公开(公告)号：US08688272B2

公开(公告)日：2014-04-01

申请号：US12662942

申请日：2010-05-12

Applicant: Jun Pyo Hong ,  Kyung Hwan Yoo ,  Jae Young Jung ,  Jae Man Joo ,  Dong Won Kim ,  Woo Ram Chung ,  Hwi Chan Jang

Inventor： Jun Pyo Hong ,  Kyung Hwan Yoo ,  Jae Young Jung ,  Jae Man Joo ,  Dong Won Kim ,  Woo Ram Chung ,  Hwi Chan Jang

IPC: G05B19/18 ,  G05B15/00

CPC classification number: B25J9/1676 ,  B25J5/00 ,  B25J9/0003 ,  B25J11/0085 ,  G05D1/0234 ,  G05D2201/0203

Abstract: Disclosed herein are a mobile robot system to restrict a traveling region of a robot and to guide the robot to another region, and a method of controlling the same. Only when a remote controller reception module of a beacon senses a signal transmitted from a mobile robot, the sensed result is reported to the mobile robot in the form of a response signal. In addition, the Field-of-View (FOV) of the remote control reception module is restricted by a directivity receiver. Only when the signal transmitted from the mobile robot is sensed within the restricted FOV, the sensed result is reported to the mobile robot.

Abstract translation: 这里公开了一种用于限制机器人的行进区域并将机器人引导到另一区域的移动机器人系统及其控制方法。 只有当信标的遥控器接收模块感测到从移动机器人发送的信号时，将感测结果以响应信号的形式报告给移动机器人。 此外，遥控接收模块的视场（FOV）由方向性接收机限制。 只有当在受限的FOV中感测到从移动机器人发送的信号时，才将感测到的结果报告给移动机器人。

公开(公告)号：US08688270B2

公开(公告)日：2014-04-01

申请号：US13647575

申请日：2012-10-09

Applicant: iRobot Corporation

Inventor： Robert Paul Roy ,  Rogelio Manfred Neumann

IPC: G06F19/00 ,  G05B19/04

CPC classification number: G05D1/0242 ,  G05D1/0225 ,  G05D2201/0203

Abstract: A device for controlling the reflection of incident beams to influence navigation of an autonomous device having a navigation sensor comprising a beam emitter and a beam detector for detecting reflected emitted beams. The device comprises at least one surface having a geometry configured to direct a reflection from the emitted beam in a predetermined direction so that a suitable amount of the reflected beam can be detected by the detector.

Abstract translation: 一种用于控制入射光束的反射以影响具有导光传感器的自主设备的导航的装置，该导航传感器包括用于检测反射的发射光束的光束发射器和光束检测器。 该装置包括至少一个具有几何形状的表面，所述几何形状被配置成沿着预定方向引导来自所发射的光束的反射，使得可以由检测器检测适当量的反射光束。

公开(公告)号：US08679260B2

公开(公告)日：2014-03-25

申请号：US12616577

申请日：2009-11-11

Applicant: Henry L. Hillman, Jr. ,  David M. Knuth, Jr. ,  Daniel M. Daly ,  Vinton Coffman ,  Ralph McCann ,  Stephen D. Herr ,  Kevin L. Thomas

Inventor： Henry L. Hillman, Jr. ,  David M. Knuth, Jr. ,  Daniel M. Daly ,  Vinton Coffman ,  Ralph McCann ,  Stephen D. Herr ,  Kevin L. Thomas

IPC: G05B15/00

CPC classification number: A47L11/4011 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A method of cleaning an area using an automatic cleaning device may include receiving, from a video camera, information associated with an edge located on a surface, determining, by an automatic cleaning device, a position of the automatic cleaning device on the surface relative to the edge and using the received information to move the automatic cleaning device from the determined position along a path so that the automatic cleaning device cleans the surface along the path. The path may be substantially parallel to the edge, and the edge may be located a distance from a reference point on the automatic cleaning device during movement of the automatic cleaning device.

Abstract translation: 使用自动清洁装置清洁区域的方法可以包括从摄像机接收与位于表面上的边缘相关联的信息，通过自动清洁装置确定自动清洁装置在表面上的位置相对于 边缘并使用所接收的信息以使自动清洁装置沿着路径从确定的位置移动，使得自动清洁装置沿着路径清洁表面。 路径可以基本上平行于边缘，并且边缘可以在自动清洁装置移动期间与自动清洁装置上的参考点定位一定距离。

公开(公告)号：US08670866B2

公开(公告)日：2014-03-11

申请号：US11359961

申请日：2006-02-21

Applicant: Andrew Ziegler ,  Duane Gilbert ,  Christopher John Morse ,  Scott Pratt ,  Paul Sandin ,  Nancy Dussault ,  Andrew Jones

Inventor： Andrew Ziegler ,  Duane Gilbert ,  Christopher John Morse ,  Scott Pratt ,  Paul Sandin ,  Nancy Dussault ,  Andrew Jones

