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    Carpet drift estimation using differential sensors or visual measurements
    1.
    发明授权
    Carpet drift estimation using differential sensors or visual measurements 有权

    公开(公告)号：US10974391B2

    公开(公告)日：2021-04-13

    申请号：US15949653

    申请日：2018-04-10

    申请人： iRobot Corporation

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

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

    摘要： 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.

    Methods and systems for complete coverage of a surface by an autonomous robot
    4.
    发明授权
    Methods and systems for complete coverage of a surface by an autonomous robot 有权
    自动机器人完全覆盖表面的方法和系统

    公开(公告)号：US09188983B2

    公开(公告)日：2015-11-17

    申请号：US14251390

    申请日：2014-04-11

    申请人： iRobot Corporation

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

    IPC分类号： G05D1/02 ,  G05D3/12 ,  G05D1/00 ,  B08B7/00

    CPC分类号： B25J9/1684 ,  B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B25J9/163 ,  G05D1/0219 ,  G05D1/0234 ,  G05D1/0238 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0263 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

    摘要： 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.

    摘要翻译： 一种被配置为导航表面的机器人，所述机器人包括移动机构; 表示关于表面的数据和将位置与在导航期间观察到的一个或多个属性相关联的逻辑图; 初始化模块，被配置为建立包括初始位置和初始取向的初始姿势; 区域覆盖模块，被配置为使所述机器人移动以覆盖区域; 边缘跟随模块被配置为使机器人跟随未追随的边缘; 控制模块，被配置为调用覆盖在至少部分地基于初始姿态的至少一部分定义的第一区域上的区域，以调用覆盖至少一个附加区域的区域，以调用边缘跟随，并且调用区域覆盖导致映射 模块来标记跟随的边缘，并且使得覆盖在边缘跟随期间发现的区域的第三区域。

    MOBILE ROBOT FOR CLEANING
    5.
    发明申请
    MOBILE ROBOT FOR CLEANING 审中-公开
    移动机器人清洁

    公开(公告)号：US20150158174A1

    公开(公告)日：2015-06-11

    申请号：US14627823

    申请日：2015-02-20

    申请人： iRobot Corporation

    发明人： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

    IPC分类号： B25J5/00 ,  B25J13/08

    摘要： 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.

    摘要翻译： 机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。 机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。

    CARPET DRIFT ESTIMATION USING DIFFERENTIAL SENSORS OR VISUAL MEASUREMENTS
    6.
    发明申请
    CARPET DRIFT ESTIMATION USING DIFFERENTIAL SENSORS OR VISUAL MEASUREMENTS 有权
    使用差分传感器或视觉测量的地毯变化估计

    公开(公告)号：US20130331988A1

    公开(公告)日：2013-12-12

    申请号：US13913258

    申请日：2013-06-07

    申请人： iRobot Corporation

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

    IPC分类号： G05D1/02

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

    摘要： 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.

    摘要翻译： 公开了用于地毯漂移估计的装置和方法。 在某些实施方案中，机器人装置包括致动器系统以使身体移动通过表面。 第一组传感器可感测致动器系统的致动特性。 例如，第一组传感器可以包括用于感测致动器系统的轮旋转的测距传感器。 第二组传感器可以感测身体的运动特征。 第一组传感器可以是与第二组传感器不同的传感器类型。 控制器可以至少基于由第一组传感器感测到的致动特性和由第二组传感器感测到的运动特性来估计地毯漂移。

    Methods and systems for complete coverage of a surface by an autonomous robot
    8.
    发明授权
    Methods and systems for complete coverage of a surface by an autonomous robot 有权

    公开(公告)号：US10583562B2

    公开(公告)日：2020-03-10

    申请号：US15461106

    申请日：2017-03-16

    申请人： iRobot Corporation

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

    IPC分类号： B25J5/00 ,  B25J9/16 ,  G05D1/02

    摘要： 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.

    Carpet Drift Estimation Using Differential Sensors for Visual Measurements
    10.
    发明申请
    Carpet Drift Estimation Using Differential Sensors for Visual Measurements 审中-公开
    使用差分传感器进行视觉测量的地毯漂移估计

    公开(公告)号：US20160332304A1

    公开(公告)日：2016-11-17

    申请号：US15221036

    申请日：2016-07-27

    申请人： iRobot Corporation

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

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

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

    摘要： 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.

    摘要翻译： 公开了用于地毯漂移估计的装置和方法。 在某些实施方案中，机器人装置包括致动器系统以使身体移动通过表面。 第一组传感器可感测致动器系统的致动特性。 例如，第一组传感器可以包括用于感测致动器系统的轮旋转的测距传感器。 第二组传感器可以感测身体的运动特征。 第一组传感器可以是与第二组传感器不同的传感器类型。 控制器可以至少基于由第一组传感器感测到的致动特性和由第二组传感器感测到的运动特性来估计地毯漂移。