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。

公开(公告)号：US20160282863A1

公开(公告)日：2016-09-29

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: G05D1/00 ,  B25J13/00

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：US09380922B2

公开(公告)日：2016-07-05

申请号：US14046940

申请日：2013-10-05

Applicant: iRobot Corporation

Inventor： Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J5/00 ,  A47L11/40 ,  A47L9/28 ,  G05D1/00

CPC classification number: G05D1/0016 ,  A47L9/2857 ,  A47L11/4011 ,  A47L2201/00 ,  G05D2201/0203

Abstract: A computer-implemented method for receiving user commands for a remote cleaning robot and sending the user commands to the remote cleaning robot, the remote cleaning robot including a drive motor and a cleaning motor, includes displaying a user interface including a control area, and within the control area: a user-manipulable launch control group including a plurality of control elements, the launch control group having a deferred launch control state and an immediate launch control state; at least one user-manipulable cleaning strategy control element having a primary cleaning strategy control state and an alternative cleaning strategy control state; and a physical recall control group including a plurality of control elements, the physical recall control group having an immediate recall control state and a remote audible locator control state. The method further includes: receiving user input via the user-manipulable control elements; responsive to the user inputs, displaying simultaneously within the same control area a real-time robot state reflecting a unique combination of control states; and commanding the remote cleaning robot to actuate the drive motor and cleaning motor to clean a surface based on the received input and unique combination of control states.

Abstract translation: 一种用于接收远程清洁机器人的用户命令并将用户命令发送到远程清洁机器人的计算机实现的方法，包括驱动马达和清洁马达的远程清洁机器人包括显示包括控制区域的用户界面， 控制区域：包括多个控制元件的用户可操纵发射控制组，发射控制组具有延迟发射控制状态和即时发射控制状态; 至少一个用户可操纵的清洁策略控制元件具有初级清洁策略控制状态和替代清洁策略控制状态; 以及包括多个控制元件的物理召回控制组，具有立即召回控制状态的物理召回控制组和远程可听定位器控制状态。 该方法还包括：经由用户可操纵的控制元件接收用户输入; 响应于用户输入，在同一控制区域内同时显示反映控制状态的独特组合的实时机器人状态; 并指示远程清洁机器人基于接收到的输入和控制状态的独特组合来致动驱动马达和清洁马达以清洁表面。

公开(公告)号：US09375847B2

公开(公告)日：2016-06-28

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: H04W4/00 ,  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.

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：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

IPC: G05B15/00 ,  G05B19/00 ,  G06F19/00 ,  G05B19/04 ,  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：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.

公开(公告)号：US20140207280A1

公开(公告)日：2014-07-24

申请号：US14046940

申请日：2013-10-05

Applicant: iRobot Corporation

Inventor： Samuel Duffley ,  Jeffrey W. Mammen ,  Michael J. Halloran

IPC: B25J5/00 ,  B25J9/00

CPC classification number: G05D1/0016 ,  A47L9/2857 ,  A47L11/4011 ,  A47L2201/00 ,  G05D2201/0203

Abstract: A computer-implemented method for receiving user commands for a remote cleaning robot and sending the user commands to the remote cleaning robot, the remote cleaning robot including a drive motor and a cleaning motor, includes displaying a user interface including a control area, and within the control area: a user-manipulable launch control group including a plurality of control elements, the launch control group having a deferred launch control state and an immediate launch control state; at least one user-manipulable cleaning strategy control element having a primary cleaning strategy control state and an alternative cleaning strategy control state; and a physical recall control group including a plurality of control elements, the physical recall control group having an immediate recall control state and a remote audible locator control state. The method further includes: receiving user input via the user-manipulable control elements; responsive to the user inputs, displaying simultaneously within the same control area a real-time robot state reflecting a unique combination of control states; and commanding the remote cleaning robot to actuate the drive motor and cleaning motor to clean a surface based on the received input and unique combination of control states.

Abstract translation: 一种用于接收远程清洁机器人的用户命令并将用户命令发送到远程清洁机器人的计算机实现的方法，包括驱动马达和清洁马达的远程清洁机器人包括显示包括控制区域的用户界面， 控制区域：包括多个控制元件的用户可操纵发射控制组，发射控制组具有延迟发射控制状态和即时发射控制状态; 至少一个用户可操纵的清洁策略控制元件具有初级清洁策略控制状态和替代清洁策略控制状态; 以及包括多个控制元件的物理召回控制组，具有立即召回控制状态的物理召回控制组和远程可听定位器控制状态。 该方法还包括：经由用户可操纵的控制元件接收用户输入; 响应于用户输入，在同一控制区域内同时显示反映控制状态的独特组合的实时机器人状态; 并指示远程清洁机器人基于接收到的输入和控制状态的独特组合来致动驱动马达和清洁马达以清洁表面。

公开(公告)号：US20140088761A1

公开(公告)日：2014-03-27

申请号：US14033922

申请日：2013-09-23

Applicant: iRobot Corporation

Inventor： Steven V. Shamlian ,  Samuel Duffley ,  Nikolai Romanov

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。