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公开(公告)号：US09320398B2
公开(公告)日：2016-04-26
申请号：US12540884
申请日：2009-08-13
申请人： Patrick Alan Hussey , Robert Paul Roy , Rogelio Manfred Neumann , Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
发明人： Patrick Alan Hussey , Robert Paul Roy , Rogelio Manfred Neumann , Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
CPC分类号： A47L9/0477 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/0488 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4011 , A47L11/4013 , A47L11/4027 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , 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
摘要： An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.
摘要翻译： 自主覆盖机器人包括主体，设置在主体上的驱动系统以及设置在主体上并构造成在机器人横穿地板表面操纵时与地板表面接合的清洁组件。 清洁组件包括驱动的清洁辊，设置在主体上用于接收由清洁辊搅动的碎屑的清洁仓和一个鼓风机。 清洁箱包括清洁箱本体，其具有邻近清洁辊设置的清洁箱入口和设置在清洁箱体上用于接合清洁辊的辊刮刀。 清洁箱本体具有与清洁仓入口气动连通的保持部分，并且空气移动器可操作以将空气移动到清洁仓入口中。
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公开(公告)号：US08761935B2
公开(公告)日：2014-06-24
申请号：US12145184
申请日：2008-06-24
CPC分类号： B25J9/1697 , A47L2201/04 , G01S15/931 , G01S17/93 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02P90/265 , Y10S901/01 , Y10S901/47
摘要： A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.
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公开(公告)号：US20130211589A1
公开(公告)日：2013-08-15
申请号：US13781314
申请日：2013-02-28
IPC分类号： G05D3/12
CPC分类号： A47L11/4011 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0272 , G05D3/12 , G05D2201/0215
摘要： An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.
摘要翻译： 一种自主清洁设备包括底盘，设置在底盘上并可操作以使得能够移动清洁设备的驱动系统，以及与驱动系统通信的控制器。 控制器包括可操作以控制驱动系统以引导清洁设备的运动的处理器。 自动清洁装置包括设置在底盘上的清洁头系统和与控制器通信的传感器系统。 传感器系统包括用于产生碎片信号的碎片传感器，用于产生凸起信号的凸块传感器，以及设置在自动清洁装置的一侧的障碍物跟随传感器，用于产生障碍物信号。 处理器执行优先级仲裁方案，以基于从传感器系统接收的至少一个信号来识别和实现一个或多个显性行为模式。
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公开(公告)号：US08386081B2
公开(公告)日：2013-02-26
申请号：US12512114
申请日：2009-07-30
CPC分类号： G05D1/0272 , G05D1/0227 , G05D1/0242 , G05D2201/0215
摘要： An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.
摘要翻译： 一种自主清洁设备包括底盘，设置在底盘上并可操作以使得能够移动清洁设备的驱动系统，以及与驱动系统通信的控制器。 控制器包括可操作以控制驱动系统以引导清洁设备的运动的处理器。 自动清洁装置包括设置在底盘上的清洁头系统和与控制器通信的传感器系统。 传感器系统包括用于产生碎片信号的碎片传感器，用于产生凸起信号的凸块传感器，以及设置在自动清洁装置的一侧的障碍物跟随传感器，用于产生障碍物信号。 处理器执行优先级仲裁方案，以基于从传感器系统接收的至少一个信号来识别和实现一个或多个显性行为模式。
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公开(公告)号：US20100049364A1
公开(公告)日：2010-02-25
申请号：US12512114
申请日：2009-07-30
CPC分类号： G05D1/0272 , G05D1/0227 , G05D1/0242 , G05D2201/0215
摘要： An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.
