公开(公告)号：US09713302B2

公开(公告)日：2017-07-25

申请号：US14489847

申请日：2014-09-18

Applicant: iRobot Corporation

Inventor： Paul E. Sandin ,  Joseph L. Jones ,  Daniel N. Ozick ,  David A. Cohen ,  David M. Lewis, Jr. ,  Clara Vu ,  Zivthan A. Dubrovsky ,  Joshua B. Preneta ,  Jeffrey W. Mammen ,  Duane L. Gilbert, Jr. ,  Tony L. Campbell ,  John Bergman ,  Mark J. Chiappetta

IPC: G05D1/02 ,  A01D34/00 ,  B60L3/00 ,  B60L11/12 ,  B60L11/18

CPC classification number: G05D1/0265 ,  A01D34/008 ,  B60L3/0023 ,  B60L11/126 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/40 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/36 ,  B60L2240/425 ,  B60L2240/662 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/6217 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7094 ,  Y02T10/7241 ,  Y02T10/7291 ,  Y02T90/127 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/09

Abstract: An autonomous coverage robot system includes an active boundary responder comprising a wire powered with a modulated current placed along a perimeter of a property, at least one passive boundary responder placed on a property interior circumscribed by the active boundary responder, and an autonomous coverage robot. The robot includes a drive system carried by a body and configured to maneuver the robot across the property interior. The robot includes a signal emitter emitting a signal, where the passive boundary responder is responsive to the signal and a boundary responder detection system carried by the body. The boundary responder detector is configured to redirect the robot both in response to the responder detection system detecting an active boundary responder and in response to detecting a passive boundary responder.

公开(公告)号：US20160291595A1

公开(公告)日：2016-10-06

申请号：US15182849

申请日：2016-06-15

Applicant: iRobot Corporation

Inventor： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, JR. ,  Daniel N. Ozick

IPC: G05D1/02 ,  A47L11/40 ,  B25J9/00 ,  B60L15/20 ,  B60L11/18

CPC classification number: A47L11/4011 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0411 ,  A47L9/0466 ,  A47L9/0477 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/1409 ,  A47L9/2826 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  B25J5/007 ,  B25J9/0003 ,  B25J9/1666 ,  B25J9/1694 ,  B25J11/0085 ,  B25J13/006 ,  B60L1/003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1825 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  B60R19/38 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04B1/02 ,  H04B1/06 ,  H04L1/16 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial command; transmitted from the network data bridge.

Abstract translation: 省电机器人系统包括至少一个外围设备和移动机器人。 外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。 机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。 另一方面，机器人系统包括网络数据桥和移动机器人。 网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。 数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。 移动机器人包括接收串行命令的无线命令通信部件; 从网络数据桥传输。

公开(公告)号：US08761931B2

公开(公告)日：2014-06-24

申请号：US13893905

申请日：2013-05-14

Applicant: iRobot Corporation

Inventor： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, Jr. ,  Daniel N. Ozick

IPC: G06F19/00

CPC classification number: A47L11/40 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  B25J9/0003 ,  B60L11/1805 ,  B60L11/1816 ,  B60L15/2036 ,  B60L2200/40 ,  B60L2250/10 ,  B60L2250/16 ,  B60L2260/32 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0215 ,  H04L1/16 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

Abstract: A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

Abstract translation: 省电机器人系统包括至少一个外围设备和移动机器人。 外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。 机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。 另一方面，机器人系统包括网络数据桥和移动机器人。 网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。 数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。 移动机器人包括接收从网络数据桥发送的串行命令的无线命令通信组件。

公开(公告)号：US20140129028A1

公开(公告)日：2014-05-08

申请号：US13893038

申请日：2013-05-13

Applicant: iRobot Corporation

Inventor： Gregg W. Landry ,  David A. Cohen ,  Daniel N. Ozick

IPC: A47L11/40 ,  A47L9/28

CPC classification number: A47L9/281 ,  A47L5/362 ,  A47L9/0466 ,  A47L9/0488 ,  A47L9/2805 ,  A47L9/2831 ,  A47L9/2842 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2884 ,  A47L9/2889 ,  A47L9/2894 ,  A47L11/4005 ,  A47L11/4008 ,  A47L11/4011 ,  A47L11/4061 ,  A47L11/4066 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/021 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby, enable an autonomous device to steer in the direction of debris.

