公开(公告)号：US09375847B2

公开(公告)日：2016-06-28

申请号：US14158557

申请日：2014-01-17

Applicant: iRobot Corporation

Inventor： Colin Angle ,  David Snelling ,  Melissa O'Dea ,  Timothy S. Farlow ,  Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: H04W4/00 ,  B25J13/00 ,  G05D1/00 ,  H04L12/28

CPC classification number: G05D1/0022 ,  B25J13/006 ,  G05D2201/0203 ,  H04L12/282 ,  H04L2012/2841 ,  H04L2012/285 ,  Y10S901/01

Abstract: A mobile robot includes a microprocessor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The microprocessor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

Abstract translation: 移动机器人包括连接到存储器的微处理器和无线网络电路，用于执行存储在存储器中的例程以及由例程产生并通过无线网络电路接收的命令。 微处理器将移动机器人驱动到家庭内的多个可访问的二维位置，并命令包括至少一个机动执行器的末端执行器在家庭中执行机械作业。 多个例程包括监视无线本地网络并检测无线本地网络上网络实体的存在的第一例程;接收来自检测网络实体之一的动作状态的传感器的信号的第二例程， 等待和激活之间的动作状态可变，以及命令末端执行器基于存在和动作状态改变执行机械作业的状态的第三程序。

公开(公告)号：US09364128B2

公开(公告)日：2016-06-14

申请号：US13809534

申请日：2011-07-05

Applicant: Yiebin Kim ,  Seung min Baek ,  Yoojin Choi ,  Vadim Lutsiv ,  Victor Redkov ,  Alexey Potapov ,  Seongsoo Lee

Inventor： Yiebin Kim ,  Seung min Baek ,  Yoojin Choi ,  Vadim Lutsiv ,  Victor Redkov ,  Alexey Potapov ,  Seongsoo Lee

IPC: A47L11/20 ,  G05D1/02 ,  B25J13/08

CPC classification number: A47L11/20 ,  A47L2201/04 ,  B25J13/08 ,  G05D1/0246 ,  G05D1/0253 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/47

Abstract: Disclosed are a robot cleaner and a method for controlling the same. The robot cleaner is capable of recognizing a position thereof by extracting one or more feature points having 2D coordinates information with respect to each of a plurality of images, by matching the feature points with each other, and then by creating a matching point having 3D coordinates information. Matching points having 3D coordinates information are created to recognize a position of the robot cleaner, and the recognized position is verified based on a moving distance measured by using a sensor. This may allow a position of the robot cleaner to be precisely recognized, and allow the robot cleaner to perform a cleaning operation or a running operation by interworking the precisely recognized position with a map.

Abstract translation: 公开了一种机器人清洁器及其控制方法。 机器人清洁器能够通过相对于多个图像中的每一个提取具有2D坐标信息的一个或多个特征点来识别其位置，通过使特征点彼此匹配，然后通过创建具有3D坐标的匹配点 信息。 创建具有3D坐标信息的匹配点以识别机器人清洁器的位置，并且基于通过使用传感器测量的移动距离来验证识别的位置。 这可以允许机器人清洁器的位置被精确地识别，并且允许机器人清洁器通过将精确识别的位置与地图相互作用来执行清洁操作或运行操作。

公开(公告)号：US09357893B2

公开(公告)日：2016-06-07

申请号：US13974653

申请日：2013-08-23

Applicant: MSI COMPUTER (SHENZHEN) CO., LTD.

Inventor： Yung-Shen Lee

IPC: A47L9/28 ,  G05D1/00 ,  G05D1/02

CPC classification number: A47L9/2894 ,  G05D1/0011 ,  G05D1/0044 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A mobile device moving in a specific area including a driving unit, an environment sensing unit, a control unit and a transmittal unit is disclosed. The driving unit moves according to a first driving signal. The environment sensing unit detects an outline of the specific area to generate detection information. The control unit processes the detection information to generate first map information and position information. The transmittal unit transmits the first map information to an electronic device. The electronic device generates second map information according to the first map information, and the control unit generates the first driving signal according to the first map information, the second map information and the position information.

Abstract translation: 公开了在包括驱动单元，环境感测单元，控制单元和传送单元的特定区域中移动的移动设备。 驱动单元根据第一驱动信号移动。 环境感测单元检测特定区域的轮廓以产生检测信息。 控制单元处理检测信息以产生第一地图信息和位置信息。 传送单元将第一地图信息发送到电子设备。 电子设备根据第一地图信息生成第二地图信息，并且控制单元根据第一地图信息，第二地图信息和位置信息生成第一驱动信号。

