公开(公告)号：EP2464269B1

公开(公告)日：2016-06-01

申请号：EP10750199.1

申请日：2010-08-13

申请人： iRobot Corporation

发明人： HUSSEY, Patrick Alan ,  ROY, Robert Paul ,  NEUMANN, Rogelio Manfred ,  SVENDSEN, Selma ,  OZICK, Daniel N. ,  CASEY, Christopher M. ,  KAPOOR, Deepak Ramesh ,  CAMPBELL, Tony L. ,  WON, Chikyung ,  MORSE, Christopher John ,  BURNETT, Scott Thomas

IPC分类号： A47L5/30 ,  A47L11/24 ,  A47L11/40 ,  G05D1/02 ,  A47L9/04

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 including a chassis, a drive system and a floor proximity sensor carried by the chassis and configured to detect a floor surface below the robot, wherein the floor proximity sensor includes a beam emitter and a beam receiver responsive to a reflection of the directed beam from the floor surface and mounted in a downwardly-directed receptacle of the chassis, and a main cleaning head carried by the chassis and driven to rotate about a horizontal axis to engage a floor surface while the robot is maneuvered across the floor, and a container to collect debris, wherein the main cleaning head includes at least one roller and a suction duct integrated with a brush chamber wherein a leading portion of the brush chamber comprises a curved surface that follows a circumference of the at least one roller at a substantially constant clearance.

公开(公告)号：EP2659321B1

公开(公告)日：2015-05-13

申请号：EP11802188.0

申请日：2011-11-16

申请人： iRobot Corporation

发明人： PACK, Robert, Todd ,  FARLOW, Timothy, S. ,  ROSENSTEIN, Michael, T. ,  HALLORAN, Michael ,  WON, Chikyung ,  SHAMLIAN, Steven, V. ,  CHIAPPETTA, Mark

IPC分类号： B25J11/00 ,  G05D1/02

CPC分类号： B25J9/1697 ,  B25J5/007 ,  B25J11/009 ,  B25J19/023 ,  G05D1/0011 ,  G05D1/0022 ,  G05D1/0038 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  H04N7/142 ,  H04N7/144 ,  Y10S901/01 ,  Y10S901/47

摘要： A method of operating a mobile robot (100), the method comprising: maneuvering the robot (100) about a scene (10); emitting light onto the scene (10) about the robot (100); capturing images of the scene (10) along a drive direction (F) of the robot (100), the images comprising at least one of (a) a three-dimensional depth image, (b) an active illumination image, and (c) an ambient illumination image; receiving sensor data (1601) indicative of the scene (10), the sensor data (1601) comprising the images; communicating the sensor data (1601) to a cloud computing service (1620) that processes the received sensor data (1601) and communicates a process resultant (1607, 1609) to the robot (100), the process resultant (1607, 1609) comprising a map (1607) or a model (1609) of the scene (10); and maneuvering the robot (100) in the scene (10) based on the received process resultant (1607, 1609).

公开(公告)号：EP2464269A1

公开(公告)日：2012-06-20

申请号：EP10750199.1

申请日：2010-08-13

申请人： iRobot Corporation

发明人： HUSSEY, Patrick Alan ,  ROY, Robert Paul ,  NEUMANN, Rogelio Manfred ,  SVENDSEN, Selma ,  OZICK, Daniel N. ,  CASEY, Christopher M. ,  KAPOOR, Deepak Ramesh ,  CAMPBELL, Tony L. ,  WON, Chikyung ,  MORSE, Christopher John ,  BURNETT, Scott Thomas

IPC分类号： A47L9/04 ,  A46B17/06

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 including a chassis, a drive system and a floor proximity sensor carried by the chassis and configured to detect a floor surface below the robot, wherein the floor proximity sensor includes a beam emitter and a beam receiver responsive to a reflection of the directed beam from the floor surface and mounted in a downwardly-directed receptacle of the chassis, and a main cleaning head carried by the chassis and driven to rotate about a horizontal axis to engage a floor surface while the robot is maneuvered across the floor, and a container to collect debris, wherein the main cleaning head includes at least one roller and a suction duct integrated with a brush chamber wherein a leading portion of the brush chamber comprises a curved surface that follows a circumference of the at least one roller at a substantially constant clearance.

公开(公告)号：EP1969438B1

公开(公告)日：2009-09-09

申请号：EP06839013.7

申请日：2006-12-04

申请人： iRobot Corporation

发明人： WON, Chikyung ,  SVENDSEN, Selma ,  SANDIN, Paul E. ,  BURNETT, Scott Thomas ,  KAPOOR, Deepak Ramesh ,  HICKEY, Stephen ,  RIZZARI, Robert ,  DUBROVSKY, Zivthan A.C.

