公开(公告)号：US08839477B2

公开(公告)日：2014-09-23

申请号：US13719784

申请日：2012-12-19

Applicant: iRobot Corporation

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

IPC: A47L11/282

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.

Abstract translation: 自主覆盖机器人包括具有前部和后部的底盘以及由底盘承载的驱动系统。 底盘的前部限定了大致矩形的形状。 机器人包括安装在底盘的前部的清洁组件和邻近清洁组件布置的垃圾箱，并且构造成接收由​​清洁组件搅动的碎屑。 仓盖可枢转地附接到底盘的下部，并且构造成在第一关闭位置和第二打开位置之间旋转，所述第一闭合位置提供由料仓限定的开口的关闭和提供通向箱开口的第二打开位置。 机器人包括附接到底盘的主体和设置在主体上部的手柄。 垃圾箱盖释放件可从基本上靠近手柄致动。

公开(公告)号：US20140257622A1

公开(公告)日：2014-09-11

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.

公开(公告)号：US20140222251A1

公开(公告)日：2014-08-07

申请号：US14179284

申请日：2014-02-12

Applicant: iRobot Corporation

Inventor： Joseph L. Jones ,  Philip R. Mass

IPC: G05D1/02

CPC classification number: G05D1/028 ,  A47L9/009 ,  A47L2201/04 ,  G05D1/0214 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0215

Abstract: A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Abstract translation: 一种将机器人限制在工作空间中的方法包括提供便携式屏障信号传输装置，其包括主要发射器，其主要沿着限定定向屏障的轴发射约束束。 使得包括检测器，驱动电动机和控制驱动电动机的控制单元的移动机器人在机器人上被检测器检测到时避免了定向障碍物。 机器人上的检测器具有与机器人运动平面平行的全方位视场。 检测器接收基本上在视场高度的平面中的约束光束，同时在视场的高度处阻挡或排斥基本上在平面上方或基本上低于平面的约束光束。

公开(公告)号：US08761931B2

公开(公告)日：2014-06-24

申请号：US13893905

申请日：2013-05-14

Applicant: iRobot Corporation

Inventor： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, Jr. ,  Daniel N. Ozick

IPC: G06F19/00

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 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

Abstract translation: 省电机器人系统包括至少一个外围设备和移动机器人。 外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。 机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。 另一方面，机器人系统包括网络数据桥和移动机器人。 网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。 数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。 移动机器人包括接收从网络数据桥发送的串行命令的无线命令通信组件。

公开(公告)号：US08726454B2

公开(公告)日：2014-05-20

申请号：US12118219

申请日：2008-05-09

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: A47L5/00

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: A surface treatment robot includes a chassis having forward and rear ends and a drive system carried by the chassis. The drive system includes right and left driven wheels and is configured to maneuver the robot over a cleaning surface. The robot includes a vacuum assembly, a collection volume, a supply volume, an applicator, and a wetting element, each carried by the chassis. The wetting element engages the cleaning surface to distribute a cleaning liquid applied to the surface by the applicator. The wetting element distributes the cleaning liquid along at least a portion of the cleaning surface when the robot is driven in a forward direction. The wetting element is arranged substantially forward of a transverse axis defined by the right and left driven wheels, and the wetting element slidably supports at least about ten percent of the mass of the robot above the cleaning surface.

Abstract translation: 表面处理机器人包括具有前端和后端的底盘以及由底盘承载的驱动系统。 驱动系统包括左右从动轮，并被配置成在清洁表面上操纵机器人。 机器人包括由底盘承载的真空组件，收集容积，供应体积，施加器和润湿元件。 润湿元件接合清洁表面以分配由施加器施加到表面的清洁液体。 当机器人沿向前方向被驱动时，润湿元件沿着清洁表面的至少一部分分配清洁液体。 润湿元件基本上布置在由左右从动轮限定的横向轴线的前方，并且润湿元件可滑动地支撑机器人在清洁表面上方的质量的至少约百分之十。

公开(公告)号：US20140129028A1

公开(公告)日：2014-05-08

申请号：US13893038

申请日：2013-05-13

Applicant: iRobot Corporation

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

IPC: A47L11/40 ,  A47L9/28

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）来检测或产生差分的左/右碎片信号，从而使得自主装置能够沿着碎屑的方向转向。

公开(公告)号：US20140114525A1

公开(公告)日：2014-04-24

申请号：US13656689

申请日：2012-10-20

Applicant: Ali Ebrahimi Afrouzi

Inventor： Ali Ebrahimi Afrouzi

IPC: G05D1/02

CPC classification number: G05D1/0244 ,  A47L2201/04 ,  G05D1/0242 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/47

Abstract: The present invention discloses a system for confining the movement of a robot such that certain area(s) are temporarily or permanently excluded from its working territory. The system uses light-absorbing, black-out paper stripe(s) capable of a complete absorption of light including infrared. The system also uses a mobile robot equipped with infrared emitters and infrared-reflection detectors that communicate the existence of infrared reflection or the lack of it to the robot's control unit. The control unit controls the wheel drivers and ensures that the robot continues travelling only as long as the reflection of infrared signals are detected from the surface onto which it is headed. In this system therefore, the said black-out papers act as a fence that the robot cannot pass because they prevent the reflection of infrared light from the spot(s) where they are placed and force the robot to stop and change directions when it encounters a black-out stripe.

