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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。
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公开(公告)号：US20230333551A1
公开(公告)日：2023-10-19
申请号：US18307368
申请日：2023-04-26
Applicant: iRobot Corporation
Inventor： Michael J. Dooley , Nikolai Romanov , Orjeta Taka , Justin H. Kearns
CPC classification number: G05D1/0038 , H04N23/51 , H04N23/57 , H04N23/62 , H04N23/63 , H04N23/631 , H04N23/661 , B25J19/023 , G05D1/0088 , H04N7/185 , G05D2201/0209 , G06V20/10
Abstract: An autonomous mobile robot includes a chassis, a drive supporting the chassis above a floor surface in a home and configured to move the chassis across the floor surface, a variable height member being coupled to the chassis and being vertically extendible, a camera supported by the variable height member, and a controller. The controller is configured to operate the drive to navigate the robot to locations within the home and to adjust a height of the variable height member upon reaching a first of the locations. The controller is also configured to, while the variable height member is at the adjusted height, operate the camera to capture digital imagery of the home at the first of the locations.
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公开(公告)号：US11635476B2
公开(公告)日：2023-04-25
申请号：US16538737
申请日：2019-08-12
Applicant: iRobot Corporation
Inventor： Alexander D. Kleiner , Nikolai Romanov , Frederic D. Hook
Abstract: A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
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公开(公告)号：US11320835B2
公开(公告)日：2022-05-03
申请号：US16707840
申请日：2019-12-09
Applicant: iRobot Corporation
Inventor： Frederic D. Hook , Nikolai Romanov , Matthew Mercaldo , Peter Teulings , Kenneth Holm, Jr. , Juan Oxoby
Abstract: An autonomous mobile robot includes a drive system to maneuver the autonomous mobile robot about an environment, a first magnetic field antenna system responsive to a magnetic field pulse to generate a first signal, and a second magnetic field antenna system responsive to the magnetic field pulse to generate a second signal. The magnetic field pulse is emitted by a magnetic field emitter system in the environment. The autonomous mobile robot further includes a controller to execute instructions to perform operations including reorienting the autonomous mobile robot based on the first signal and the second signal.
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45.发明申请公开(公告)号：US20210387532A1
公开(公告)日：2021-12-16
申请号：US17410883
申请日：2021-08-24
Applicant: iRobot Corporation
Inventor： Nikolai Romanov , Michael J. Dooley , Paolo Pirjanian
IPC: B60L15/20 , B60L1/00 , B60L3/10 , A47L11/24 , A47L11/40 , G05D1/02 , B60L50/52 , B60L58/21 , B60L50/60 , B60L53/14 , A47L9/28
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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Patent Agency Ranking
公开(公告)号：US20200001475A1
公开(公告)日：2020-01-02
申请号：US16564355
申请日：2019-09-09
Applicant: iRobot Corporation
Inventor： Michael J. Dooley , Nikolai Romanov , Orjeta Taka , Justin H. Kearns
Abstract: An autonomous mobile robot includes a chassis, a drive supporting the chassis above a floor surface in a home and configured to move the chassis across the floor surface, a variable height member being coupled to the chassis and being vertically extendible, a camera supported by the variable height member, and a controller. The controller is configured to operate the drive to navigate the robot to locations within the home and to adjust a height of the variable height member upon reaching a first of the locations. The controller is also configured to, while the variable height member is at the adjusted height, operate the camera to capture digital imagery of the home at the first of the locations.
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公开(公告)号：US10471611B2
公开(公告)日：2019-11-12
申请号：US15404455
申请日：2017-01-12
Applicant: iRobot Corporation
Inventor： Michael J. Dooley , Nikolai Romanov , Orjeta Taka , Justin H. Kearns
Abstract: An autonomous mobile robot includes a chassis, a drive supporting the chassis above a floor surface in a home and configured to move the chassis across the floor surface, a variable height member being coupled to the chassis and being vertically extendible, a camera supported by the variable height member, and a controller. The controller is configured to operate the drive to navigate the robot to locations within the home and to adjust a height of the variable height member upon reaching a first of the locations. The controller is also configured to, while the variable height member is at the adjusted height, operate the camera to capture digital imagery of the home at the first of the locations.
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公开(公告)号：US10379172B2
公开(公告)日：2019-08-13
申请号：US14799319
申请日：2015-07-14
Applicant: iRobot Corporation
Inventor： Alexander D. Kleiner , Nikolai Romanov , Frederic D. Hook
Abstract: A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
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公开(公告)号：US10258214B2
公开(公告)日：2019-04-16
申请号：US15726536
申请日：2017-10-06
Applicant: iRobot Corporation
Inventor： Michael J. Dooley , James Philip Case , Nikolai Romanov
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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50.发明授权公开(公告)号：US10222805B2
公开(公告)日：2019-03-05
申请号：US15353368
申请日：2016-11-16
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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