公开(公告)号：US20160242613A1

公开(公告)日：2016-08-25

申请号：US15147661

申请日：2016-05-05

Applicant: iRobot Corporation

Inventor： Michael J. Dooley ,  Nikolai Romanov ,  Marcus Williams ,  Joseph M. Johnson

IPC: A47L13/16 ,  B32B5/26 ,  A47L11/40

CPC classification number: A47L11/4011 ,  A47L11/12 ,  A47L11/125 ,  A47L11/284 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4069 ,  A47L11/4072 ,  A47L11/408 ,  A47L11/4088 ,  A47L13/16 ,  A47L13/20 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  A61F13/36 ,  B32B3/04 ,  B32B5/022 ,  B32B5/26 ,  B32B7/12 ,  B32B25/14 ,  B32B29/002 ,  B32B2255/12 ,  B32B2262/04 ,  B32B2262/067 ,  B32B2262/14 ,  B32B2307/7145 ,  B32B2307/718 ,  B32B2307/726 ,  B32B2307/73 ,  B32B2432/00

Abstract: A pad particularly adapted for surface cleaning. The pad includes an absorbent core having the ability to absorb and retain liquid material, and a liner layer in contact with and covering at least one side of the absorbent core. The liner layer has the ability to retain and wick liquid material through the liner layer. Cleaning apparatus containing such pads and methods of using such pads are also described.

公开(公告)号：US20160235269A1

公开(公告)日：2016-08-18

申请号：US15139316

申请日：2016-04-26

Applicant: Yuyao Jingcheng high&new technology Co.,Ltd

Inventor： Guozhang Chen

IPC: A47L11/28 ,  A47L11/40

CPC classification number: A47L11/28 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4069 ,  A47L11/4072 ,  A47L2201/04

Abstract: An automatic mopping device with a driving worm arranged transversely includes an upper covering plate, an outer shell, a transmission member, an electrical component, a bottom cover, a chassis and a mopping ring assembly, and further includes a gear ring securing turntable, a mounting base and a motor cover. The overall height of the mopping device is between 60-64 mm, and the transmission member includes 2 wheels whose width is between 8-15 mm. The transmission member further comprises a perpendicularly arranged worm A and a horizontally arranged worm wheel B, a cylindrical spur gears A, B, C, a duplex gear and an internal gear ring. The duplex gear includes a cylindrical spur gear D and a planet gear. The worm wheel A and worm B are respectively meshed with the driving worm. The gear ring securing turntable is immovably connected to the internal gear ring, while the internal gear ring is meshed with the planet gear. The chassis is immovably connected to the gear ring securing turntable. The present invention has the following advantages: it is not that sensitive to the softness/hardness or the roughness/smoothness of the floor due to its relatively narrow wheels, thus avoiding breakdown, and its overall height is low enough to operate automatically underneath bed and table.

Abstract translation: 具有驱动蜗杆的自动拖带装置横向布置，包括上盖板，外壳，传动构件，电气部件，底盖，底架和拖把环组件，还包括固定转台的齿圈， 安装底座和电机盖。 拖把装置的整体高度在60-64mm之间，传动件包括宽度在8-15mm之间的两个轮子。 传动构件还包括垂直布置的蜗杆A和水平布置的蜗轮B，圆柱形正齿轮A，B，C，双工齿轮和内齿圈。 双面齿轮包括圆柱形正齿轮D和行星齿轮。 蜗轮A和蜗杆B分别与驱动蜗杆啮合。 齿圈固定转台不可移动地连接到内齿轮环，而内齿圈与行星齿轮啮合。 底盘不可移动地连接到固定转台的齿圈上。 本发明具有以下优点：由于其相对较窄的轮子，它对地板的柔软度/硬度或粗糙度/平滑度不敏感，因此避免了破裂，并且其整体高度足够低以在床下自动操作， 表。

公开(公告)号：US09411338B2

公开(公告)日：2016-08-09

申请号：US14655438

申请日：2013-11-28

Applicant: Sharp Kabushiki Kaisha

Inventor： Tohru Hanaoka ,  Toshihisa Matsuo ,  Kohhei Matsuo

IPC: G05D1/02 ,  G01B11/24 ,  G09B29/10 ,  G01B11/14 ,  G05D1/00

CPC classification number: G05D1/0248 ,  A47L2201/04 ,  G01B11/14 ,  G01B11/24 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G09B29/106 ,  Y10S901/01

