公开(公告)号：US07873437B2

公开(公告)日：2011-01-18

申请号：US10543758

申请日：2004-02-13

Applicant: Michael David Aldred ,  Alexander Philip Bommer

Inventor： Michael David Aldred ,  Alexander Philip Bommer

IPC: G05B19/18 ,  G05B19/04

CPC classification number: G05D1/0227 ,  G05D1/0219 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0215

Abstract: A control system is provided for navigating an autonomous machine around a working area in a manner that causes the machine to traverse substantially all of the free surface of the working area. The control system is arranged to cause the machine to follow a boundary of the working area and to perform a plurality of movements, each movement comprising the machine travelling away from the boundary of the working area, at an angle to the boundary, and returning again to the boundary. The machine moves along the boundary of the working area between each movement and repeats the movements as the machine follows substantially the entire boundary of the working area.

Abstract translation: 提供了一种控制系统，用于以使得机器基本上穿过工作区域的所有自由表面的方式在工作区域周围导航自主机器。 控制系统被设置成使机器跟随工作区域的边界并执行多个移动，每个移动包括机器以与边界成一定角度离开工作区域的边界行进，并再次返回 到边界 机器沿着每个运动之间的工作区域的边界移动，并且随着机器基本上沿着工作区域的整个边界重复运动。

公开(公告)号：US07053580B2

公开(公告)日：2006-05-30

申请号：US10494299

申请日：2002-10-31

Applicant: Michael David Aldred

Inventor： Michael David Aldred

IPC: G05D1/00

CPC classification number: A47L9/009 ,  A47L2201/04 ,  A47L2201/06 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0208

Abstract: An autonomous machine comprises driving means for moving the machine along a surface of an area, and a navigation system. The navigation system causes the machine to follow a boundary of the area, storing path information on the path travelled by the machine as the machine follows the boundary and compares when the machine has returned to a previously visited position in the area. The navigation system compares the latest section of the path travelled by the machine with information representing a section of the path previously stored in the memory and decides when the new path information and previously stored path information are substantially the same.

Abstract translation: 自主机器包括用于沿着区域的表面移动机器的驱动装置和导航系统。 导航系统使机器跟随该区域的边界，当机器跟随边界时，将路径信息存储在机器行进的路径上，并将机器返回到该区域中之前访问的位置进行比较。 导航系统将机器行进的路径的最新部分与表示先前存储在存储器中的路径的部分的信息进行比较，并且决定新的路径信息和先前存储的路径信息是否基本相同。

公开(公告)号：US06590222B1

公开(公告)日：2003-07-08

申请号：US09868493

申请日：2001-06-18

Applicant: David Lindsey Bisset ,  Michael David Aldred ,  Stephen John Wiseman

Inventor： David Lindsey Bisset ,  Michael David Aldred ,  Stephen John Wiseman

IPC: H01J4014

CPC classification number: G01S15/931 ,  G01S3/781 ,  G01S3/782 ,  G01S5/16

Abstract: Light detection apparatus for determining the location of a body within a predetermined area comprises at least two light detecting devices (10,10′,10″), supported on the body and capable of receiving light at points which are spaced about a central axis (8). The apparatus further includes means for supplying information representative of the level of light detected by each light detecting device (10, 10′, 10″). Information received from the light detection apparatus is compared with information previously received from the light detection apparatus and stored in a memory so as to identify when the light detected by the light detection apparatus is the same or substantially the same as light previously detected by the light detection apparatus. When used on an autonomous vehicle, this can allow the vehicle to determine when it has returned to a similar position in an area. The received light signals can be filtered or processed to derive information representative of different types of light (natural, incandescent) or colours of light.

Abstract translation: 用于确定物体在预定区域内的位置的光检测装置包括至少两个光检测装置（10,10'，10“），其被支撑在主体上并且能够在围绕中心轴线间隔开的点处接收光 （8）。 该装置还包括用于提供表示由每个光检测装置（10,10'，10“）检测的光的电平的信息的装置。 将从光检测装置接收的信息与先前从光检测装置接收的信息进行比较并存储在存储器中，以便识别由光检测装置检测到的光是否与由光预先检测到的光相同或基本相同 检测装置。 当在自主车辆上使用时，这可以允许车辆确定何时已经返回到一个区域中的相似位置。 可以对接收的光信号进行滤波或处理，以得到表示不同类型的光（天然，白炽灯）或光的颜色的信息。

公开(公告)号：US06605156B1

公开(公告)日：2003-08-12

申请号：US10031604

申请日：2002-01-23

Applicant: Alan Gerard Clark ,  David Lindsey Bisset ,  Michael David Aldred

Inventor： Alan Gerard Clark ,  David Lindsey Bisset ,  Michael David Aldred

IPC: B08B504

CPC classification number: A47L9/2894 ,  A47L5/30 ,  A47L9/2805 ,  A47L9/2847 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2884 ,  A47L9/2889 ,  A47L2201/04 ,  A47L2201/06 ,  B25J5/007 ,  G05D1/0255 ,  G05D2201/0215

Abstract: A robotic floor cleaning device comprises a chassis (10), motor-driven wheels (11) supporting the chassis (10), a motor-driven suction fan (9), a dirty air inlet (2) and a motor-driven rotatable agitator (4) at the dirty air inlet (2) for agitating the surface. A control system navigates the device around a room and distributes power to the motor-driven wheels (11) and to the agitator (4). The control system detects when the agitator (4) has jammed (100, 102) and, in the event of a jam, attempts to clear the jam (104, 106). After successfully clearing the jam the control system turns the agitator (4) off (114, 116, 118) or navigates the cleaning device around the location at which the jam occurred (119). The cleaning device can store the location of the jam for use in preventing further jams when the cleaning device returns to a similar position in the room.

Abstract translation: 机器人地板清洁装置包括底盘（10），支撑底盘（10）的电机驱动轮（11），马达驱动的吸入风扇（9），脏空气入口（2）和马达驱动的可旋转搅拌器 （4）在脏空气入口（2）处用于搅拌表面。 控制系统将设备导航到房间周围并将电力分配给电动轮（11）和搅拌器（4）。 控制系统检测何时搅拌器（4）卡住（100,102），并且在卡纸的情况下，尝试清除卡纸（104,106）。 成功清除卡纸后，控制系统将搅拌器（4）关闭（114,116,118）或将清洁装置导向卡纸发生的位置（119）。 当清洁装置返回到房间中类似的位置时，清洁装置可以存储卡纸的位置用于防止其他卡纸。

公开(公告)号：US07085624B2

公开(公告)日：2006-08-01

申请号：US10494300

申请日：2002-10-31

Applicant: Michael David Aldred ,  Andrew Michael Shardlow

Inventor： Michael David Aldred ,  Andrew Michael Shardlow

IPC: G05B19/04 ,  G05B19/18

CPC classification number: G05D1/0255 ,  G05B2219/45098 ,  G05D1/0242 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0208

Abstract: An autonomous machine is configured to explore the area in which it is located, constructing a map of the area based on information collected by the machine as the machine explores the area. The machine determines when it has returned to a previously visited position within the area. The map is corrected when the machine returns to the previously visited position, based on the knowledge that the current position and the previously visited position are the same.

Abstract translation: 自主机器被配置为探索其所在的区域，基于机器探索该区域时基于机器收集的信息来构建该区域的地图。 该机器确定何时返回到该区域内先前访问的位置。 基于当前位置和以前访问的位置相同的知识，当机器返回到先前访问的位置时，校正地图。