公开(公告)号：US20060102206A1

公开(公告)日：2006-05-18

申请号：US10988680

申请日：2004-11-15

Applicant: David Wood ,  Kipp Knutson

Inventor： David Wood ,  Kipp Knutson

IPC: B08B3/12 ,  B08B3/00

CPC classification number: A47L11/03 ,  A47L11/4011 ,  A47L11/4088 ,  B01F15/00318 ,  B01F15/042 ,  B05B7/30 ,  B05B12/1436 ,  B08B1/04 ,  B08B3/026

Abstract: An onboard treatment solution injection system (40) includes a container (42) removably received in a holder (51) having a plurality of condition sensors (52) arranged in a vertical linear series. An injection pump (44) draws treatment solution from the container (42) and injects it into cleaning solution flowing in a line (15) from a solution tank (16) under action of a solution pump (18). The relative pumping rates of the pumps (18, 44) are controlled by a controller (58) controlled by the condition sensors (52) detecting a magnet (56) which is adjustably slideably mounted on the container (42) according to the type of treatment solution held therein. A valve (50) allows the injection pump (44) to be alternately in fluid communication with the container (42) or the solution tank (16) for purging.

Abstract translation: 机载处理溶液注入系统（40）包括可移除地容纳在具有以垂直线性系列排列的多个状态传感器（52）的保持器（51）中的容器（42）。 注射泵（44）从容器（42）吸取处理溶液，并在溶液泵（18）的作用下将其从溶液罐（16）中注入到在管线（15）中流动的清洁溶液中。 泵（18,44）的相对泵送速率由控制器（58）控制，控制器（58）由条件传感器（52）控制，状态传感器（52）检测可调节地可滑动地安装在容器（42）上的磁体（56），根据 处理溶液。 阀（50）允许注射泵（44）与容器（42）或溶液罐（16）交替流体连通以进行清洗。

公开(公告)号：US20100076599A1

公开(公告)日：2010-03-25

申请号：US12234633

申请日：2008-09-20

Applicant: Steven Jacobs ,  Kipp Knutson ,  David Wood

Inventor： Steven Jacobs ,  Kipp Knutson ,  David Wood

IPC: B25J19/02 ,  B25J9/22

CPC classification number: G05D1/0272 ,  G05D1/0221 ,  G05D1/0255 ,  G05D1/028

Abstract: A robotic device is manually driven along a perimeter of a Region Of Interest (ROI) or along a Path Of Interest (POI) for future autonomous operation. An Initial Point (IP) is established by identifying a unique machine recognizable feature, for example, a Radio Frequency Identification (RFID) tag located at the IP. The robotic device is then manually driven along the perimeter or along the path and sensors carried by the robotic device collects data to characterize the ROI or POI. The sensors may include sonar, vision systems, laser, or radar devices for measuring relative positions of a wall, stairs, or obstacles. Wheel odometry may be used to track distances traveled and data fusion exercised to combine the odometry data with the sonar and/or laser measurements to model the ROI or POI. Characterization is performed by collecting points along a wall, fitting a line to the points, and finding the intersections of consecutive lines.

Abstract translation: 机器人装置沿着感兴趣区域（ROI）或沿着感兴趣路径（POI）的周边手动驱动以用于将来的自主操作。 通过识别唯一的机器可识别特征（例如位于IP处的射频识别（RFID））标签来建立初始点（IP）。 然后机器人装置沿着周边或沿着路径手动驱动，并且机器人装置携带的传感器收集数据以表征ROI或POI。 传感器可以包括用于测量墙壁，楼梯或障碍物的相对位置的声纳，视觉系统，激光或雷达装置。 轨迹测距可用于跟踪所行驶的距离和数据融合，以将测距数据与声纳和/或激光测量结合以对ROI或POI进行建模。 通过沿着墙壁收集点，将线拟合到点上并找到连续线的交点来进行表征。