公开(公告)号：US20180297208A1

公开(公告)日：2018-10-18

申请号：US15949653

申请日：2018-04-10

Applicant: iRobot Corporation

Inventor： Dhiraj Goel ,  Ethan Eade ,  Philip Fong ,  Mario E. Munich

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

Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

公开(公告)号：US09969089B2

公开(公告)日：2018-05-15

申请号：US15221036

申请日：2016-07-27

Applicant: iRobot Corporation

Inventor： Dhiraj Goel ,  Ethan Eade ,  Philip Fong ,  Mario E. Munich

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

CPC classification number: B25J9/1697 ,  B25J5/007 ,  B25J9/1628 ,  B25J9/1664 ,  B25J11/0085 ,  G05D1/0253 ,  G05D1/0268 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01

Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

公开(公告)号：US20170097643A1

公开(公告)日：2017-04-06

申请号：US15353368

申请日：2016-11-16

Applicant: iRobot Corporation

Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Philip Fong

IPC: G05D1/02 ,  B25J19/00 ,  B25J5/00 ,  G05D1/00 ,  G01C21/20

CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J19/005 ,  G01C21/206 ,  G05D1/0088 ,  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 controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.

公开(公告)号：US09519289B2

公开(公告)日：2016-12-13

申请号：US14856526

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Philip Fong

IPC: B25J9/16 ,  G05D1/02 ,  G01C21/20 ,  G05D1/00

CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J19/005 ,  G01C21/206 ,  G05D1/0088 ,  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 controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.

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，其包括控制器电路，其引导移动机器人的驱动器通过使用基于摄像机的导航系统的环境导航移动机器人，以及包括定义相机场的光学器件 和相机光轴，其中相机位于凹陷结构内并且倾斜，使得照相机光轴以与顶表面一致的水平面上方的锐角对准，并且朝向前方驱动 机器人主体的方向，并且相机被配置为捕获移动机器人的操作环境的图像。

公开(公告)号：US20160147230A1

公开(公告)日：2016-05-26

申请号：US14856526

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Phillip Fong

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

CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J19/005 ,  G01C21/206 ,  G05D1/0088 ,  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 controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.

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，其包括控制器电路，其引导移动机器人的驱动器通过使用基于摄像机的导航系统的环境导航移动机器人，以及包括定义相机场的光学器件 和相机光轴，其中相机位于凹陷结构内并且倾斜，使得照相机光轴以与顶表面一致的水平面上方的锐角对准，并且朝向前方驱动 机器人主体的方向，并且相机被配置为捕获移动机器人的操作环境的图像。

公开(公告)号：US12090650B2

公开(公告)日：2024-09-17

申请号：US17011689

申请日：2020-09-03

Applicant: iRobot Corporation

Inventor： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael J. Dooley

IPC: B25J5/00 ,  A47L11/40 ,  B25J13/08 ,  G05D1/00 ,  G05D1/02

CPC classification number: B25J5/00 ,  A47L11/4011 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4091 ,  B25J13/08 ,  G05D1/0219 ,  A47L2201/00 ,  A47L2201/04 ,  Y10S901/01 ,  Y10S901/46

Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

公开(公告)号：US11052540B2

公开(公告)日：2021-07-06

申请号：US16251926

申请日：2019-01-18

Applicant: iRobot Corporation

Inventor： Michael S. Stout ,  Gabriel Francis Brisson ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  Dhiraj Goel ,  James Philip Case ,  Michael Dooley

IPC: B25J9/16 ,  G05D1/02 ,  B25J5/00

Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

公开(公告)号：US20190152059A1

公开(公告)日：2019-05-23

申请号：US16251926

申请日：2019-01-18

Applicant: iRobot Corporation

Inventor： Michael S. Stout ,  Gabriel Francis Brisson ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  Dhiraj Goel ,  James Philip Case ,  Michael Dooley

IPC: B25J9/16 ,  G05D1/02 ,  B25J5/00

Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

公开(公告)号：US20170197314A1

公开(公告)日：2017-07-13

申请号：US15461106

申请日：2017-03-16

Applicant: iRobot Corporation

Inventor： Michael S. Stout ,  Gabriel Francis Brisson ,  Enrico Di Bernardo ,  Paolo Pirjanian ,  Dhiraj Goel ,  James Philip Case ,  Michael Dooley

IPC: B25J9/16 ,  G05D1/02 ,  B25J5/00

Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

公开(公告)号：US09442488B2

公开(公告)日：2016-09-13

申请号：US14279598

申请日：2014-05-16

Applicant: iRobot Corporation

Inventor： Steven V. Shamlian ,  Samuel Duffley ,  Nikolai Romanov ,  Dhiraj Goel ,  Frederic D. Hook ,  Mario E. Munich

IPC: G05D1/02

CPC classification number: G05D1/0238 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/027 ,  G05D2201/0215

Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.

Abstract translation: 接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。 第一个传感器是发射器和接收器之一。 第二个传感器是发射器和接收器中的另一个。 第三传感器被布置为与第二传感器相邻，与第一传感器相对。 如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。 每个传感器相对于其他两个传感器定位成一定角度。 每个传感器具有相应的视野。 第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。 第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。