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公开(公告)号：US07571511B2
公开(公告)日：2009-08-11
申请号：US10818073
申请日：2004-04-05
IPC分类号： A47L9/28
CPC分类号： A47L9/2826 , A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/0494 , A47L9/1409 , A47L9/2852 , A47L9/2894 , A47L9/32 , A47L11/282 , A47L11/4061 , A47L11/4066 , A47L2201/00 , A47L2201/04 , A47L2201/06
摘要： An autonomous floor-cleaning robot comprises a self-adjusting cleaning head subsystem that includes a dual-stage brush assembly having counter-rotating, asymmetric brushes and an adjacent, but independent, vacuum assembly such that the cleaning capability and efficiency of the self-adjustable cleaning head subsystem is optimized while concomitantly minimizing the power requirements thereof. The autonomous floor-cleaning robot further includes a side brush assembly for directing particulates outside the envelope of the robot into the self-adjusting cleaning head subsystem.
摘要翻译： 自动地板清洁机器人包括自调整清洁头子系统，其包括具有反向旋转的不对称刷子和相邻但独立的真空组件的双级刷子组件，使得自调节清洁头部子系统的清洁能力和效率 清洁头子系统被优化，同时最小化其功率要求。 自动地板清洁机器人还包括侧刷组件，用于将机器人外壳上的微粒引导到自调整清洁头子系统中。
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公开(公告)号：US07448113B2
公开(公告)日：2008-11-11
申请号：US11834606
申请日：2007-08-06
IPC分类号： A47L5/00
CPC分类号： A47L9/2826 , A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/0494 , A47L9/1409 , A47L9/2852 , A47L9/2894 , A47L9/32 , A47L11/282 , A47L11/4061 , A47L11/4066 , A47L2201/00 , A47L2201/04 , A47L2201/06
摘要： An autonomous floor-cleaning robot comprising a housing, a powered wheel drive, a command and control subsystem; and a cleaning head including a deck mounted to pivot with respect to the housing, a brush assembly mounted in the deck and powered to sweep, a vacuum assembly mounted in the deck separate from the brush assembly and behind the brush assembly in a cleaning direction of the robot and powered to ingest particulates during cleaning operations, and a deck adjusting assembly mounted in combination with the deck and the housing that provides lift to the deck, the lift balanced to respond to an increase in brush torque to lift the deck with respect to the housing or floor. The robot also includes a side brush assembly mounted with the housing to entrain particulates outside the periphery of the housing and to direct such particulates towards the cleaning head.
摘要翻译： 一种自主地板清洁机器人，包括壳体，动力轮驱动器，命令和控制子系统; 以及清洁头，其包括安装成相对于所述壳体枢转的甲板，安装在所述甲板中并用于扫掠的电刷组件，安装在所述甲板中的真空组件，所述真空组件与所述刷组件分离并且在所述刷组件的后方沿着清洁方向 机器人并且在清洁操作期间被驱动以吸入颗粒，以及与甲板和壳体组合安装的甲板调整组件，其向甲板提供升降机，平衡的升力器响应于刷子扭矩的增加以相对于 房屋或地板。 机器人还包括安装有壳体的侧刷组件，以将颗粒夹带在壳体的周边外部并将这些微粒引向清洁头。
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公开(公告)号：US06883201B2
公开(公告)日：2005-04-26
申请号：US10320729
申请日：2002-12-16
CPC分类号： A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L2201/00
摘要： An autonomous floor-cleaning robot comprises a self-adjusting cleaning head subsystem that includes a dual-stage brush assembly having counter-rotating, asymmetric brushes and an adjacent, but independent, vacuum assembly such that the cleaning capability and efficiency of the self-adjustable cleaning head subsystem is optimized while concomitantly minimizing the power requirements thereof. The autonomous floor-cleaning robot further includes a side brush assembly for directing particulates outside the envelope of the robot into the self-adjusting cleaning head subsystem.