IPC: G06F19/00

CPC classification number: A47L11/302 ,  A47L5/14 ,  A47L7/0028 ,  A47L7/0038 ,  A47L7/0042 ,  A47L9/009 ,  A47L9/10 ,  A47L9/28 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2884 ,  A47L11/40 ,  A47L11/4005 ,  A47L11/4011 ,  A47L11/4016 ,  A47L11/4027 ,  A47L11/4041 ,  A47L11/4044 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4069 ,  A47L11/4083 ,  A47L11/4088 ,  A47L2201/00 ,  A47L2201/022 ,  A47L2201/04 ,  B60B33/001 ,  B60B33/0021 ,  B60B33/0028 ,  B60B33/0039 ,  B60B33/0049 ,  B60B33/0057 ,  B60B33/0068 ,  B60B33/0073 ,  B60B33/028 ,  B60R19/483 ,  C11D1/62 ,  C11D1/75 ,  F04D29/4233 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0272 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/40

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

公开(公告)号：US08661605B2

公开(公告)日：2014-03-04

申请号：US12211938

申请日：2008-09-17

Applicant: Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

Inventor： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

IPC: A47L9/28

CPC classification number: A47L11/40 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  B25J9/0003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  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 coverage robot includes a body having at least one outer wall, a drive system disposed on the body and configured to maneuver the robot over a work surface, and a cleaning assembly carried by the body. The cleaning assembly includes first and second cleaning rollers rotatably coupled to the body, a suction assembly having a channel disposed adjacent at least one of the cleaning rollers, and a container in fluid communication with the channel. The container is configured to collect debris drawn into the channel. The suction assembly is configured to draw debris removed from the work surface by at least one of the cleaning rollers into the channel, and the container has a wall common with the at least one outer wall of the body.

Abstract translation: 自主覆盖机器人包括具有至少一个外壁的主体，设置在主体上并构造成在工作表面上操纵机器人的驱动系统以及由身体承载的清洁组件。 清洁组件包括可旋转地联接到主体的第一和第二清洁辊，具有邻近清洁辊中的至少一个设置的通道的抽吸组件和与通道流体连通的容器。 容器被配置成收集被吸入到通道中的碎屑。 抽吸组件被构造成将至少一个清洁辊从工作表面移除到通道中，并且容器具有与主体的至少一个外壁共用的壁。

公开(公告)号：US20140026354A1

公开(公告)日：2014-01-30

申请号：US14037008

申请日：2013-09-25

Applicant: Chikyung Won ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A. Dubrovsky ,  Selma Svendsen

Inventor： Chikyung Won ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A. Dubrovsky ,  Selma Svendsen

IPC: A47L11/40

CPC classification number: A47L11/40 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  B25J9/0003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04L1/16 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01 ,  Y10S901/50

Abstract: A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

Abstract translation: 一种覆盖机器人，包括底盘，设置在底盘上的多个驱动轮组件和由底盘承载的清洁组件。 每个驱动轮组件包括驱动轮组件壳体，可旋转地联接到壳体的轮子和由驱动轮组件壳体承载并可操作以驱动车轮的轮驱动马达。 清洁组件包括清洁组件壳体，可旋转地联接到清洁组件壳体的清洁头，以及通过清洁组件壳体并可操作以驱动清洁头的清洁驱动马达。 车轮组件和清洁组件各自独立地并且可独立地从底盘的各个容器中作为完整单元移除。

公开(公告)号：US20130331990A1

公开(公告)日：2013-12-12

申请号：US13911525

申请日：2013-06-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Yeon Kyu Jeong ,  Dong Won Kim ,  Jea Yun So ,  Sang Sik Yoon ,  Gwang Jin Jung ,  Joon Hyung Kwon

IPC: G05D1/02 ,  G02B5/02

CPC classification number: G05D1/0231 ,  A47L11/4061 ,  A47L2201/04 ,  G01S7/4802 ,  G01S7/4811 ,  G01S17/46 ,  G01S17/936 ,  G02B5/02 ,  G02B9/04 ,  G05D1/0238 ,  G05D2201/0203

Abstract: Disclosed herein are an obstacle sensing module and a cleaning robot including the same. The cleaning robot includes a body, a driver to drive the body, an obstacle sensing module to sense an obstacle present around the body, and a control unit to control the driver, based on sensed results of the obstacle sensing module. The obstacle sensing module includes at least one light emitter including a light source, and a wide-angle lens to refract or reflect light from the light source so as to diffuse the incident light in the form of planar light, and a light receiver including a reflection mirror to again reflect reflection light reflected by the obstacle so as to generate reflection light, an optical lens spaced from the reflection mirror by a predetermined distance, to allow the reflection light to pass through the optical lens, and an image sensor, and an image processing circuit.

