公开(公告)号：US08600553B2

公开(公告)日：2013-12-03

申请号：US11758289

申请日：2007-06-05

申请人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

发明人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

IPC分类号： B25J19/02

CPC分类号： 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 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

摘要： An autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to maneuver the robot according to a heading (turn) setting and a speed setting. The bump sensor is responsive to a collision of the robot with an obstacle in a forward direction. A method of navigating an autonomous coverage robot with respect to an object on a floor includes the robot autonomously traversing the floor in a cleaning mode at a full cleaning speed. Upon sensing a proximity of the object forward of the robot, the robot reduces the cleaning speed to a reduced cleaning speed while continuing towards the object until the robot detects a contact with the object. Upon sensing contact with the object, the robot turns with respect to the object and cleans next to the object, optionally substantially at the reduced cleaning speed.

摘要翻译： 自动覆盖机器人包括驱动系统，凸块传感器和接近传感器。 驱动系统被配置为根据标题（转）设置和速度设置来操纵机器人。 碰撞传感器响应机器人与向前方向的障碍物的碰撞。 相对于地板上的物体导航自主覆盖机器人的方法包括机器人以完全清洁速度以清洁模式自主地穿过地板。 当感测到机器人向前的物体的接近度时，机器人将持续朝向物体的清洁速度降低到降低的清洁速度，直到机器人检测到与物体的接触。 当感测到与物体的接触时，机器人相对于物体转动并且清除物体的旁边，可选地基本上以降低的清洁速度。

公开(公告)号：US09146560B2

公开(公告)日：2015-09-29

申请号：US13436024

申请日：2012-03-30

申请人： Scott Thomas Burnett ,  Jared Randall Maroon

发明人： Scott Thomas Burnett ,  Jared Randall Maroon

IPC分类号： G05D1/02 ,  F21V9/04

CPC分类号： G05D1/0234 ,  A47L2201/04 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0272 ,  G05D2201/0215

摘要： A robot navigation system includes a robot, a navigation beacon, and a cover structure. The robot includes a chassis, an omni-directional receiver, and at least one directional receiver. The navigation beacon includes an omni-directional infrared emitter and at least one directional infrared emitter. The cover structure is configured to block infrared transmissions between the at least one directional infrared emitter and the directional receiver while simultaneously permitting transmissions between the omni-directional infrared emitter and the omni-directional receiver. The cover structure may be made of a black silicone material.

摘要翻译： 机器人导航系统包括机器人，导航信标和盖结构。 机器人包括底盘，全向接收器和至少一个定向接收器。 导航信标包括全方向红外发射器和至少一个定向红外发射器。 盖结构被配置为阻挡至少一个定向红外发射器与定向接收器之间的红外传输，同时允许全向红外发射器和全向接收器之间的传输。 盖结构可以由黑色硅树脂材料制成。

公开(公告)号：US08359703B2

公开(公告)日：2013-01-29

申请号：US12211938

申请日：2008-09-17

申请人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

发明人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

IPC分类号： A47L9/28

摘要： An autonomous coverage robot includes a body having at least one outer wall, a drive system disposed on the body and configured to maneuver the robot over a work surface, and a cleaning assembly carried by the body. The cleaning assembly includes first and second cleaning rollers rotatably coupled to the body, a suction assembly having a channel disposed adjacent at least one of the cleaning rollers, and a container in fluid communication with the channel. The container is configured to collect debris drawn into the channel. The suction assembly is configured to draw debris removed from the work surface by at least one of the cleaning rollers into the channel, and the container has a wall common with the at least one outer wall of the body.

公开(公告)号：US08584307B2

公开(公告)日：2013-11-19

申请号：US13314414

申请日：2011-12-08

申请人： Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A. C. Dubrovsky

发明人： Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A. C. Dubrovsky

IPC分类号： A47L5/00

CPC分类号： 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 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01 ,  Y10S901/50

摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

公开(公告)号：US08584305B2

公开(公告)日：2013-11-19

申请号：US11633886

申请日：2006-12-04

申请人： Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A. C. Dubrovsky

发明人： Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivthan A. C. Dubrovsky

IPC分类号： A47L9/28

CPC分类号： 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 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01 ,  Y10S901/50

摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

公开(公告)号：US20100037418A1

公开(公告)日：2010-02-18

申请号：US12540884

申请日：2009-08-13

申请人： Patrick Alan Hussey ,  Robert Paul Roy ,  Rogelio Manfred Neumann ,  Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

发明人： Patrick Alan Hussey ,  Robert Paul Roy ,  Rogelio Manfred Neumann ,  Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

IPC分类号： A47L5/00 ,  G06F19/00

CPC分类号： A47L9/0477 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4027 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  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

摘要： An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

摘要翻译： 自主覆盖机器人包括主体，设置在主体上的驱动系统以及设置在主体上并构造成在机器人横穿地板表面操纵时与地板表面接合的清洁组件。 清洁组件包括驱动的清洁辊，设置在主体上用于接收由清洁辊搅动的碎屑的清洁仓和一个鼓风机。 清洁箱包括清洁箱本体，其具有邻近清洁辊设置的清洁箱入口和设置在清洁箱体上用于接合清洁辊的辊刮刀。 清洁箱本体具有与清洁仓入口气动连通的保持部分，并且空气移动器可操作以将空气移动到清洁仓入口中。

公开(公告)号：US20090007366A1

公开(公告)日：2009-01-08

申请号：US12211938

申请日：2008-09-17

申请人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

发明人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

IPC分类号： A47L5/00

CPC分类号： 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 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

摘要： An autonomous coverage robot includes a body having at least one outer wall, a drive system disposed on the body and configured to maneuver the robot over a work surface, and a cleaning assembly carried by the body. The cleaning assembly includes first and second cleaning rollers rotatably coupled to the body, a suction assembly having a channel disposed adjacent at least one of the cleaning rollers, and a container in fluid communication with the channel. The container is configured to collect debris drawn into the channel. The suction assembly is configured to draw debris removed from the work surface by at least one of the cleaning rollers into the channel, and the container has a wall common with the at least one outer wall of the body.

