公开(公告)号：US09442488B2

公开(公告)日：2016-09-13

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.

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。

公开(公告)号：US09233472B2

公开(公告)日：2016-01-12

申请号：US14160299

申请日：2014-01-21

Applicant: iRobot Corporation

Inventor： Colin Angle ,  David Snelling ,  Melissa O'Dea ,  Timothy S. Farlow ,  Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J13/00 ,  G05D1/00 ,  H04L12/28

CPC classification number: B25J13/006 ,  G05D1/0022 ,  G05D2201/0203 ,  H04L12/282 ,  H04L67/125 ,  H04L2012/2841 ,  H04L2012/285 ,  H04W4/043 ,  Y10S901/01

Abstract: A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

Abstract translation: 移动机器人包括连接到存储器和无线网络电路的处理器，用于执行存储在存储器中的例程以及由例程产生并通过无线网络电路接收的命令。 处理器将移动机器人驱动到家庭内的多个可访问的二维位置，并命令包括至少一个机动执行器的末端执行器在家庭中执行机械作业。 多个例程包括监视无线本地网络并检测无线本地网络上网络实体的存在的第一例程;接收来自检测网络实体之一的动作状态的传感器的信号的第二例程， 等待和激活之间的动作状态可变，以及命令末端执行器基于存在和动作状态改变执行机械作业的状态的第三程序。

公开(公告)号：US20240051153A1

公开(公告)日：2024-02-15

申请号：US18197251

申请日：2023-05-15

Applicant: iRobot Corporation

Inventor： Colin Angle ,  David Snelling ,  Melissa O'Dea ,  Timothy S. Farlow ,  Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J13/00 ,  H04L12/28 ,  G05D1/00 ,  H04L67/62 ,  H04L67/125 ,  H04W4/30 ,  G05B15/02 ,  G06F15/16 ,  G06Q10/1093

CPC classification number: B25J13/006 ,  H04L12/282 ,  G05D1/0022 ,  G05D1/0044 ,  H04L67/62 ,  H04L67/125 ,  H04W4/30 ,  G05B15/02 ,  G06F15/16 ,  G06Q10/1095 ,  H04L12/2809 ,  Y10S901/01 ,  H04L2012/2841 ,  H04L2012/285 ,  G05D2201/0203 ,  A47L2201/00 ,  G05B2219/2642 ,  H04B5/0031

Abstract: A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

公开(公告)号：US10035270B2

公开(公告)日：2018-07-31

申请号：US15349237

申请日：2016-11-11

Applicant: iRobot Corporation

Inventor： Victor Fay ,  Seth Blitzblau ,  Samuel Duffley ,  Kyle Dumont ,  Justin H. Woodman

IPC: B25J13/08 ,  A47L9/00 ,  A47L11/40 ,  B25J5/00 ,  B25J9/16 ,  B25J19/00 ,  G01D5/24 ,  G01L1/14 ,  G01D5/14 ,  G01D5/20

CPC classification number: B25J13/085 ,  A47L9/009 ,  A47L11/4061 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1694 ,  B25J19/0075 ,  G01D5/142 ,  G01D5/20 ,  G01D5/24 ,  G01L1/14 ,  Y10S901/01

Abstract: A robot includes a body and a bumper. The body is movable relative to a surface and includes a first portion of a sensor. The bumper is mounted on the body and movable relative to the body and includes a backing and a second portion of the sensor. The backing is movable relative to the body in response to a force applied to the bumper. The second portion of the sensor is attached to the backing and movable with the backing relative to the first portion of the sensor in response to a force applied to the bumper. The sensor is configured to output an electrical signal in response to a movement of the backing. The electrical signal is proportional to an amount of displacement of the second portion relative to the first portion.

公开(公告)号：US09874873B2

公开(公告)日：2018-01-23

申请号：US15162756

申请日：2016-05-24

Applicant: iRobot Corporation

Inventor： Colin Angle ,  David Snelling ,  Melissa O'Dea ,  Timothy S. Farlow ,  Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J13/00 ,  G05D1/00 ,  H04L12/28

CPC classification number: G05D1/0022 ,  B25J13/006 ,  G05D2201/0203 ,  H04L12/282 ,  H04L2012/2841 ,  H04L2012/285 ,  Y10S901/01

Abstract: A mobile robot includes a microprocessor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The microprocessor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

公开(公告)号：US20170072570A1

公开(公告)日：2017-03-16

申请号：US15349237

申请日：2016-11-11

Applicant: iRobot Corporation

Inventor： Victor Fay ,  Seth Blitzblau ,  Samuel Duffley ,  Kyle Dumont ,  Justin H. Woodman

IPC: B25J13/08 ,  G01D5/20 ,  G01D5/14 ,  G01D5/24

CPC classification number: B25J13/085 ,  A47L9/009 ,  A47L11/4061 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1694 ,  B25J19/0075 ,  G01D5/142 ,  G01D5/20 ,  G01D5/24 ,  G01L1/14 ,  Y10S901/01

Abstract: A robot includes a body and a bumper. The body is movable relative to a surface and includes a first portion of a sensor. The bumper is mounted on the body and movable relative to the body and includes a backing and a second portion of the sensor. The backing is movable relative to the body in response to a force applied to the bumper. The second portion of the sensor is attached to the backing and movable with the backing relative to the first portion of the sensor in response to a force applied to the bumper. The sensor is configured to output an electrical signal in response to a movement of the backing. The electrical signal is proportional to an amount of displacement of the second portion relative to the first portion.

