公开(公告)号：US09713303B2

公开(公告)日：2017-07-25

申请号：US14769470

申请日：2013-02-21

Applicant: HUSQVARNA AB

Inventor： Patrik Jägenstedt ,  Mattias Kamfors

IPC: G01C22/00 ,  G05D1/00 ,  A01D34/00 ,  B60L1/00 ,  B60L3/00 ,  B60L8/00 ,  B60L11/18 ,  B60L15/20 ,  G05D1/02

CPC classification number: A01D34/008 ,  B60L1/003 ,  B60L3/0061 ,  B60L8/003 ,  B60L11/1805 ,  B60L11/1818 ,  B60L11/1877 ,  B60L15/20 ,  B60L2200/40 ,  B60L2240/36 ,  B60L2240/421 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0259 ,  G05D1/0265 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7083 ,  Y02T10/72 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01

Abstract: Disclosed is a robotic work tool (100) for use with at least one guiding wire (250; 260) adapted to conduct electric current to generate a magnetic field around the guiding wire. The robotic work tool has a sensing system (510) adapted to detect a strength of the magnetic field, a steering system (540), a controller (530) configured to control the steering system in response to output from the sensing system by means of a feedback control loop (532) so as to cause movement of the robotic work tool along the guiding wire. The controller is configured to determine a measure indicative of a distance between the robotic work tool and the guiding wire, and adjust at least one parameter of the feedback control loop in response to the determined distance measure.

公开(公告)号：US09713302B2

公开(公告)日：2017-07-25

申请号：US14489847

申请日：2014-09-18

Applicant: iRobot Corporation

Inventor： Paul E. Sandin ,  Joseph L. Jones ,  Daniel N. Ozick ,  David A. Cohen ,  David M. Lewis, Jr. ,  Clara Vu ,  Zivthan A. Dubrovsky ,  Joshua B. Preneta ,  Jeffrey W. Mammen ,  Duane L. Gilbert, Jr. ,  Tony L. Campbell ,  John Bergman ,  Mark J. Chiappetta

IPC: G05D1/02 ,  A01D34/00 ,  B60L3/00 ,  B60L11/12 ,  B60L11/18

CPC classification number: G05D1/0265 ,  A01D34/008 ,  B60L3/0023 ,  B60L11/126 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/40 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/36 ,  B60L2240/425 ,  B60L2240/662 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/6217 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7094 ,  Y02T10/7241 ,  Y02T10/7291 ,  Y02T90/127 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/09

Abstract: An autonomous coverage robot system includes an active boundary responder comprising a wire powered with a modulated current placed along a perimeter of a property, at least one passive boundary responder placed on a property interior circumscribed by the active boundary responder, and an autonomous coverage robot. The robot includes a drive system carried by a body and configured to maneuver the robot across the property interior. The robot includes a signal emitter emitting a signal, where the passive boundary responder is responsive to the signal and a boundary responder detection system carried by the body. The boundary responder detector is configured to redirect the robot both in response to the responder detection system detecting an active boundary responder and in response to detecting a passive boundary responder.

公开(公告)号：US09675229B2

公开(公告)日：2017-06-13

申请号：US14690807

申请日：2015-04-20

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： No San Kwak ,  Ji Min Kim ,  Shin Kim ,  Kyung Shik Roh ,  Jea Yun So ,  Suk June Yoon ,  Jong Gap Lee

IPC: G05B19/04 ,  G05B19/18 ,  A47L11/40 ,  G05D1/00

CPC classification number: A47L11/4061 ,  A47L11/4011 ,  A47L2201/04 ,  G05D1/0016 ,  G05D1/0033 ,  G05D1/0088 ,  G05D2201/0215 ,  Y10S901/30 ,  Y10S901/47

Abstract: A robot cleaner includes a traveling unit to move a main body, an obstacle sensing unit to sense an obstacle, a light reception unit to receive modulated light according to a control command of a user, and a controller to control the traveling unit so that the main body traces a light spot formed by the light. If an obstacle is detected, the controller controls the traveling unit such that the main body traces an outline of the obstacle according to the light spot position and the obstacle position.

公开(公告)号：US20170147003A1

公开(公告)日：2017-05-25

申请号：US15337455

申请日：2016-10-28

Applicant: iRobot Corporation

Inventor： L. Niklas Karlsson ,  Paolo Pirjanian ,  Luis Filipe Domingues Goncalves ,  Enrico Di Bernardo

IPC: G05D1/02 ,  G06T7/70 ,  G01C21/12

CPC classification number: G05D1/0246 ,  G01C21/12 ,  G05D1/0231 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0215 ,  G06T7/55 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30204 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/50

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

公开(公告)号：US20170135541A1

公开(公告)日：2017-05-18

申请号：US15322103

申请日：2015-03-30

Applicant: Samsung Electronics Co., Ltd

Inventor： No San Kwak ,  Ji Min Kim ,  Shin Kim ,  Kyung Shik Roh ,  Suk June Yoon ,  Jeong Gon Song