摘要翻译： 自动地板清洁机器人包括自调整清洁头子系统，其包括具有反向旋转的不对称刷子和相邻但独立的真空组件的双级刷子组件，使得自调节清洁头部子系统的清洁能力和效率 清洁头子系统被优化，同时最小化其功率要求。 自动地板清洁机器人还包括侧刷组件，用于将机器人外壳上的微粒引导到自调整清洁头子系统中。
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14.发明授权Methods and systems for automated transportation of items between variable endpoints 有权在可变端点之间自动运送物品的方法和系统公开(公告)号：US09147173B2
公开(公告)日：2015-09-29
申请号：US13285511
申请日：2011-10-31
申请人： Joseph L. Jones , Clara Vu , Paul E. Sandin , Charles M. Grinnell
发明人： Joseph L. Jones , Clara Vu , Paul E. Sandin , Charles M. Grinnell
CPC分类号： G05D1/0214 , G05D1/00 , G06Q10/08 , G06Q50/28 , Y10S901/01
摘要： An automated system for transporting items between variable endpoints includes a guidance system for identifying the endpoints and at least one autonomous mobile robot interacting with the guidance system for automatically moving items between the endpoints. The at least one robot is configured to (a) collect an item to be transported at a source end point, (b) travel to a destination endpoint utilizing the guidance system to locate the destination endpoint, (c) deliver the item to the destination endpoint, and (d) repeat (a) through (c) for a given set of items. The guidance system is dynamically reconfigurable to identify new endpoints.
摘要翻译： 用于在可变端点之间传送项目的自动化系统包括用于识别端点的引导系统和与引导系统交互的至少一个自主移动机器人，用于在端点之间自动移动项目。 所述至少一个机器人被配置为（a）在源端点处收集要传送的物品，（b）使用所述引导系统到达目的地端点定位所述目的地端点，（c）将所述物品传送到所述目的地 端点，以及（d）对于给定的一组项目重复（a）至（c）。 引导系统是动态可重构的，以识别新的端点。
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公开(公告)号：US08656550B2
公开(公告)日：2014-02-25
申请号：US12824785
申请日：2010-06-28
IPC分类号： A47L5/00
CPC分类号： A47L9/2826 , A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/0494 , A47L9/1409 , A47L9/2852 , A47L9/2894 , A47L9/32 , A47L11/282 , A47L11/4061 , A47L11/4066 , A47L2201/00 , A47L2201/04 , A47L2201/06
摘要： A floor-cleaning robot includes a wheeled housing having a perimeter, a motor drive operably connected to wheels of the housing to move the robot across a floor surface, and a bumper responsive to obstacles encountered by the robot. A controller is in electrical communication with both the bumper and the motor drive and is configured to control the motor drive to maneuver the robot to avoid detected obstacles across the floor surface during a floor-cleaning operation. A driven cleaning brush, rotatable about an axis substantially parallel to an underside of the housing, is disposed substantially across a central region of the underside and is positioned to brush the floor surface as the robot is moved across the floor surface. Additionally, a driven side brush extending beyond the perimeter is positioned to brush floor surface debris from beyond the perimeter toward a projected path of the driven cleaning brush.
摘要翻译： 地板清洁机器人包括具有周边的轮式壳体，可操作地连接到壳体的轮子的马达驱动器，以使机器人跨越地板表面移动，以及响应于机器人遇到的障碍的保险杠。 控制器与保险杠和电动机驱动器电气通信，并且被配置为控制电动机驱动器来操纵机器人，以避免在地板清洁操作期间在地板表面上检测到的障碍物。 基本上平行于壳体的下侧可旋转的驱动清洁刷基本上跨越底侧的中心区域布置，并且当机器人移动穿过地板表面时被定位成刷刷地板表面。 此外，延伸超过周边的从动侧刷被定位成从地板表面的碎屑超过周边朝向被驱动的清洁刷的投影路径。
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公开(公告)号：US09167946B2
公开(公告)日：2015-10-27
申请号：US11834647
申请日：2007-08-06
CPC分类号： A47L9/2826 , A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/0494 , A47L9/1409 , A47L9/2852 , A47L9/2894 , A47L9/32 , A47L11/282 , A47L11/4061 , A47L11/4066 , A47L2201/00 , A47L2201/04 , A47L2201/06
摘要： An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem.