IPC分类号： G05D1/02

CPC分类号： 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 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01 ,  Y10S901/50

摘要： A coverage robot (100) including a chassis (202), multiple drive wheel assemblies (110a-b) disposed on the chassis, and a cleaning assembly (112, 102) carried by the chassis. Each drive wheel assembly includes a drive wheel assembly housing (324a-b), a wheel (326a-b) rotatably coupled to the housing, and a wheel drive motor (328a-b) carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly (112, 102) includes a cleaning assembly housing (332, 338), a cleaning head (334, 340) rotatably coupled to the cleaning assembly housing, and a cleaning drive motor (336, 342) carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies (110a-b) and the cleaning assembly (112, 102) are each separately and independently removable from respective receptacles (304, 306, 308, 310) of the chassis as complete units.

公开(公告)号：EP3031377A2

公开(公告)日：2016-06-15

申请号：EP15201413.0

申请日：2007-05-21

申请人： iRobot Corporation

发明人： WON, Chikyung ,  HICKEY, Stephen A. ,  SCHNITTMAN, Mark Steven ,  DUBROVSKY, Zivthan A. ,  SVENDSEN, Selma ,  LOWRY, Jed ,  SWETT, David ,  DEVLIN, John

IPC分类号： A47L9/10

CPC分类号： A47L11/4091 ,  A47L9/106 ,  A47L9/108 ,  A47L11/24 ,  A47L11/33 ,  A47L11/4002 ,  A47L11/4008 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4025 ,  A47L11/4041 ,  A47L11/4044 ,  A47L11/4066 ,  A47L11/4069 ,  A47L2201/02 ,  A47L2201/024 ,  A47L2201/028 ,  A47L2201/04

摘要： One aspect of the present disclosure relates to a robot maintenance station comprising a station housing (120), a docking platform (122) carried by the station housing (120) and configured to support a robot (10) when docked, a collection bin (150), a vacuum filter (910) and a cyclonic or other circulatory bagless vacuuming system configured to draw air and debris from the robot cleaning bin (50) to deposit the debris into the debris bin (150) using centripetal acceleration of debris to divert debris from an air flow or the vacuum filter (910).

摘要翻译： 本公开的一个方面涉及一种机器人维护站，其包括站台（120），由站外壳（120）承载并配置为在对接时支撑机器人（10）的对接平台（122），收集箱 150），真空过滤器（910）和旋风式或其他循环无袋式真空吸尘系统，其配置为从机器人清洁箱（50）抽取空气和碎屑，以使用向心加速的碎屑将碎屑沉积到碎片箱（150）中以转向 来自空气流的碎屑或真空过滤器（910）。

公开(公告)号：EP2659320A2

公开(公告)日：2013-11-06

申请号：EP11799334.5

申请日：2011-11-09

申请人： iRobot Corporation

发明人： WONG, Cheuk, Wah ,  RAUHUT, Eben ,  BENSON, Brian, C., Jr. ,  LYDON, Peter, J. ,  ROSENSTEIN, Michael, T. ,  HALLORAN, Michael ,  SHAMLIAN, Steven, V. ,  WON, Chikyung ,  CHIAPPETTA, Mark ,  KEARNS, Justin, H. ,  TAKA, Orjeta ,  PACK, Robert, Todd ,  FARLOW, Timothy, S. ,  VICENTI, Jasper Fourways

IPC分类号： G05D1/02

CPC分类号： B25J19/02 ,  G02B13/22 ,  G05D1/0231 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0209 ,  G05D2201/0211 ,  G05D2201/0216

摘要： A mobile robot (100) including a drive system (200) having a forward drive direction (F), a controller (500) in communication with the drive system, and a volumetric point cloud imaging device (450) supported above the drive system and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane (5) in a direction of movement of the mobile robot. A dead zone sensor (490) has a detection field (492) arranged to detect an object in a volume of space (453) undetectable by the volumetric point cloud imaging device. The controller receives point cloud signals from the imaging device and detection signals from the dead zone sensor and issues drive commands to the drive system based at least in part on the received point cloud and detection signals.

摘要翻译： 一种移动机器人（100），包括具有前进驱动方向（F）的驱动系统（200），与驱动系统通信的控制器（500）以及支撑在驱动系统上方的体积点云成像装置（450） 被指示为能够从包括沿移动机器人的移动方向的地板平面（5）的空间体积获得点云。 死区传感器（490）具有布置成检测体积点云成像装置无法检测的空间体积（453）中的物体的检测场（492）。 控制器接收来自成像装置的点云信号和来自死区传感器的检测信号，并且至少部分地基于接收的点云和检测信号向驱动系统发布驱动命令。

公开(公告)号：EP2571660A2

公开(公告)日：2013-03-27

申请号：EP11720670.6

申请日：2011-05-06

申请人： iRobot Corporation

发明人： ROSENSTEIN, Michael, T. ,  HALLORAN, Michael ,  WONG, Cheuk, Wah ,  SHAMLIAN, Steven, V. ,  WON, Chikyung ,  CHIAPPETTA, Mark ,  KEARNS, Justin, H. ,  TAKA, Orjeta ,  PACK, Robert, Todd ,  FARLOW, Timothy, S. ,  VICENTI, Jasper, Fourways

IPC分类号： B25J13/08

CPC分类号： B25J5/007 ,  G02B13/22 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211

摘要： PROBLEM TO BE SOLVED: To provide a useful mobile human interface robot.SOLUTION: A mobile robot includes: a drive system; a controller 500 in communication with the drive system; and a volumetric point cloud imaging device supported above the drive system at a height of more than about one feet (30.5 cm) above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller 500 receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.

