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11.发明授权公开(公告)号：US09223312B2
公开(公告)日：2015-12-29
申请号：US13913258
申请日：2013-06-07
Applicant: iRobot Corporation
Inventor： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
IPC: G05D1/02
CPC classification number: B25J9/1697 , B25J5/007 , B25J9/1628 , B25J9/1664 , B25J11/0085 , G05D1/0253 , G05D1/0268 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01
Abstract: 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.
Abstract translation: 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。
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公开(公告)号：US20210221003A1
公开(公告)日：2021-07-22
申请号：US17223406
申请日：2021-04-06
Applicant: iRobot Corporation
Inventor： Dhiraj Goel , Ethan Eade , Philip Fong , Mario E. Munich
Abstract: 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.
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公开(公告)号：US20210053207A1
公开(公告)日：2021-02-25
申请号：US17011689
申请日：2020-09-03
Applicant: iRobot Corporation
Inventor： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael J. Dooley
Abstract: 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.
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公开(公告)号：US10766132B2
公开(公告)日：2020-09-08
申请号：US14627823
申请日：2015-02-20
Applicant: iRobot Corporation
Inventor： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
Abstract: A method of cleaning a floor near a vertical surface with a mobile robot. The robot includes a cleaning assembly and a drive assembly having a first wheel and a second wheel. The method includes aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the surface. The method includes driving the robot forward in a direction substantially parallel to the surface. The method further includes: i) turning the first wheel, proximate to the surface, with a first angular velocity, and ii) turning the second wheel, further from the surface, with a second angular velocity. The second angular velocity is greater than the first angular velocity. The robot pushes against the surface while sliding along the same surface.
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15.发明授权公开(公告)号：US10705535B2
公开(公告)日：2020-07-07
申请号：US16189402
申请日：2018-11-13
Applicant: iRobot Corporation
Inventor： Mario Munich , Nikolai Romanov , Dhiraj Goel , Philip Fong
Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.
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Patent Agency Ranking
公开(公告)号：US10429851B2
公开(公告)日：2019-10-01
申请号：US15244603
申请日：2016-08-23
Applicant: iRobot Corporation
Inventor： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC: G05D1/02
Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
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公开(公告)号：US20170031366A1
公开(公告)日：2017-02-02
申请号：US15244603
申请日：2016-08-23
Applicant: iRobot Corporation
Inventor： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC: G05D1/02
CPC classification number: G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
Abstract translation: 接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。 第一个传感器是发射器和接收器之一。 第二个传感器是发射器和接收器中的另一个。 第三传感器被布置为与第二传感器相邻，与第一传感器相对。 如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。 每个传感器相对于其他两个传感器定位成一定角度。 每个传感器具有相应的视野。 第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。 第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。
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公开(公告)号：US08862271B2
公开(公告)日：2014-10-14
申请号：US14033922
申请日：2013-09-23
Applicant: iRobot Corporation
Inventor： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Frederick D. Hook , Mario E. Munich , Dhiraj Goel
CPC classification number: G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
Abstract translation: 接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。 第一个传感器是发射器和接收器之一。 第二个传感器是发射器和接收器中的另一个。 第三传感器被布置为与第二传感器相邻，与第一传感器相对。 如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。 每个传感器相对于其他两个传感器定位成一定角度。 每个传感器具有相应的视野。 第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。 第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。
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公开(公告)号：US20140257622A1
公开(公告)日：2014-09-11
申请号：US14279598
申请日：2014-05-16
Applicant: iRobot Corporation
Inventor： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC: G05D1/02
CPC classification number: G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
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公开(公告)号：US12090650B2
公开(公告)日：2024-09-17
申请号：US17011689
申请日：2020-09-03
Applicant: iRobot Corporation
Inventor： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael J. Dooley
CPC classification number: B25J5/00 , A47L11/4011 , A47L11/4036 , A47L11/4066 , A47L11/4091 , B25J13/08 , G05D1/0219 , A47L2201/00 , A47L2201/04 , Y10S901/01 , Y10S901/46
Abstract: 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.
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