sensor unit configured to capture image information when an operation instructing command is received, and a controller configured to analyze the image information captured by the image sensor unit, and configured to control a cleaning operation based on a first cleaning algorithm selected from a plurality of pre-stored cleaning algorithms based on a result of the analysis.

Abstract translation: 公开了一种机器人清洁器，其能够通过基于捕获的图像信息的分析结果选择适合于周边环境的清洁算法来执行清洁操作及其控制方法。 机器人清洁器包括图像传感器单元，其被配置为当接收到操作指令命令时捕获图像信息;以及控制器，被配置为分析由图像传感器单元捕获的图像信息，并且被配置为基于第一清洁算法来控制清洁操作 从基于分析结果的多个预先存储的清洁算法中选择。

公开(公告)号：US08253368B2

公开(公告)日：2012-08-28

申请号：US12687436

申请日：2010-01-14

Applicant: Gregg W. Landry ,  David A. Cohen ,  Daniel N. Ozick

Inventor： Gregg W. Landry ,  David A. Cohen ,  Daniel N. Ozick

IPC: G05D1/00

CPC classification number: A47L9/281 ,  A47L5/362 ,  A47L9/0466 ,  A47L9/0488 ,  A47L9/2805 ,  A47L9/2831 ,  A47L9/2842 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2884 ,  A47L9/2889 ,  A47L9/2894 ,  A47L11/4005 ,  A47L11/4008 ,  A47L11/4011 ,  A47L11/4061 ,  A47L11/4066 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/021 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract translation: 响应于碎片撞击的压电碎片传感器和相关联的信号处理器使得自主或非自主的清洁装置能够检测碎屑的存在，并且作为响应，选择行为模式，操作条件或运动模式，例如斑点覆盖或 喜欢。 可以使用多个传感器通道（例如左侧和右侧）来使得能够检测或产生差分的左/右碎片信号，从而使自主装置能够沿着碎屑的方向转向。

公开(公告)号：US08224516B2

公开(公告)日：2012-07-17

申请号：US12640845

申请日：2009-12-17

Applicant: Noel Wayne Anderson

Inventor： Noel Wayne Anderson

IPC: G01C22/00 ,  G05D1/00

CPC classification number: G05D1/0274 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0265 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0208 ,  G05D2201/0215 ,  G06K9/00664

Abstract: The different illustrative embodiments provide a method for generating an area coverage path plan using sector decomposition. A starting point is identified on a worksite map having a number of landmarks. A first landmark in the number of landmarks is identified. A path is generated around the first landmark until an obstacle is detected. In response to detecting the obstacle, the path is made linear to a next landmark. The path is generated around the next landmark.

Abstract translation: 不同的说明性实施例提供了一种使用扇区分解来生成区域覆盖路径规划的方法。 在具有多个地标的工地地图上识别起点。 确定了地标数量的第一个里程碑。 在第一地标周围生成路径，直到检测到障碍物。 响应于检测到障碍物，使路径与下一个地标线性。 路径是围绕下一个地标生成的。