公开(公告)号：US20160377688A1

公开(公告)日：2016-12-29

申请号：US14799319

申请日：2015-07-14

Applicant: iRobot Corporation

Inventor： Alexander D. Kleiner ,  Nikolai Romanov ,  Frederic D. Hook

IPC: G01R33/00 ,  G01C21/20 ,  B25J9/16 ,  G01B7/30

CPC classification number: G01R33/0035 ,  A01D34/008 ,  B25J9/1694 ,  G01B7/30 ,  G01S1/00 ,  G05D1/0261 ,  G05D2201/0208 ,  Y10S901/01 ,  Y10S901/30 ,  Y10S901/46

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.

Abstract translation: 移动机器人包括可在环境中的表面上移动的主体，承载在身体上并被配置为产生校准磁场的校准线圈，承载在身体上并响应于校准磁场的传感器电路，以及控制器 身体和与传感器电路通信。 传感器电路被配置为基于校准磁场产生校准信号。 控制器被配置为根据校准信号来校准传感器电路，从而导致校准的传感器电路被配置为检测环境内的发射器磁场并且基于发射机磁场产生检测信号。 控制器被配置为根据检测信号来估计移动机器人的姿态。

公开(公告)号：US09519289B2

公开(公告)日：2016-12-13

申请号：US14856526

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Philip Fong

IPC: B25J9/16 ,  G05D1/02 ,  G01C21/20 ,  G05D1/00

CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J19/005 ,  G01C21/206 ,  G05D1/0088 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

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.

Abstract translation: 本发明提供了一种移动机器人，其被配置为导航操作环境，其包括控制器电路，其引导移动机器人的驱动器通过使用基于摄像机的导航系统的环境导航移动机器人，以及包括定义相机场的光学器件 和相机光轴，其中相机位于凹陷结构内并且倾斜，使得照相机光轴以与顶表面一致的水平面上方的锐角对准，并且朝向前方驱动 机器人主体的方向，并且相机被配置为捕获移动机器人的操作环境的图像。

公开(公告)号：US20160324384A1

公开(公告)日：2016-11-10

申请号：US15214871

申请日：2016-07-20

Applicant: iRobot Corporation

Inventor： Michael J. Dooley ,  Nikolai Romanov ,  James Phillip Case

IPC: A47L11/284 ,  A47L11/40

Abstract: A mobile floor cleaning robot includes a body defining a forward drive direction, a drive system, a cleaning system, and a controller. The cleaning system includes a pad holder, a reservoir, a sprayer, and a cleaning system. The pad holder has a bottom surface for receiving a cleaning pad. The reservoir holds a volume of fluid, and the sprayer sprays the fluid forward the pad holder. The controller is in communication with the drive and cleaning systems. The controller executes a cleaning routine that includes driving in the forward direction a first distance to a first location, then driving in a reverse drive direction a second distance to a second location. From the second location, the robot sprays fluid in the forward drive direction but rearward the first location. The robot then drives in alternating forward and reverse drive directions while smearing the cleaning pad along the floor surface.

公开(公告)号：US20160271798A1

公开(公告)日：2016-09-22

申请号：US15075569

申请日：2016-03-21

Applicant: iRobot Corporation

Inventor： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1658 ,  B25J9/0084 ,  G05B2219/40304 ,  G05B2219/40306 ,  G05B2219/40397 ,  G06N3/004

Abstract: An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.

公开(公告)号：US20160147230A1

公开(公告)日：2016-05-26

申请号：US14856526

申请日：2015-09-16

Applicant: iRobot Corporation

Inventor： Mario Munich ,  Nikolai Romanov ,  Dhiraj Goel ,  Phillip Fong

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/20

CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J19/005 ,  G01C21/206 ,  G05D1/0088 ,  G05D1/0274 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

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.

Abstract translation: 本发明提供了一种移动机器人，其被配置为导航操作环境，其包括控制器电路，其引导移动机器人的驱动器通过使用基于摄像机的导航系统的环境导航移动机器人，以及包括定义相机场的光学器件 和相机光轴，其中相机位于凹陷结构内并且倾斜，使得照相机光轴以与顶表面一致的水平面上方的锐角对准，并且朝向前方驱动 机器人主体的方向，并且相机被配置为捕获移动机器人的操作环境的图像。

公开(公告)号：US20160022109A1

公开(公告)日：2016-01-28

申请号：US14877207

申请日：2015-10-07

Applicant: iRobot Corporation

Inventor： Michael Dooley ,  James Philip Case ,  Nikolai Romanov

IPC: A47L11/40

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.