Abstract translation: 响应于碎片撞击的压电碎片传感器和相关联的信号处理器使得自主或非自主的清洁装置能够检测碎屑的存在，并且作为响应，选择行为模式，操作条件或运动模式，例如斑点覆盖或 喜欢。 可以使用多个传感器通道（例如左侧和右侧）来检测或产生差分的左/右碎片信号，从而使得自主装置能够沿着碎屑的方向转向。

公开(公告)号：US10813517B2

公开(公告)日：2020-10-27

申请号：US15916867

申请日：2018-03-09

Applicant: iRobot Corporation

Inventor： Gregg W. Landry ,  David A. Cohen ,  Daniel N. Ozick ,  Mark J. Chiappetta ,  Joseph L. Jones

IPC: A47L11/40 ,  G05D1/02 ,  G05D3/12

Abstract: An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.

公开(公告)号：US10758100B2

公开(公告)日：2020-09-01

申请号：US15941763

申请日：2018-03-30

Applicant: iRobot Corporation

Inventor： David A. Cohen ,  Daniel N. Ozick ,  Clara Vu ,  James Lynch ,  Philip R. Mass

IPC: H02J7/00 ,  A47L9/28 ,  B60L53/14 ,  G01S1/70 ,  A47L9/00 ,  B25J5/00 ,  B25J9/16 ,  B25J11/00 ,  B25J19/00 ,  G01S1/16 ,  G05D1/02 ,  H02J7/04

Abstract: A method for energy management robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.

公开(公告)号：US10675758B2

公开(公告)日：2020-06-09

申请号：US15941763

申请日：2018-03-30

Applicant: iRobot Corporation

Inventor： David A. Cohen ,  Daniel N. Ozick ,  Clara Vu ,  James Lynch ,  Philip R. Mass

IPC: H02J7/00 ,  B25J9/16 ,  A47L9/00 ,  A47L9/28 ,  G05D1/02 ,  H02J7/04 ,  G01S1/16 ,  G01S1/70 ,  B60L53/14 ,  B25J5/00 ,  B25J11/00 ,  B25J19/00

Abstract: A method for energy management robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.

公开(公告)号：US20190223674A1

公开(公告)日：2019-07-25

申请号：US16252460

申请日：2019-01-18

Applicant: iRobot Corporation

Inventor： Gregg W. Landry ,  David A. Cohen ,  Daniel N. Ozick

IPC: A47L9/28 ,  A47L9/04 ,  G05D1/02 ,  A47L11/40 ,  A47L5/36

CPC classification number: A47L9/281 ,  A47L5/362 ,  A47L9/0466 ,  A47L9/0488 ,  A47L9/2805 ,  A47L9/2831 ,  A47L9/2842 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2884 ,  A47L9/2889 ,  A47L9/2894 ,  A47L11/4005 ,  A47L11/4008 ,  A47L11/4011 ,  A47L11/4061 ,  A47L11/4066 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/021 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

公开(公告)号：US20180236663A1

公开(公告)日：2018-08-23

申请号：US15941763

申请日：2018-03-30

Applicant: iRobot Corporation

Inventor： David A. Cohen ,  Daniel N. Ozick ,  Clara Vu ,  James Lynch ,  Philip R. Mass

IPC: B25J9/16 ,  A47L9/28 ,  H02J7/00 ,  G01S1/16 ,  B25J11/00 ,  B60L11/18 ,  G05D1/02 ,  H02J7/04 ,  G01S1/70 ,  A47L9/00 ,  B25J5/00 ,  B25J19/00

Abstract: A method for energy management robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.

公开(公告)号：US09931750B2

公开(公告)日：2018-04-03

申请号：US15355518

申请日：2016-11-18

Applicant: iRobot Corporation

Inventor： David A. Cohen ,  Daniel N. Ozick ,  Clara Vu ,  James Lynch ,  Philip R. Mass

IPC: H02J7/00 ,  B25J9/16 ,  A47L9/00 ,  A47L9/28 ,  G05D1/02 ,  H02J7/04 ,  G01S1/16 ,  G01S1/70 ,  B25J5/00 ,  B25J11/00 ,  B25J19/00 ,  B60L11/18

CPC classification number: B25J9/1664 ,  A47L9/0063 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/00 ,  B25J11/0085 ,  B25J19/005 ,  B60L11/1816 ,  G01S1/16 ,  G01S1/70 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  H02J7/0026 ,  H02J7/0036 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0052 ,  H02J7/045 ,  Y10S901/01

Abstract: A method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.