Abstract: A cleaning robot (1) which is an autonomous mobile system performs coordinate conversion of three-dimensional coordinate data acquired by measurement in a distance image sensor (20) which is arranged in a frontward and obliquely downward direction to generate three-dimensional coordinate data of a floor surface reference. Labels are applied to this data by judging a level difference or an obstacle according to height from a floor surface (F) to create overhead view image data seen from directly above a cleaning robot main body. The overhead view image data is scanned, and only when the labels are arranged in a specific order, processing for substituting an unspecified area with a level difference is performed. Thereby, positional deviation of an edge of the level difference, which is caused by a blind spot, is corrected and a position of the level difference is able to be grasped accurately.

Abstract translation: 作为自主移动系统的清洁机器人（1），对在前后方向排列的距离图像传感器（20）进行测量得到的三维坐标数据的坐标变换，生成三维坐标数据 地板表面参考。 通过根据来自地板表面（F）的高度判断水平差或障碍物来生成标签，以从清洁机器人主体的正上方看到的顶视图像数据。 对俯视图像数据进行扫描，仅当以特定的顺序排列标签时，才执行以水平差代替未指定区域的处理。 由此，校正由盲点引起的电平差的边缘的位置偏差，能够精确地掌握电平差的位置。

公开(公告)号：US09408514B1

公开(公告)日：2016-08-09

申请号：US14466764

申请日：2014-08-22

Applicant: NEATO ROBOTICS, INC.

Inventor： Steven Mathew Alexander ,  Bruno Augusto Hexsel

IPC: G01C21/00 ,  G05B19/18 ,  A47L11/00 ,  A47L7/00 ,  A47L11/40 ,  G05D1/02

CPC classification number: G05D1/0219 ,  A47L11/4011 ,  A47L11/4036 ,  A47L2201/04 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A robotic surface treatment apparatus treats corners of rooms more effectively through intricate guidance of the apparatus through inside and outside corners. In one aspect, contact and/or non-contact sensors provide information to one or more on-board processors on the apparatus to enable selective overriding of obstacle avoidance program code and allow the apparatus to get closer to walls to facilitate treatment. In another aspect, the sensors provide information to the on-board processors to control backup motion of the apparatus to cover previously-missed areas when turning corners. In yet another aspect, the apparatus is shaped to have its treatment mechanism positioned more closely to the front of the apparatus to enable treatment more closely to walls near corners. In one embodiment, the robotic surface treatment apparatus is a robotic vacuum. The vacuum may have its cleaning brush positioned near a flat front portion of the apparatus.

Abstract translation: 机器人表面处理装置通过内部和外部角落错综复杂地引导装置，更有效地处理房间的角落。 在一个方面，接触和/或非接触式传感器向装置上的一个或多个车载处理器提供信息，以使得能够选择性地覆盖障碍物避免程序代码，并允许设备更靠近墙壁以便于治疗。 在另一方面，传感器向车载处理器提供信息，以控制装置的后备运动以在转弯时覆盖先前错过的区域。 在另一方面，该装置被成形为使其治疗机构更靠近装置的前部定位，以使得能够更加接近拐角附近的壁处理。 在一个实施例中，机器人表面处理设备是机器人真空。 真空可以使其清洁刷位于设备的平坦的前部附近。

公开(公告)号：US20160198919A1

公开(公告)日：2016-07-14

申请号：US14674166

申请日：2015-03-31

Applicant: KINPO ELECTRONICS, INC. ,  CAL-COMP ELECTRONICS & COMMUNICATIONS COMPANY LIMITED

Inventor： YU-TA LIN ,  CHUAN-WANG CHANG ,  MING-WEI CHUANG

IPC: A47L11/40 ,  G01C5/00

CPC classification number: A47L11/4011 ,  A47L11/4066 ,  A47L2201/04 ,  G01S3/783 ,  G01S5/0054 ,  G01S5/16 ,  G01S11/12 ,  G05D1/0234 ,  G05D2201/0215

Abstract: A positioning system comprises a sweeper and a positioning device arranged on a ceiling. The sweeper has a lighting component for emitting light. The positioning device at least has a height measuring unit and a plurality of light-sensitive units. The positioning device measures a vertical distance between the positioning device and a floor through the height measuring unit. The positioning device receives the light emitted from the emitting light of the sweeper through the light-sensitive units, and calculates an oblique distance between the positioning device and the sweeper based on different strengths of the light respectively received from each of the plurality of light-sensitive units. Therefore, the positioning device can calculates a parallel distance between the positioning device and the sweeper based on the vertical distance and the oblique distance, and further determines a related position of the sweeper opposite to the positioning device.