公开(公告)号：US09220389B2

公开(公告)日：2015-12-29

申请号：US14816665

申请日：2015-08-03

Applicant: iRobot Corporation

Inventor： Michael J. Dooley ,  Nikolai Romanov ,  Marcus Williams ,  Joseph M. Johnson

IPC: A47L13/20 ,  A47L11/40 ,  A47L13/16

CPC classification number: A47L11/284 ,  A47L11/12 ,  A47L11/125 ,  A47L11/4011 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4069 ,  A47L11/4072 ,  A47L11/408 ,  A47L11/4088 ,  A47L13/16 ,  A47L13/20 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  A61F13/36 ,  B32B3/04 ,  B32B5/022 ,  B32B5/26 ,  B32B7/12 ,  B32B25/14 ,  B32B29/002 ,  B32B2255/12 ,  B32B2262/04 ,  B32B2262/067 ,  B32B2262/14 ,  B32B2307/7145 ,  B32B2307/718 ,  B32B2307/726 ,  B32B2307/73 ,  B32B2432/00

Abstract: A pad particularly adapted for surface cleaning. The pad includes an absorbent core having the ability to absorb and retain liquid material, and a liner layer in contact with and covering at least one side of the absorbent core. The liner layer has the ability to retain and wick liquid material through the liner layer. Cleaning apparatus containing such pads and methods of using such pads are also described.

Abstract translation: 特别适用于表面清洁的垫。 衬垫包括具有吸收和保留液体材料的能力的吸收芯，以及与吸收芯的至少一侧接触并覆盖其的衬垫层。 衬垫层具有通过衬垫层保持和吸收液体材料的能力。 还描述了包含这种垫的清洁装置和使用这种垫的方法。

公开(公告)号：US20150335221A1

公开(公告)日：2015-11-26

申请号：US14816665

申请日：2015-08-03

Applicant: iRobot Corporation

Inventor： Michael J. Dooley ,  Nikolai Romanov ,  Marcus Williams ,  Joseph M. Johnson

IPC: A47L11/284 ,  A47L13/16 ,  A47L13/20 ,  A47L11/40

CPC classification number: A47L11/284 ,  A47L11/12 ,  A47L11/125 ,  A47L11/4011 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4069 ,  A47L11/4072 ,  A47L11/408 ,  A47L11/4088 ,  A47L13/16 ,  A47L13/20 ,  A47L2201/00 ,  A47L2201/04 ,  A47L2201/06 ,  A61F13/36 ,  B32B3/04 ,  B32B5/022 ,  B32B5/26 ,  B32B7/12 ,  B32B25/14 ,  B32B29/002 ,  B32B2255/12 ,  B32B2262/04 ,  B32B2262/067 ,  B32B2262/14 ,  B32B2307/7145 ,  B32B2307/718 ,  B32B2307/726 ,  B32B2307/73 ,  B32B2432/00

Abstract: A pad particularly adapted for surface cleaning. The pad includes an absorbent core having the ability to absorb and retain liquid material, and a liner layer in contact with and covering at least one side of the absorbent core. The liner layer has the ability to retain and wick liquid material through the liner layer. Cleaning apparatus containing such pads and methods of using such pads are also described.

Abstract translation: 特别适用于表面清洁的垫。 衬垫包括具有吸收和保留液体材料的能力的吸收芯，以及与吸收芯的至少一侧接触并覆盖其的衬垫层。 衬垫层具有通过衬垫层保持和吸收液体材料的能力。 还描述了包含这种垫的清洁装置和使用这种垫的方法。

公开(公告)号：US20140229004A1

公开(公告)日：2014-08-14

申请号：US14255880

申请日：2014-04-17

Applicant: iRobot Corporation

Inventor： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian

IPC: B25J9/00

CPC classification number: B25J9/1658 ,  B25J9/0084 ,  G05B2219/40304 ,  G05B2219/40306 ,  G05B2219/40397 ,  G06N3/004

Abstract: An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.

Abstract translation: 集成智能系统包括第一智能电子设备，第二智能电子设备，可转移智能控制设备（TICD）和交叉产品总线。 第一智能电子装置执行第一功能，第二智能电子装置执行第二功能。 交叉产品总线将第一智能电子设备耦合到可转移智能控制设备。 TICD通过将交叉产品总线上的命令发送到第一智能电子设备部分地控制智能电子设备的行为，并且TICD部分地控制第二智能电子设备执行第二功能的行为。 首先将TICD连接到第一智能电子设备，以部分地控制第一电子设备的行为，然后从第一电子设备分离，然后连接到第二智能电子设备以执行第二功能。