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    System and method for autonomous mopping of a floor surface
    12.
    发明授权
    System and method for autonomous mopping of a floor surface 有权
    自动拖地板表面的系统和方法

    公开(公告)号：US09167947B2

    公开(公告)日：2015-10-27

    申请号：US14522446

    申请日：2014-10-23

    Applicant: iRobot Corporation

    Inventor： Michael Dooley ,  James Philip Case ,  Nikolai Romanov

    IPC: G06F19/00 ,  A47L11/40 ,  G05D1/02

    CPC classification number: A47L11/4011 ,  A47L11/30 ,  A47L11/4036 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4088 ,  A47L2201/04 ,  B25J11/0085 ,  G05D1/0219 ,  G05D2201/0203

    Abstract: A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.

    Abstract translation: 公开了一种移动机器人，其被配置为在用清洁垫和清洁溶剂清洁表面的同时穿过住宅地板或其他表面。 机器人包括用于管理机器人的运动以及用清洁溶剂处理表面的控制器。 机器人的运动可以通过一类实现有效清洁的轨迹来表征。 轨迹包括重复的步骤序列，序列包括前进和后退运动以及沿弓形路径的可选的左右运动。

    Methods and systems for complete coverage of a surface by an autonomous robot
    13.
    发明授权
    Methods and systems for complete coverage of a surface by an autonomous robot 有权

    公开(公告)号：US11052540B2

    公开(公告)日：2021-07-06

    申请号：US16251926

    申请日：2019-01-18

    Applicant: iRobot Corporation

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

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

    Abstract: 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.

    METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT
    14.
    发明申请
    METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT 审中-公开

    公开(公告)号：US20190152059A1

    公开(公告)日：2019-05-23

    申请号：US16251926

    申请日：2019-01-18

    Applicant: iRobot Corporation

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

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

    Abstract: 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.

    TRANSFERABLE INTELLIGENT CONTROL DEVICE
    15.
    发明申请
    TRANSFERABLE INTELLIGENT CONTROL DEVICE 审中-公开

    公开(公告)号：US20180281189A1

    公开(公告)日：2018-10-04

    申请号：US15881162

    申请日：2018-01-26

    Applicant: iRobot Corporation

    Inventor： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian

    IPC: B25J9/16 ,  G06N3/00 ,  B25J9/00

    Abstract: An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.

    METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT
    16.
    发明申请
    METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT 审中-公开

    公开(公告)号：US20170197314A1

    公开(公告)日：2017-07-13

    申请号：US15461106

    申请日：2017-03-16

    Applicant: iRobot Corporation

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

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

    Abstract: 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.

    METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT
    18.
    发明申请
    METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT 有权
    自动机器人表面完整覆盖的方法和系统

    公开(公告)号：US20160101523A1

    公开(公告)日：2016-04-14

    申请号：US14880610

    申请日：2015-10-12

    Applicant: iRobot Corporation

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

    IPC: B25J9/16 ,  B25J5/00

    CPC classification number: 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

    Abstract: 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.

    Abstract translation: 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。

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