Abstract translation: 机器人包括一个身体和一个保险杠。 主体相对于表面是可移动的并且包括传感器的第一部分。 保险杠安装在主体上并相对于主体可移动并且包括背衬和传感器的第二部分。 响应于施加到保险杠的力，背衬相对于身体是可移动的。 传感器的第二部分附接到背衬并且响应于施加到保险杠的力，可以相对于传感器的第一部分与背衬一起移动。 传感器被配置为响应于背衬的运动而输出电信号。 电信号与第二部分相对于第一部分的位移量成比例。

公开(公告)号：US20160167234A1

公开(公告)日：2016-06-16

申请号：US14956523

申请日：2015-12-02

Applicant: iRobot Corporation

Inventor： Colin Angle ,  David Snelling ,  Melissa O'Dea ,  Timothy S. Farlow ,  Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J13/00 ,  H04L29/08 ,  H04W4/04 ,  G05D1/00

CPC classification number: B25J13/006 ,  G05D1/0022 ,  G05D2201/0203 ,  H04L12/282 ,  H04L67/125 ,  H04L2012/2841 ,  H04L2012/285 ,  H04W4/043 ,  Y10S901/01

Abstract: A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

Abstract translation: 移动机器人包括连接到存储器和无线网络电路的处理器，用于执行存储在存储器中的例程以及由例程产生并通过无线网络电路接收的命令。 处理器将移动机器人驱动到家庭内的多个可访问的二维位置，并命令包括至少一个机动执行器的末端执行器在家庭中执行机械作业。 多个例程包括监视无线本地网络并检测无线本地网络上网络实体的存在的第一例程;接收来自检测网络实体之一的动作状态的传感器的信号的第二例程， 等待和激活之间的动作状态可变，以及命令末端执行器基于存在和动作状态改变执行机械作业的状态的第三程序。

公开(公告)号：US20140207282A1

公开(公告)日：2014-07-24

申请号：US14160299

申请日：2014-01-21

Applicant: iRobot Corporation

Inventor： Colin Angle ,  David Snelling ,  Melissa O'Dea ,  Timothy S. Farlow ,  Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J5/00 ,  B25J9/00

CPC classification number: B25J13/006 ,  G05D1/0022 ,  G05D2201/0203 ,  H04L12/282 ,  H04L67/125 ,  H04L2012/2841 ,  H04L2012/285 ,  H04W4/043 ,  Y10S901/01

Abstract: A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

Abstract translation: 移动机器人包括连接到存储器和无线网络电路的处理器，用于执行存储在存储器中的例程以及由例程产生并通过无线网络电路接收的命令。 处理器将移动机器人驱动到家庭内的多个可访问的二维位置，并命令包括至少一个机动执行器的末端执行器在家庭中执行机械作业。 多个例程包括监视无线本地网络并检测无线本地网络上网络实体的存在的第一例程;接收来自检测网络实体之一的动作状态的传感器的信号的第二例程， 等待和激活之间的动作状态可变，以及命令末端执行器基于存在和动作状态改变执行机械作业的状态的第三程序。

公开(公告)号：US20140207281A1

公开(公告)日：2014-07-24

申请号：US14158557

申请日：2014-01-17

Applicant: iRobot Corporation

Inventor： Colin Angle ,  David Snelling ,  Melissa O'Dea ,  Timothy S. Farlow ,  Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J5/00 ,  B25J9/00

CPC classification number: G05D1/0022 ,  B25J13/006 ,  G05D2201/0203 ,  H04L12/282 ,  H04L2012/2841 ,  H04L2012/285 ,  Y10S901/01

Abstract: A mobile robot includes a microprocessor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The microprocessor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

Abstract translation: 移动机器人包括连接到存储器的微处理器和无线网络电路，用于执行存储在存储器中的例程以及由例程产生并通过无线网络电路接收的命令。 微处理器将移动机器人驱动到家庭内的多个可访问的二维位置，并命令包括至少一个机动执行器的末端执行器在家庭中执行机械作业。 多个例程包括监视无线本地网络并检测无线本地网络上网络实体的存在的第一例程;接收来自检测网络实体之一的动作状态的传感器的信号的第二例程， 等待和激活之间的动作状态可变，以及命令末端执行器基于存在和动作状态改变执行机械作业的状态的第三程序。

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.