IPC: A47L9/28 ,  B25J9/16 ,  B25J5/00 ,  G05D1/02 ,  G05D1/00

CPC classification number: A47L9/2894 ,  A47L9/28 ,  A47L9/2836 ,  A47L9/2857 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/007 ,  B25J9/16 ,  B25J9/1694 ,  G05D1/0022 ,  G05D1/02 ,  G05D1/0276 ,  G05D2201/0215

Abstract: A robot cleaner and a method for controlling the same are disclosed. The robot cleaner includes: a main body; one or more infrared ray (IR) sensors configured to receive IR signals from a transmission device in various directions; a drive motor configured to move the main body toward the transmission device upon receiving a control signal from a controller; and a controller configured to remove reflected waves from among the plurality of IR signals by generating a transmission device direction estimation value, and control driving of the main body using the drive motor on the basis of the transmission device direction estimation value.

公开(公告)号：US20170105592A1

公开(公告)日：2017-04-20

申请号：US15389926

申请日：2016-12-23

Applicant: iRobot Corporation

Inventor： Philip Fong ,  Jason Meltzer ,  Jens-Steffen Gutmann ,  Vazgen Karapetyan ,  Mario E. Munich

IPC: A47L9/28 ,  B25J9/16 ,  B25J11/00 ,  H02J7/00 ,  B25J19/00 ,  G05D1/02 ,  A47L9/30 ,  B25J5/00 ,  B25J13/00

CPC classification number: A47L9/2873 ,  A47L9/2894 ,  A47L9/30 ,  A47L2201/02 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1697 ,  B25J11/0085 ,  B25J13/006 ,  B25J19/005 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0215 ,  H02J7/0045 ,  Y10S901/01

Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.

公开(公告)号：US20170079497A1

公开(公告)日：2017-03-23

申请号：US15248826

申请日：2016-08-26

Applicant: LG ELECTRONICS INC.

Inventor： Sangyun KIM ,  Younggie Kim

IPC: A47L11/40

CPC classification number: A47L11/4011 ,  A47L9/2894 ,  A47L11/4008 ,  A47L11/4013 ,  A47L11/4044 ,  A47L11/4061 ,  A47L2201/04 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0033 ,  G05D1/0044 ,  G05D2201/0203 ,  G05D2201/0215 ,  G06T7/73 ,  G06T2207/30204 ,  G08C17/02

Abstract: A robot cleaner system may include a robot cleaner that may be automatically driven while performing a cleaning operation, a recharging base that receives the robot cleaner, and a remote control device that remotely controls the robot cleaner. The remote control device may also generate mapping information between an actual region and a virtual region based on image information generated by a camera provided on the robot cleaner, and/or image information generated by a camera on the recharging base.

公开(公告)号：US20170031366A1

公开(公告)日：2017-02-02

申请号：US15244603

申请日：2016-08-23

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。

公开(公告)号：US09526390B2

公开(公告)日：2016-12-27

申请号：US15000424

申请日：2016-01-19

Applicant: LG Electronics Inc.

Inventor： Sihyuk Yi ,  Hyukdo Kweon ,  Wooyeon Kim

IPC: B08B3/00 ,  A47L9/28 ,  B25J11/00 ,  B25J9/16 ,  A47L9/00 ,  G05D1/02

CPC classification number: A47L9/2826 ,  A47L9/00 ,  A47L9/281 ,  A47L9/2852 ,  A47L2201/04 ,  A47L2201/06 ,  B25J9/1664 ,  B25J9/1694 ,  B25J11/0085 ,  G05D1/0223 ,  G05D1/0246 ,  G05D2201/0215 ,  Y10S901/01

Abstract: A robot cleaner includes a main body that defines an external appearance of the robot cleaner. The robot cleaner further includes a plurality of dust sensors that are located at different positions on the main body and that are configured to sense dust that is located in a traveling route of the robot cleaner. The robot cleaner further includes a control unit that is configured to control movement and a cleaning operation of the robot cleaner based on sensing data from the plurality of dust sensors.

Abstract translation: 机器人清洁器包括限定机器人清洁器的外观的主体。 机器人清洁器还包括多个灰尘传感器，其位于主体上的不同位置，并被构造成感测位于机器人清洁器的行进路径中的灰尘。 机器人清洁器还包括控制单元，其被配置为基于来自多个灰尘传感器的感测数据来控制机器人清洁器的移动和清洁操作。

公开(公告)号：US09516984B2

公开(公告)日：2016-12-13

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: B25J5/00 ,  A47L11/40 ,  G01S3/783 ,  G01S5/00 ,  G01S5/16 ,  G01S11/12

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扫掠器的相关位置。