摘要翻译： 一种自主地板清洁机器人，包括：壳体基础设施，包括底盘，电源子系统; 用于为自动地板清洁机器人提供能量来动力的动力子系统，用于推动自动地板清洁机器人进行清洁操作的动力子系统，用于控制自主地板清洁机器人以执行清洁操作的命令和控制子系统，以及 自调整清洁头子系统，其包括与底盘枢转组合的甲板，与甲板组合安装并由动力子系统驱动的刷组件，以在清洁操作期间清除微粒;与甲板组合设置的真空组件 并由动力子系统驱动以在清洁操作期间吸收颗粒;以及甲板调整子组件，其与用于刷组件，甲板和底盘的动力子系统结合安装，所述动力子系统响应于所述刷子扭矩的增加而自动操作 刷组件以使甲板相对于所述底盘枢转。 自动地板清洁机器人还包括与底盘组合安装并由动力子系统驱动的侧刷组件，以将微粒夹带在壳体基础设施的外围并将这些微粒引向自调整清洁头子系统。
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公开(公告)号：US08781627B2
公开(公告)日：2014-07-15
申请号：US12488094
申请日：2009-06-19
申请人： 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
发明人： 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分类号： A01D101/00 , G05D1/02 , A01D34/00
CPC分类号： 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
摘要： A robot lawmnower includes a body, a drive system carried by the body, at least one caster wheel supporting the body, a grass cutter carried by the body, a controller in communication with the drive system, and a bump sensor in communication with the controller. The controller is configured to maneuver the robot to turn in place and to redirect the robot in response to the bump sensor sensing contact with an obstacle. The drive system is configured to maneuver the robot across a lawn and includes differentially driven right and left drive wheels positioned rearward of a transverse center axis defined by the body. The at least one caster wheel is positioned substantially forward of the right and left drive wheels, and the grass cutter is positioned at least partially forward of the right and left drive wheels and at least partially behind the at least one caster wheel.
摘要翻译： 机器人割草机包括主体，由主体承载的驱动系统，至少一个支撑主体的脚轮，由主体承载的割草机，与驱动系统连通的控制器以及与控制器通信的凸块传感器 。 控制器被配置为操纵机器人转向就位并且响应于碰撞传感器感测到与障碍物的接触而重定向机器人。 驱动系统被配置为通过草坪操纵机器人，并且包括位于由身体限定的横向中心轴线后方的差动驱动的左右驱动轮。 所述至少一个脚轮基本上位于所述左右驱动轮的前方，并且所述草刀位于所述左右驱动轮的至少部分的前方，并且至少部分地位于所述至少一个脚轮之后。
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公开(公告)号：US08763199B2
公开(公告)日：2014-07-01
申请号：US12824832
申请日：2010-06-28
CPC分类号： A47L9/2826 , A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/0494 , A47L9/1409 , A47L9/2852 , A47L9/2894 , A47L9/32 , A47L11/282 , A47L11/4061 , A47L11/4066 , A47L2201/00 , A47L2201/04 , A47L2201/06
摘要： A robot includes a robot housing having a substantially arcuate forward portion and a motor drive housed by the robot housing and configured to maneuver the robot on a floor surface. At least two independently driven drive wheels are moveably attached to the robot housing and biased toward the floor surface, each of the drive wheels being moveable downwardly in response to the each of the drive wheels moving over a cliff in the floor surface. A plurality of cliff sensors are disposed adjacent a forward edge of the robot housing and spaced from each other, each cliff sensor including an emitter and a detector aimed toward the floor surface and configured to receive emitter emissions reflected off of the floor surface, each cliff sensor being responsive to a cliff in the floor surface and configured to send a signal when a cliff in the floor surface is detected. The robot also includes a wheel drop sensor in communication with each drive wheel that senses when a drive wheel moves downwardly and sends a signal indicating downward movement of the pivoted drive wheel. A controller is in communication with the cliff sensors, each of the wheel drop sensors, and the motor drive to redirect the robot when a cliff in the floor surface is detected.