Abstract translation: 这里公开了一种障碍物检测模块和包括该障碍物的清洁机器人。 清洁机器人包括主体，用于驱动身体的驾驶员，用于感测身体周围的障碍物的障碍物感测模块，以及基于障碍物感测模块的感测结果来控制驾驶员的控制单元。 障碍物检测模块包括至少一个包括光源的光发射器和用于折射或反射来自光源的光以便将入射光以平面光的形式扩散的广角镜头，以及包括 反射镜，以再次反射由障碍物反射的反射光，以产生反射光，与反射镜间隔预定距离的光学透镜，以允许反射光通过光学透镜，以及图像传感器，以及 图像处理电路。

公开(公告)号：US08606401B2

公开(公告)日：2013-12-10

申请号：US12828525

申请日：2010-07-01

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: G05B19/00 ,  G05B19/04 ,  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: A navigation beacon controls movement of a mobile robot in first and second areas. The navigation beacon includes a portable housing, a power source, and an emitter. The emitter is operable to emit a gateway marking emission when the robot is within a field of detection that extends between the areas. The gateway marking emission is detectable by the robot and prevents the robot from moving from one of the areas, through the field of detection, to the other of the areas. A switch is operable to switch the navigation beacon to be in an OFF mode in which the gateway beacon emitter is in an OFF state, a confinement mode in which the gateway beacon emitter is in an ON state, and a navigation mode in which the gateway beacon emitter is in the ON state and automatically switches to the OFF state in response to a predetermined condition.

Abstract translation: 导航信标控制移动机器人在第一和第二区域中的移动。 导航信标包括便携式外壳，电源和发射器。 当机器人处于在区域之间延伸的检测领域内时，发射器可操作地发射网关标记发射。 网关标记发射可由机器人检测到，并防止机器人从其中一个区域移动，通过检测领域到另一个区域。 交换机可操作地将导航信标切换到网关信标发射器处于OFF状态的关闭模式，网关信标发射机处于ON状态的限制模式，以及网关 信标发射器处于ON状态，并响应于预定条件自动切换到OFF状态。

公开(公告)号：US08594840B1

公开(公告)日：2013-11-26

申请号：US12415554

申请日：2009-03-31

Applicant: Mark J. Chiappetta ,  James Paul Frankel

Inventor： Mark J. Chiappetta ,  James Paul Frankel

IPC: G06F19/00

CPC classification number: G05D1/0246 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0238 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01

Abstract: An autonomous robot system including a transmitter disposed within a working area and a mobile robot operating within the working area. The transmitter includes an emitter for emitting at least one signal onto a remote surface above the working area. The mobile robot includes a robot body, a drive system configured to maneuver the robot over a surface within the working area, and a navigation system in communication with the drive system. The navigation system includes a receiver responsive to the emitted signal as reflected off of the remote surface and a processor connected to the receiver and configured to determine a relative location of the robot within the working area in response to the receiver responding to the reflected signal.

Abstract translation: 一种自主机器人系统，包括设置在工作区域内的发射器和在工作区域内操作的移动机器人。 发射器包括用于将至少一个信号发射到工作区域上方的远程表面上的发射器。 移动机器人包括机器人主体，构造成在工作区域内的表面上操纵机器人的驱动系统以及与驱动系统通信的导航系统。 导航系统包括响应于从远程表面反射的发射信号的接收器和连接到接收器的处理器，并被配置为响应于接收机响应于反射信号来确定机器人在工作区域内的相对位置。

公开(公告)号：US20130310978A1

公开(公告)日：2013-11-21

申请号：US13777648

申请日：2013-02-26

Applicant: Daniel N. OZICK ,  Duane L. Gilbert, JR.

Inventor： Daniel N. OZICK ,  Duane L. Gilbert, JR.

IPC: G05D1/02

CPC classification number: G05D1/0231 ,  A47L9/009 ,  A47L9/2826 ,  A47L2201/00 ,  A47L2201/04 ,  G05D1/0227 ,  G05D2201/0203

Abstract: A coverage robot includes a drive configured to maneuver the robot as directed by a controller, a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, and a suspension supporting the wheel. The stasis indication wheel defines a first reflective portion and a second reflective portion. The second reflective portion is substantially less reflective than the first reflective portion. The suspension permits movement of the wheel in a direction other than rotation about the first axis. A signal emitter is disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel. A signal receiver is positioned to receive the reflected signal by the rotating wheel. Communication between the emitter and the receiver is affected by rolling transitions between the first and second reflective portions during permitted movement of the wheel.

Abstract translation: 覆盖机器人包括驱动器，其被配置为根据控制器的指示来操纵机器人，可围绕垂直于向前行进的方向的第一轴线旋转的停滞指示轮以及支撑车轮的悬架。 停滞指示轮限定第一反射部分和第二反射部分。 第二反射部分比第一反射部分反射性好。 悬架允许车轮沿除了围绕第一轴线旋转的方向移动。 信号发射器远离车轮设置并定位成引导顺序地被车轮的第一和第二反射部分拦截的信号。 信号接收器被定位成通过旋转轮接收反射信号。 在允许的车轮移动期间，发射器和接收器之间的通信受到第一和第二反射部分之间的滚动过渡的影响。