公开(公告)号：US20160150933A1

公开(公告)日：2016-06-02

申请号：US15014778

申请日：2016-02-03

Applicant: Alfred Kärcher GmbH & Co. KG ,  robart GmbH

Inventor： Markus Duenne ,  Michael Schahpar ,  Harold Artes

IPC: A47L9/28

CPC classification number: A47L9/2894 ,  A47L9/2805 ,  A47L2201/06 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A method for operating a self-propelling and self-steering floor-cleaning device is provided, wherein at least one map of at least one room to be cleaned is storable in a storage unit of the floor-cleaning device, as is a user-predeterminable cleaning plan having one or more cleaning tasks, wherein at least one cleaning task is associated with a particular room that is identifiable from a map, and the floor-cleaning device is placed in a room. In order to provide a method of this kind that enables efficient execution of the cleaning plan, when the cleaning plan is executed, the floor-cleaning device determines whether the room in which it is placed is the particular room, and, if the result of this determination is negative, performance of the cleaning task is not carried out, is interrupted, or is ended. A floor-cleaning device for performing the method is also provided.

Abstract translation: 提供了一种用于操作自推进和自动转向地板清洁装置的方法，其中至少一个要清洁的房间的至少一个地图可存储在地板清洁装置的存储单元中， 具有一个或多个清洁任务的可预定的清洁计划，其中至少一个清洁任务与可从地图识别的特定房间相关联，并且地板清洁装置被放置在房间中。 为了提供能够有效执行清洁计划的这种方法，当执行清洁计划时，地板清洁装置确定其放置的房间是否为特定房间，并且如果结果为 这个确定是否定的，清理任务的执行不执行，中断或结束。 还提供了一种用于执行该方法的地板清洁装置。

公开(公告)号：US20160144505A1

公开(公告)日：2016-05-26

申请号：US14856497

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Phillip Fong ,  Jason Meltzer ,  Marc Barnada Rius

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1602 ,  B25J9/1697 ,  G05D1/0253 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a machine vision system comprising a camera that captures images of the operating environment using a machine vision system; detects the presence of an occlusion obstructing a portion of the field of view of a camera based on the captured images, and generate a notification when an occlusion obstructing the portion of the field of view of the camera is detected, and maintain occlusion detection data describing occluded and unobstructed portions of images being used by the SLAM application.

Abstract translation: 本发明提供了一种移动机器人，其被配置为导航操作环境，其包括机器视觉系统，该机器视觉系统包括使用机器视觉系统捕获操作环境的图像的相机; 基于所拍摄的图像来检测是否存在阻挡摄像机的视场的一部分的遮挡物，并且当检测到阻挡相机的视野部分的遮挡物时产生通知，并且保持描述的遮挡检测数据 由SLAM应用使用的图像的遮挡和无障碍部分。

公开(公告)号：US20160109884A1

公开(公告)日：2016-04-21

申请号：US14966621

申请日：2015-12-11

Applicant: iRobot Corporation

Inventor： Mark J. Chiappetta

IPC: G05D1/00 ,  G01S5/02 ,  G01C21/20

CPC classification number: G05D1/0276 ,  A47L9/2826 ,  A47L9/2836 ,  A47L9/2894 ,  A47L2201/022 ,  A47L2201/04 ,  A47L2201/06 ,  B60L11/1829 ,  G01C21/20 ,  G01C21/206 ,  G01S5/0284 ,  G05D1/0016 ,  G05D1/0088 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0242 ,  G05D1/0246 ,  G05D2201/0203 ,  G06F17/00 ,  H02J7/025 ,  H04W88/06 ,  Y10S901/01

Abstract: A navigation control system for an autonomous vehicle comprises a transmitter and an autonomous vehicle. The transmitter comprises an emitter for emitting at least one signal, a power source for powering the emitter, a device for capturing wireless energy to charge the power source, and a printed circuit board for converting the captured wireless energy to a form for charging the power source. The autonomous vehicle operates within a working area and comprises a receiver for detecting the at least one signal emitted by the emitter, and a processor for determining a relative location of the autonomous vehicle within the working area based on the signal emitted by the emitter.

公开(公告)号：US09310807B2

公开(公告)日：2016-04-12

申请号：US12692113

申请日：2010-01-22

Applicant: Yu-Cheol Lee ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

Inventor： Yu-Cheol Lee ,  Sang Ik Na ,  Won Pil Yu ,  Kyu Seo Han

IPC: G01C21/32 ,  G01S3/78 ,  G05D1/02 ,  B25J5/00

CPC classification number: G05D1/0274 ,  G01C21/32 ,  G05D1/0231 ,  G05D1/024 ,  G05D1/0272 ,  G05D2201/0203

Abstract: A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

Abstract translation: 创建室内环境地图的方法包括：当移动单元使用编码器行进时，通过检测车轮的转数来获取编码位置信息，以基于编码的位置信息预测移动单元的位置，获取从移动单元到 使用距离测量传感器存在于周围环境中的物体，预测移动单元的移动位置，估计在移动单元的预测位置处从移动单元到物体的距离，确定估计距离是否与 测量距离，校正移动单元的预测位置，以通过预测位置与测量位置的匹配来估计要移动的移动单元的位置，以及使用校正位置和测量距离创建室内环境地图。

公开(公告)号：US09271621B2

公开(公告)日：2016-03-01

申请号：US14019144

申请日：2013-09-05

Applicant: LG Electronics Inc.