摘要翻译： 机器人包括具有基本上弧形前部的机器人壳体和由机器人壳体容纳并被配置为在机械手上操纵地板表面的机器人。 至少两个独立驱动的驱动轮可移动地附接到机器人壳体并朝向地板表面偏置，响应于每个驱动轮在地板表面上的悬崖上移动，每个驱动轮可向下移动。 多个悬崖传感器邻近机器人外壳的前边缘设置并彼此间隔开，每个悬崖传感器包括发射器和瞄准地板表面的检测器，并被配置为接收从地板表面反射的发射器发射，每个悬崖 传感器响应于地板表面中的悬崖，并被配置为当检测到地板表面上的悬崖时发送信号。 机器人还包括与每个驱动轮连通的轮落传感器，其感测何时驱动轮向下移动并发送指示枢转驱动轮的向下运动的信号。 当检测到地板表面上的悬崖时，控制器与悬崖传感器，每个车轮落下传感器和电动机驱动器通信，以重定向机器人。
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公开(公告)号：US08474090B2
公开(公告)日：2013-07-02
申请号：US12201554
申请日：2008-08-29
IPC分类号： A47L5/00
CPC分类号： A47L9/2826 , A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/0494 , A47L9/1409 , A47L9/2852 , A47L9/2894 , A47L9/32 , A47L11/282 , A47L11/4061 , A47L11/4066 , A47L2201/00 , A47L2201/04 , A47L2201/06
摘要： A floor cleaning robot comprises a housing, wheels, and a motor driving the wheels to move the robot across a floor, a control module disposed within the housing and directing movement of the robot across the floor, a sensor for detecting and communicating obstacle information to the control module so that the control module can cause the robot to react to the obstacle, a removable bin disposed at least partially within the housing and receiving particulates, a first rotating member directing particulates toward the bin, and a second rotating member cooperating with the first rotating member to direct particulates toward the bin. The removable bin receives particulates directed thereto by the first and second rotating members and the particulates pass from the first rotating member to the removable bin without passing through a filter.
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公开(公告)号：US07636982B2
公开(公告)日：2009-12-29
申请号：US11834656
申请日：2007-08-10
IPC分类号： A47L9/28
CPC分类号： A47L9/2826 , A47L5/30 , A47L5/34 , A47L7/02 , A47L9/009 , A47L9/0411 , A47L9/0477 , A47L9/0494 , A47L9/1409 , A47L9/2852 , A47L9/2894 , A47L9/32 , A47L11/282 , A47L11/4061 , A47L11/4066 , A47L2201/00 , A47L2201/04 , A47L2201/06
摘要： An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem.
摘要翻译： 一种自主地板清洁机器人，包括：壳体基础设施，包括底盘，电源子系统; 用于为自动地板清洁机器人提供能量来动力的动力子系统，用于推动自动地板清洁机器人进行清洁操作的动力子系统，用于控制自主地板清洁机器人以执行清洁操作的命令和控制子系统，以及 自调整清洁头子系统，其包括与底盘枢转组合的甲板，与甲板组合安装并由动力子系统驱动的刷组件，以在清洁操作期间清除微粒;与甲板组合设置的真空组件 并由动力子系统驱动以在清洁操作期间吸收颗粒;以及甲板调整子组件，其与用于刷组件，甲板和底盘的动力子系统组合安装，所述动力子系统响应于所述刷子扭矩的增加而自动操作 刷组件以使甲板相对于所述底盘枢转。 自动地板清洁机器人还包括与底盘组合安装并由动力子系统驱动的侧刷组件，以将微粒夹带在壳体基础设施的外围并将这些微粒引向自调整清洁头子系统。
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