摘要翻译： 一种自主清洁设备包括底盘，设置在底盘上并可操作以使得能够移动清洁设备的驱动系统，以及与驱动系统通信的控制器。 控制器包括可操作以控制驱动系统以引导清洁设备的运动的处理器。 自动清洁装置包括设置在底盘上的清洁头系统和与控制器通信的传感器系统。 传感器系统包括用于产生碎片信号的碎片传感器，用于产生凸起信号的凸块传感器，以及设置在自动清洁装置的一侧的障碍物跟随传感器，用于产生障碍物信号。 处理器执行优先级仲裁方案，以基于从传感器系统接收的至少一个信号来识别和实现一个或多个显性行为模式。
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公开(公告)号：US20090292393A1
公开(公告)日：2009-11-26
申请号：US12486820
申请日：2009-06-18
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , A47L2201/04 , G01S15/931 , G01S17/93 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02P90/265 , Y10S901/01 , Y10S901/47
摘要： A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.
摘要翻译： 一种机器人障碍物检测系统，包括相对于表面导航的机器人壳体和用于检测表面的表面的传感器子系统。 传感器子系统包括发射具有发射场的信号的发射器和具有与区域上的发射场相交的视场的光子检测器。 子系统检测邻近移动机器人的对象的存在并且确定与对象相对应的信号的值。 它将该值与预定值进行比较，响应比较移动移动机器人，并且在事件发生时更新预定值。
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公开(公告)号：US08565920B2
公开(公告)日：2013-10-22
申请号：US12486820
申请日：2009-06-18
CPC分类号： B25J9/1697 , A47L2201/04 , G01S15/931 , G01S17/93 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02P90/265 , Y10S901/01 , Y10S901/47
摘要： A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.
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8.发明授权公开(公告)号：US08390251B2
公开(公告)日：2013-03-05
申请号：US11834575
申请日：2007-08-06
申请人： David A. Cohen , Daniel N. Ozick , Clara Vu , James Lynch , Philip R. Mass
发明人： David A. Cohen , Daniel N. Ozick , Clara Vu , James Lynch , Philip R. Mass
IPC分类号： H02J7/00
CPC分类号： B25J9/1664 , A47L9/0063 , A47L9/009 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2873 , A47L9/2889 , A47L9/2894 , A47L2201/02 , A47L2201/022 , A47L2201/04 , B25J5/00 , B25J11/0085 , B25J19/005 , B60L11/1816 , G01S1/16 , G01S1/70 , G05D1/0219 , G05D1/0225 , G05D1/0227 , G05D1/0242 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , H02J7/0026 , H02J7/0036 , H02J7/0044 , H02J7/0045 , H02J7/0052 , H02J7/045 , Y10S901/01
摘要： A method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station. Also disclosed are systems and methods for confirming a presence of a robotic device docked with a charger by recognizing a load formed by a circuit in the charger combined with a complementary circuit in the robotic device.
摘要翻译： 一种用于机器人装置中的能量管理的方法包括：提供与所述机器人装置配合的基站，确定存储在所述机器人装置的能量存储单元中的能量的量，以及至少部分地基于所述数量执行预定任务 的能量储存。 还公开了用于发射避免信号以防止机器人与基站之间的无意接触的系统，以及用于发射归巢信号的系统，以允许机器人设备与基站精确对接。 还公开了用于通过识别由充电器中的电路形成的负载与机器人装置中的互补电路组合来确认存在与充电器对接的机器人装置的系统和方法。
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公开(公告)号：US08359703B2
公开(公告)日：2013-01-29
申请号：US12211938
申请日：2008-09-17
申请人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
发明人： Selma Svendsen , Daniel N. Ozick , Christopher M. Casey , Deepak Ramesh Kapoor , Tony L. Campbell , Chikyung Won , Christopher John Morse , Scott Thomas Burnett
IPC分类号： A47L9/28
摘要： 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.
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公开(公告)号：US20110004339A1
公开(公告)日：2011-01-06
申请号：US12828525
申请日：2010-07-01
申请人： Daniel N. OZICK , Andrea M. OKERHOLM , Jeffrey W. MAMMEN , Michael J. HALLORAN , Paul E. SANDIN , Chikyung WON
发明人： Daniel N. OZICK , Andrea M. OKERHOLM , Jeffrey W. MAMMEN , Michael J. HALLORAN , Paul E. SANDIN , Chikyung WON
IPC分类号： G06F19/00
CPC分类号： 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
摘要： 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.
摘要翻译： 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。
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