Inventor： Sunggil Park ,  Jaeheon Chung

IPC: G05B19/00 ,  A47L9/00 ,  G05D1/02

CPC classification number: A47L9/009 ,  A47L2201/04 ,  G05D1/0248 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A robot cleaner includes a main body, a light transmitting unit, an image sensor, a base, a rotation drive unit, a tilting unit, and a tilting drive unit. The light transmitting unit emits light. The light emitted from the light transmitting unit and reflected or scattered is formed on the image sensor. The base supports the light transmitting unit and the image sensor and is rotatably disposed in the main body. The rotation drive unit rotates the base. The tilting unit tilts the light transmitting unit and the image sensor.

Abstract translation: 机器人清洁器包括主体，透光单元，图像传感器，基座，旋转驱动单元，倾斜单元和倾斜驱动单元。 光发射单元发光。 从光传输单元发出的反射或散射光形成在图像传感器上。 基座支撑发光单元和图像传感器，并且可旋转地设置在主体中。 旋转驱动单元旋转底座。 倾斜单元倾斜光发射单元和图像传感器。

公开(公告)号：US09241442B2

公开(公告)日：2016-01-26

申请号：US14060954

申请日：2013-10-23

Applicant: Daniel A. Diazdelcastillo

Inventor： Daniel A. Diazdelcastillo

IPC: G05D1/00 ,  B62D55/06 ,  A01D42/00 ,  A01D34/00 ,  A47L9/00 ,  G05D1/02

CPC classification number: A01D42/00 ,  A01D34/008 ,  A47L9/00 ,  G05D1/0265 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0203 ,  G05D2201/0208

Abstract: A autonomous and remote control all purpose machine (ARCAPM) having different interchangeable modules that are structured and arranged to perform different tasks is disclosed. A machine includes: a body; a plurality of bays in the body, wherein each bay is configured to receive a respective module; and a power source carried by the body. A respective power connector is in each one of the bays that is configured to provide an electrically conductive path between the power source and a device in a module arranged in one of the bays. The machine includes a propulsion system structured and arranged to move the body over the ground. The machine also includes a control system structured and arranged to control autonomous movement of the machine based on at least one of: proximity sensors, metal detectors, and GPS data.

Abstract translation: 公开了具有不同可互换模块的自主和远程控制通用机器（ARCAPM），其被构造和布置以执行不同的任务。 机器包括：身体; 主体中的多个托架，其中每个托架配置成接收相应的模块; 和身体携带的电源。 相应的电源连接器在每个托架中，其被配置为在电源和布置在其中一个托架中的模块中的设备之间提供导电路径。 该机器包括构造和布置成将身体移动到地面上的推进系统。 该机器还包括一个控制系统，其结构和布置成基于以下至少一个来控​​制机器的自动运动：接近传感器，金属探测器和GPS数据。

公开(公告)号：US20160008982A1

公开(公告)日：2016-01-14

申请号：US14377515

申请日：2013-02-08

Applicant: ROBART GMBH

Inventor： HAROLD ARTES ,  DOMINIK SEETHALER ,  MICHAEL SCHAHPAR

IPC: B25J9/16 ,  B25J11/00 ,  G05D1/02 ,  B25J5/00

CPC classification number: B25J9/1692 ,  B25J5/00 ,  B25J9/1664 ,  B25J11/0085 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A mobile self-propelled robot for autonomously carrying out actions. The robot includes a drive module for moving the robot over a floor area; a processing module for carrying out the activities during a processing stage; at least one sensor module for detecting information relating to the structure of the surroundings; a detector module configured to detect a displacement of the robot prior to or during the processing stage. Further, the robot includes a navigation module configured to navigate the robot over the floor area during the processing stage using a map of the surroundings, to store and manage one or more maps of the surroundings, and to carry out a self-positioning process if the detector module has detected a displacement of the robot. During the self-positioning process, the presence and the location of the robot within the stored maps are detected.

Abstract translation: 一种用于自主执行动作的移动自行式机器人。 机器人包括用于使机器人在地板区域上移动的驱动模块; 用于在处理阶段执行活动的处理模块; 至少一个传感器模块，用于检测与周围结构有关的信息; 检测器模块，被配置为在处理阶段之前或期间检测机器人的位移。 此外，机器人包括导航模块，该导航模块被配置为在处理阶段期间使用周围地图导航机器人在地板区域上，以存储和管理周围环境的一个或多个地图，并且执行自定位过程，如果 检测器模块检测到机器人的位移。 在自定位过程中，检测到存储的映射中机器人的存在和位置。