摘要翻译： 自主覆盖机器人包括具有至少一个外壁的主体，设置在主体上并构造成在工作表面上操纵机器人的驱动系统以及由身体承载的清洁组件。 清洁组件包括可旋转地联接到主体的第一和第二清洁辊，具有邻近清洁辊中的至少一个设置的通道的抽吸组件和与通道流体连通的容器。 容器被配置成收集被吸入到通道中的碎屑。 抽吸组件被构造成将至少一个清洁辊从工作表面移除到通道中，并且容器具有与主体的至少一个外壁共用的壁。

公开(公告)号：US07441298B2

公开(公告)日：2008-10-28

申请号：US11633885

申请日：2006-12-04

申请人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

发明人： Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

IPC分类号： A47L5/00 ,  G06F19/00

CPC分类号： 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 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/50

摘要： An autonomous coverage robot includes a chassis, a drive system to maneuver the robot, an edge cleaning head carried, and a controller. The controller is configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, an autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle.

摘要翻译： 自动覆盖机器人包括底盘，用于操纵机器人的驱动系统，承载的边缘清洁头和控制器。 控制器被配置为监测与边缘清洁头相关联的电动机电流，并且响应于升高的电动机电流而反向偏置边缘清洁头电动机，同时继续机器人操纵地板。 另一方面，自主覆盖机器人包括驱动系统，凸块传感器和接近传感器。 所述驱动系统被配置为响应于来自所述接近传感器的信号来降低速度设置，所述信号指示在向前方向上检测到潜在障碍物，同时根据标题设置继续前进所述机器人。 此外，驱动系统被配置为响应于从凸块传感器接收的指示与障碍物的接触而改变标题设置。

公开(公告)号：US09320398B2

公开(公告)日：2016-04-26

申请号：US12540884

申请日：2009-08-13

申请人： Patrick Alan Hussey ,  Robert Paul Roy ,  Rogelio Manfred Neumann ,  Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

发明人： Patrick Alan Hussey ,  Robert Paul Roy ,  Rogelio Manfred Neumann ,  Selma Svendsen ,  Daniel N. Ozick ,  Christopher M. Casey ,  Deepak Ramesh Kapoor ,  Tony L. Campbell ,  Chikyung Won ,  Christopher John Morse ,  Scott Thomas Burnett

IPC分类号： A47L5/30 ,  A47L9/04 ,  A47L11/24 ,  A47L11/40 ,  G05D1/02

CPC分类号： A47L9/0477 ,  A47L5/30 ,  A47L9/009 ,  A47L9/0466 ,  A47L9/0488 ,  A47L9/12 ,  A47L9/2857 ,  A47L9/2894 ,  A47L9/30 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4011 ,  A47L11/4013 ,  A47L11/4027 ,  A47L11/4041 ,  A47L11/4061 ,  A47L11/4072 ,  A47L2201/00 ,  A47L2201/04 ,  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

摘要： An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

摘要翻译： 自主覆盖机器人包括主体，设置在主体上的驱动系统以及设置在主体上并构造成在机器人横穿地板表面操纵时与地板表面接合的清洁组件。 清洁组件包括驱动的清洁辊，设置在主体上用于接收由清洁辊搅动的碎屑的清洁仓和一个鼓风机。 清洁箱包括清洁箱本体，其具有邻近清洁辊设置的清洁箱入口和设置在清洁箱体上用于接合清洁辊的辊刮刀。 清洁箱本体具有与清洁仓入口气动连通的保持部分，并且空气移动器可操作以将空气移动到清洁仓入口中。

公开(公告)号：US20120173064A1

公开(公告)日：2012-07-05

申请号：US13314414

申请日：2011-12-08

申请人： Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivhthan A.C. Dubrovsky

发明人： Chikyung Won ,  Selma Svendsen ,  Paul E. Sandin ,  Scott Thomas Burnett ,  Deepak Ramesh Kapoor ,  Stephen A. Hickey ,  Robert Rizzari ,  Zivhthan A.C. Dubrovsky

IPC分类号： B60L15/20 ,  B60K7/00

CPC分类号： 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 ,  Y02P90/60 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T10/72 ,  Y02T10/7258 ,  Y02T10/7275 ,  Y02T90/14 ,  Y10S901/01 ,  Y10S901/50

摘要： A coverage robot including a chassis, multiple drive wheel assemblies disposed on the chassis, and a cleaning assembly carried by the chassis. Each drive wheel assembly including a drive wheel assembly housing, a wheel rotatably coupled to the housing, and a wheel drive motor carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly including a cleaning assembly housing, a cleaning head rotatably coupled to the cleaning assembly housing, and a cleaning drive motor carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies and the cleaning assembly are each separately and independently removable from respective receptacles of the chassis as complete units.

摘要翻译： 一种覆盖机器人，包括底盘，设置在底盘上的多个驱动轮组件和由底盘承载的清洁组件。 每个驱动轮组件包括驱动轮组件壳体，可旋转地联接到壳体的轮子和由驱动轮组件壳体承载并可操作以驱动车轮的轮驱动马达。 清洁组件包括清洁组件壳体，可旋转地联接到清洁组件壳体的清洁头，以及通过清洁组件壳体并可操作以驱动清洁头的清洁驱动马达。 车轮组件和清洁组件各自独立地并且可独立地从底盘的各个容器中作为完整单元移除。