Abstract translation: 定位系统包括清扫器和布置在天花板上的定位装置。 清扫机具有用于发光的照明部件。 定位装置至少具有高度测量单元和多个感光单元。 定位装置通过高度测量单元测量定位装置与地板之间的垂直距离。 定位装置通过感光单元接收从清扫机的发射光发射的光，并且基于从多个发光元件中的每一个分别接收的光的不同强度来计算定位装置和扫掠器之间的倾斜距离， 敏感单位。 因此，定位装置可以基于垂直距离和倾斜距离计算定位装置和扫掠器之间的平行距离，并进一步确定与定位装置相对的清扫机的相关位置。

公开(公告)号：US20160188985A1

公开(公告)日：2016-06-30

申请号：US14883773

申请日：2015-10-15

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Jong-il KIM ,  Suk-june YOON ,  Shin KIM ,  Kyung-shik ROH ,  Soon-yong PARK ,  Sang-sik YOON ,  Seung-jae PARK

IPC: G06K9/00 ,  G02B13/06 ,  B25J9/16 ,  G05D1/00 ,  G05D1/02 ,  B25J5/00 ,  G02B17/08 ,  H04N5/225

CPC classification number: G06K9/00805 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1666 ,  G01S7/4816 ,  G01S17/46 ,  G01S17/936 ,  G02B13/06 ,  G02B17/00 ,  G02B17/08 ,  G02B17/0808 ,  G02B17/0812 ,  G02B17/086 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0246 ,  G05D2201/0203 ,  H04N5/2254 ,  Y10S901/01

Abstract: An obstacle detecting unit includes a reflective mirror formed to reflect light which is incident from a front area and a lower portion of the front area below a central portion of the reflective mirror; a catadioptric lens disposed coaxially with the reflective mirror in an upper portion of the reflective mirror, the catadioptric lens on which light incident from the front area and an upper portion of the front area; and an image forming module disposed coaxially with the reflective mirror below the reflective mirror, the image forming module on which the light reflected by the reflective mirror is incident, wherein a through hole is formed in the central portion of the reflective mirror, and the light coming out of the catadioptric lens passes through the through hole and then is incident on the image forming module.

Abstract translation: 障碍物检测单元包括反射镜，反射镜形成为反射从反射镜的中心部分的正面区域的前部区域和下部入射的光; 在反射镜的上部与反射镜同轴设置的反射折射透镜，反射折射透镜，从前区域入射的光和前区域的上部; 以及图像形成模块，其与所述反射镜下方的所述反射镜同轴地配置，所述图像形成模块，由所述反射镜反射的光入射到所述图像形成模块，其中，在所述反射镜的中心部分形成有通孔， 从反折射透镜出来的光通过通孔，然后入射到成像模块上。

公开(公告)号：US20160183752A1

公开(公告)日：2016-06-30

申请号：US14944788

申请日：2015-11-18

Applicant: iRobot Corporation

Inventor： Russell Walter Morin ,  Faruk Halil Bursal ,  Harold Boeschenstein

IPC: A47L9/16 ,  A47L9/28 ,  A47L9/14

CPC classification number: A47L9/1683 ,  A47L9/00 ,  A47L9/14 ,  A47L9/2815 ,  A47L9/2842 ,  A47L9/2857 ,  A47L9/2873 ,  A47L2201/024 ,  A47L2201/04

Abstract: An evacuation station includes a base and a canister removably attached to the base. The base includes a ramp having an inclined surface for receiving a robotic cleaner having a debris bin. The ramp defines an evacuation intake opening arranged to pneumatically interface with the debris bin. The base also includes a first conduit portion pneumatically connected to the evacuation intake opening, an air mover having an inlet and an exhaust, and a particle filter pneumatically the exhaust of the air mover. The canister includes a second conduit portion arranged to pneumatically interface with the first conduit portion to form a pneumatic debris intake conduit, an exhaust conduit arranged to pneumatically connect to the inlet of the air mover when the canister is attached to the base, and a separator in pneumatic communication with the second conduit portion.