Abstract translation: 本发明公开了一种用于限制机器人运动的系统，使得某些区域暂时或永久地从其工作区域排除。 该系统使用能够完全吸收包括红外线在内的光的吸收光，遮光纸条纹。 该系统还使用配备有红外发射器和红外反射检测器的移动机器人，其将红外反射的存在或缺少红外线反射检测器传送到机器人的控制单元。 控制单元控制车轮驱动器，并确保机器人只要从其所朝向的表面检测到红外信号的反射就继续行进。 因此，在该系统中，所述黑色纸作为机器人不能通过的栅栏，因为它们防止了来自被放置位置的红外光的反射，并迫使机器人在遇到时停止并改变方向 黑色条纹。

公开(公告)号：US20140101885A1

公开(公告)日：2014-04-17

申请号：US14140318

申请日：2013-12-24

Applicant: Joseph Y. Ko

Inventor： Joseph Y. Ko

IPC: A47L11/40 ,  A47L9/28

CPC classification number: A47L11/4066 ,  A47L9/2831 ,  A47L9/2873 ,  A47L9/2894 ,  A47L11/4011 ,  A47L2201/022 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0215

Abstract: A movement operation system for autonomous moving cleaning apparatus comprises a charging dock and an autonomous moving cleaning apparatus. The charging dock includes a charging module and an infrared ray emitter. The autonomous moving cleaning apparatus includes a battery, at least one servomotor, an infrared ray receiver and a microcontroller unit. The infrared ray receiver receives an encrypted infrared signal emitted by the infrared ray emitter and sends the encrypted infrared signal to the microcontroller unit for decoding. The microcontroller unit detects whether the present voltage of the battery is higher than a charge voltage of the charging module, and generates a control signal to control the servomotor to move the autonomous moving cleaning apparatus away from the charging dock or to the charging dock for charging the battery.

Abstract translation: 用于自动移动清洁设备的移动操作系统包括充电座和自动移动清洁设备。 充电座包括充电模块和红外线发射器。 自动移动清洁装置包括电池，至少一个伺服电动机，红外线接收器和微控制器单元。 红外线接收器接收由红外线发射器发射的加密的红外信号，并将加密的红外信号发送到微控制器单元进行解码。 微控制器单元检测电池的当前电压是否高于充电模块的充电电压，并且产生控制信号以控制伺服电动机将自主移动的清洁装置移动到充电基座或充电座充电 电池。

公开(公告)号：US20140100736A1

公开(公告)日：2014-04-10

申请号：US14049715

申请日：2013-10-09

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Shin KIM ,  Jeong Gon Song ,  Ju Sang Lee ,  Jun Pyo Hong

IPC: A47L11/40 ,  B25J9/00

CPC classification number: A47L11/4011 ,  A47L11/4061 ,  B25J9/0003 ,  G05D1/0219 ,  G05D2201/0215

Abstract: A control method of a robot cleaner for traveling to clean includes checking information about a predetermined traveling pattern; determining a traveling trajectory based on a traveling speed; generating a traveling pattern based on the determined traveling trajectory and the information about the predetermined traveling pattern, wherein the traveling pattern includes a first straight path, a first rotation path connected to the first straight path and for rotation in a first direction, a second straight path connected to the first rotation path, and a second rotation path connected to the second straight path and for rotation in a second direction; and repeatedly traveling along the generated traveling pattern at regular intervals. Therefore, since the robot cleaner performs cleaning without scattering dust, the efficiency of cleaning may be improved.

Abstract translation: 用于行进清洁的机器人清洁器的控制方法包括关于预定行驶模式的检查信息; 基于行驶速度确定行驶轨迹; 基于所确定的行进轨迹和关于预定行进图案的信息产生行进图案，其中行驶模式包括第一直线路径，连接到第一直线路径并且沿第一方向旋转的第一旋转路径，第二直线 连接到第一旋转路径的路径，以及连接到第二直线路径并用于沿第二方向旋转的第二旋转路径; 并且以规则的间隔重复地沿所产生的行驶模式行进。 因此，由于机器人清洁器进行清洁而不会飞散灰尘，因此可以提高清洁效率。

公开(公告)号：US20140088761A1

公开(公告)日：2014-03-27

申请号：US14033922

申请日：2013-09-23

Applicant: iRobot Corporation

Inventor： Steven V. Shamlian ,  Samuel Duffley ,  Nikolai Romanov

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。