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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
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.
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公开(公告)号：US09370290B2
公开(公告)日：2016-06-21
申请号：US14877207
申请日：2015-10-07
Applicant: iRobot Corporation
Inventor： Michael Dooley , James Philip Case , Nikolai Romanov
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.
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Patent Agency Ranking
23.发明申请公开(公告)号：US20160144511A1
公开(公告)日：2016-05-26
申请号：US14856501
申请日：2015-09-16
Applicant: iRobot Corporation
Inventor： Nikolai Romanov , James Philip Case , Kenneth Griest , David O. Swett
CPC classification number: B25J9/1697 , G05B2219/50393 , G05D1/0253 , G05D1/027 , G05D2201/0203 , Y10S901/01 , Y10S901/47
Abstract: Systems and methods for use of optical odometry sensor systems in a mobile robot. The optical odometry sensor system is positioned within a recessed structure on an underside of the mobile robot body and configured to output optical odometry data. The optical odometry sensor system includes an optical odometry camera that includes a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field that provides a range of viewing distances at which a tracking surface is captured in focus from a first distance within the recessed structure to a second distance below the underside of the mobile robot body.
Abstract translation: 在移动机器人中使用光学测距传感器系统的系统和方法。 光学测距传感器系统定位在移动机器人主体的下侧上的凹陷结构内，并被配置为输出光学测距数据。 光学测距传感器系统包括光学测距照相机，其包括远心透镜，其被配置为捕获身体下方的跟踪表面的图像，并且具有提供观察距离范围的景深的距离，在该范围内跟踪表面被聚焦从焦点 在凹陷结构内的第一距离到移动机器人主体的下侧之下的第二距离。
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24.发明申请公开(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
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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公开(公告)号：US09179813B2
公开(公告)日：2015-11-10
申请号：US14522445
申请日：2014-10-23
Applicant: iRobot Corporation
Inventor： Michael Dooley , James Philip Case , Nikolai Romanov
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.
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公开(公告)号：US20150046016A1
公开(公告)日：2015-02-12
申请号：US14522446
申请日：2014-10-23
Applicant: iRobot Corporation
Inventor： Michael Dooley , James Philip Case , Nikolai Romanov
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.
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27.发明申请公开(公告)号：US20140222279A1
公开(公告)日：2014-08-07
申请号：US14251390
申请日：2014-04-11
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
IPC: G05D1/02
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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