公开(公告)号：EP1969437B1

公开(公告)日：2009-09-09

申请号：EP06839010.3

申请日：2006-12-04

申请人： iRobot Corporation

发明人： SVENDSEN, Selma ,  OZICK, Daniel N. ,  CASEY, Christopher M. ,  KAPOOR, Deepak Ramesh ,  CAMPBELL, Tony L. ,  WON, Chikyung ,  MORSE, Christopher ,  BURNETT, Scott Thomas

IPC分类号： G05D1/02

CPC分类号： 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 ,  Y10S901/01 ,  Y10S901/50

摘要： An autonomous coverage robot includes a chassis (102), a drive system (104) to maneuver the robot, an edge cleaning head (106,214,274,316), and a controller (108) configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, the autonomous coverage robot includes a bump sensor (132) and a proximity sensor (134). The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor (134) indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor (132) indicating contact with an obstacle.

摘要翻译： 一种节能机器人系统（100）包括至少一个外围设备（102），所述外围设备（102）被放置在具有移动机器人（104）的环境中。 外围设备具有其中外围设备完全可操作的活动模式（938）的控制器（1026）以及其中外围设备至少部分不活动的休眠模式（932）。 移动机器人（104）具有带有经由无线通信组件（1024,1044）与外围设备（102）通信的激活例程（904）的控制器（1046），并暂时激活外部设备（102）从休眠模式 当外围设备（102）和机器人（104）的无线通信组件（1024,1044）进入彼此的范围内时（932）。

公开(公告)号：EP2571661B1

公开(公告)日：2019-07-17

申请号：EP11721606.9

申请日：2011-05-06

申请人： iRobot Corporation

发明人： ROSENSTEIN, Michael, T. ,  WON, Chikyung ,  LANSBERRY, Geoffrey ,  SHAMLIAN, Steven, V. ,  HALLORAN, Michael ,  CHIAPPETTA, Mark ,  ALLEN, Thomas, P.

IPC分类号： B25J5/00 ,  G05D1/02

公开(公告)号：EP2023788B1

公开(公告)日：2011-09-07

申请号：EP07783998.3

申请日：2007-05-21

申请人： iRobot Corporation

发明人： WON, Chikyung ,  HICKEY, Stephen A. ,  SCHNITTMAN, Mark ,  DUBROVSKY, Zivthan A. ,  SVENDSEN, Selma ,  LOWRY, Jed ,  SWETT, David ,  DEVLIN, John

IPC分类号： A47L11/33 ,  A47L9/10

CPC分类号： A47L11/4091 ,  A47L9/106 ,  A47L9/108 ,  A47L11/24 ,  A47L11/33 ,  A47L11/4002 ,  A47L11/4008 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4025 ,  A47L11/4041 ,  A47L11/4044 ,  A47L11/4066 ,  A47L11/4069 ,  A47L2201/02 ,  A47L2201/024 ,  A47L2201/028 ,  A47L2201/04

摘要： A cleaning robot system (5) includes a robot (10) and a robot maintenance station (100,1100,1200,1300,1400). The robot (10) includes a chassis (31), a drive system (45) configured to maneuver the robot (10) as directed by a controller (49), and a cleaning assembly (43) including a cleaning assembly housing (40) and a driven cleaning roller (60,65). The robot maintenance station (100,1100,1200,1300,1400) includes a station housing (120) and a docking platform (122) configured to support the robot (10) when docked. A mechanical agitator (510,520) engages the roller (60,65) of the robot (10) with the robot (10) docked. The agitator (510,520) includes an agitator comb (511) having multiple teeth (512) configured to remove accumulated debris from the roller (60,65) as the agitator comb (511) and roller (60,65) are moved relative to one another.; The robot maintenance station (100,1100,1200,1300,1400) includes a collection bin (150) arranged to receive and hold debris removed by the mechanical agitator (510,520).

摘要翻译： 清洁机器人系统（5）包括机器人（10）和机器人维护站（100,1100,1200,1300,1400）。 机器人（10）包括底盘（31），驱动系统（45），其被配置为按照控制器（49）的指示操纵机器人（10）;以及清洁组件（43），其包括清洁组件壳体（40） 和驱动清洁辊（60,65）。 所述机器人维护站（100,1100,1200,1300,1400）包括被配置为在对接时支撑所述机器人（10）的站外壳（120）和对接平台（122）。 机械搅拌器（510,520）与机器人（10）的辊（60,65）接合，机器人（10）对接。 搅拌器（510,520）包括具有多个齿（512）的搅拌器梳（511），其配置成当搅拌器梳（511）和辊（60,65）相对于一个移动时，从辊（60,65）中除去积聚的碎屑 另一个。; 机器人维护站（100,1100,1200,1300,1400）包括收集箱（150），其被布置成接收和保持由机械搅拌器（510,520）去除的碎屑。