Abstract translation: 撤离站包括可拆卸地连接到基座的基座和罐。 底座包括具有倾斜表面的坡道，用于接纳具有碎片箱的机器人清洁器。 斜坡限定了排气入口，其布置成与碎屑仓气动地接合。 基座还包括气动地连接到抽空进口的第一导管部分，具有入口和排气口的空气移动器，以及气动地使空气推动器的排气的颗粒过滤器。 所述罐包括第二导管部分，所述第二导管部分设置成与所述第一导管部分气动地接合以形成气动碎屑进入导管，所述排气导管布置成当所述罐附接到所述基座时气动地连接到所述鼓风机的入口， 与第二导管部分气动连通。

公开(公告)号：US09370290B2

公开(公告)日：2016-06-21

申请号：US14877207

申请日：2015-10-07

Applicant: iRobot Corporation

Inventor： Michael Dooley ,  James Philip Case ,  Nikolai Romanov

IPC: G06F19/00 ,  A47L11/40 ,  G05D1/02

CPC classification number: A47L11/4011 ,  A47L11/30 ,  A47L11/4036 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4088 ,  A47L2201/04 ,  B25J11/0085 ,  G05D1/0219 ,  G05D2201/0203

Abstract: A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.

公开(公告)号：US20160158941A1

公开(公告)日：2016-06-09

申请号：US14657503

申请日：2015-03-13

Applicant: MSI Computer(Shenzhen)Co., Ltd.

Inventor： Shih-Che Hung ,  YUAN-CHEN CHEN ,  Pi-Chang Jung

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

CPC classification number: B25J9/1694 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1674 ,  B25J11/0085 ,  G05D1/0242 ,  G05D2201/0215 ,  Y10S901/01

Abstract: A state detecting method applied to a mobile device includes: arranging a depth sensor at the bottom of the mobile device, obtaining a detection signal of the depth sensor, and determining if the mobile device is in a lifted state, a tilted state, or an edge-bordering state, based on the numerical value of the detection signal of the depth sensor. The lifted state is associated with the mobile device without contacting with a support surface. The tilted status is associated with one end of the mobile device contacting the support surface and the other end of the mobile device without contacting the support surface. The edge-bordering state is associated with the mobile device located at the edge of the support surface. Accordingly, when the mobile device is in any of the aforementioned states, an appropriate response can be implemented.

Abstract translation: 应用于移动设备的状态检测方法包括：在移动设备的底部布置深度传感器，获得深度传感器的检测信号，以及确定移动设备是否处于提升状态，倾斜状态或 边缘边界状态，基于深度传感器检测信号的数值。 提升状态与移动设备相关联，而不与支撑表面接触。 倾斜状态与可移动装置的一端与移动装置的支撑表面和另一端接触而不与支撑表面接触。 边缘边界状态与位于支撑表面边缘处的移动设备相关联。 因此，当移动设备处于上述任何状态时，可以实现适当的响应。

公开(公告)号：US09357894B2

公开(公告)日：2016-06-07

申请号：US14171278

申请日：2014-02-03

Applicant: EGENPOWER INC.

Inventor： Yao-Hsi Chiu ,  Fei-Yun Zhu

IPC: A47L11/28 ,  A47L11/40

CPC classification number: A47L11/28 ,  A47L11/4002 ,  A47L11/4038 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/408 ,  A47L11/4083 ,  A47L2201/00 ,  A47L2201/04

Abstract: A mobile robotistic mopping machine is formed of a body frame, a mop cloth, a power device, and a control device. The power device includes two opposite wheels and two opposite motors connected with the respective wheels for driving the wheels to rotate to further enable the body frame via the wheels to make the mop cloth move forward for cleaning the ground. The control device is electrically connected with the motors for controlling the motors. When the body frame makes the mop cloth move forward for a predetermined distance, the control device can control and make one of the motors reversely rotate and meanwhile make the other keep normal rotation to further enable the body frame to make the mop cloth turn for a predetermined angle and then keep moving forward.

Abstract translation: 一种移动机器人拖把机由机体框架，拖把布，动力装置和控制装置构成。 动力装置包括两个相对的车轮和两个相对的电动机，与相应车轮连接，用于驱动车轮旋转，以进一步使得车身框架经由轮子使得拖把布向前移动以清洁地面。 控制装置与用于控制电动机的电动机电连接。 当车身框架使拖把布向前移动预定距离时，控制装置可以控制并使其中一个马达反向旋转，同时使另一个保持正常旋转，从而进一步使车身框架能够使拖把布转动 预定角度，然后继续向前移动。