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    System for localization and obstacle detection using a common receiver
    1.
    发明授权
    System for localization and obstacle detection using a common receiver 有权
    使用普通接收机进行定位和障碍物检测的系统

    公开(公告)号：US09310806B2

    公开(公告)日：2016-04-12

    申请号：US12985194

    申请日：2011-01-05

    申请人： Nikolai Romanov ,  James Philip Case ,  Michael Dooley

    发明人： Nikolai Romanov ,  James Philip Case ,  Michael Dooley

    IPC分类号： G01S5/16 ,  G05D1/02

    CPC分类号： G05D1/0242 ,  G01S5/16 ,  G05D2201/0203

    摘要： A localization and obstacle detection system includes a first signal projector configured to project a first signal into an environment and a robot configured to move in the environment. The robot includes a second signal projector configured to project a second signal into the environment; a signal receiver configured to receive the first signal and the second signal; a localizer configured to determine a location of the robot in the environment based at least in part on the received first signal; and a detector configured to determine the presence of an obstacle in the environment based at least in part on the intensity and bearing of the received second signal and without touching the obstacle; wherein the second signal is distinct from the first signal in at least one characteristic.

    摘要翻译： 本地化和障碍物检测系统包括被配置为将第一信号投影到环境中的第一信号投影仪和被配置为在环境中移动的机器人。 机器人包括配置成将第二信号投射到环境中的第二信号投影仪; 信号接收器，被配置为接收第一信号和第二信号; 定位器，其被配置为至少部分地基于所接收的第一信号来确定所述机器人在所述环境中的位置; 以及检测器，被配置为至少部分地基于接收的第二信号的强度和方位确定环境中的障碍物的存在并且不接触障碍物; 其中所述第二信号在至少一个特征中与所述第一信号不同。

    SYSTEM FOR LOCALIZATION AND OBSTACLE DETECTION USING A COMMON RECEIVER
    2.
    发明申请
    SYSTEM FOR LOCALIZATION AND OBSTACLE DETECTION USING A COMMON RECEIVER 有权
    使用普通接收机进行本地化和异常检测的系统

    公开(公告)号：US20110166707A1

    公开(公告)日：2011-07-07

    申请号：US12985194

    申请日：2011-01-05

    申请人： Nikolai Romanov ,  James Philip Case ,  Michael Dooley

    发明人： Nikolai Romanov ,  James Philip Case ,  Michael Dooley

    IPC分类号： B25J13/08

    CPC分类号： G05D1/0242 ,  G01S5/16 ,  G05D2201/0203

    摘要： A localization and obstacle detection system comprising a first signal projector configured to project a first signal into an environment and a robot configured to move in the environment. The robot comprises a second signal projector configured to project a second signal into the environment; a signal receiver configured to receive the first signal and the second signal; a localizer configured to determine a location of the robot in the environment based at least in part on the received first signal; and a detector configured to determine the presence of an obstacle in the environment based at least in part on the intensity and bearing of the received second signal and without touching the obstacle; wherein the second signal is distinct from the first signal in at least one characteristic.

    摘要翻译： 一种定位和障碍物检测系统，包括配置成将第一信号投影到环境中的第一信号投影仪和被配置为在环境中移动的机器人。 机器人包括被配置为将第二信号投射到环境中的第二信号投影仪; 信号接收器，被配置为接收第一信号和第二信号; 定位器，其被配置为至少部分地基于所接收的第一信号来确定所述机器人在所述环境中的位置; 以及检测器，被配置为至少部分地基于接收的第二信号的强度和方位确定环境中的障碍物的存在并且不接触障碍物; 其中所述第二信号在至少一个特征中与所述第一信号不同。

    Mobile robot for cleaning
    3.
    发明授权
    Mobile robot for cleaning 有权
    移动机器人清洗

    公开(公告)号：US08961695B2

    公开(公告)日：2015-02-24

    申请号：US12930260

    申请日：2010-12-30

    申请人： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

    发明人： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

    IPC分类号： B08B7/04 ,  B08B5/04 ,  E01H1/08 ,  B25J5/00 ,  G05B19/416 ,  A47L11/40 ,  G05D1/02

    CPC分类号： B25J5/00 ,  A47L11/4011 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4091 ,  A47L2201/00 ,  A47L2201/04 ,  B25J13/08 ,  G05D1/0219 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

    摘要： 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.

    摘要翻译： 机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。 机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。

    System and method for autonomous mopping of a floor surface
    4.
    发明授权
    System and method for autonomous mopping of a floor surface 有权
    自动拖地板表面的系统和方法

    公开(公告)号：US08892251B1

    公开(公告)日：2014-11-18

    申请号：US12928965

    申请日：2010-12-23

    申请人： Michael Dooley ,  James Philip Case ,  Nikolai Romanov

    发明人： Michael Dooley ,  James Philip Case ,  Nikolai Romanov

    IPC分类号： G06F19/00 ,  G06F19/24

    CPC分类号： A47L11/4011 ,  A47L11/30 ,  A47L11/4036 ,  A47L11/4061 ,  A47L11/4066 ,  A47L11/4088 ,  A47L2201/04 ,  B25J11/0085 ,  G05D1/0219 ,  G05D2201/0203

    摘要： 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.

    摘要翻译： 公开了一种移动机器人，其被配置为在用清洁垫和清洁溶剂清洁表面的同时穿过住宅地板或其他表面。 机器人包括用于管理机器人的运动以及用清洁溶剂处理表面的控制器。 机器人的运动可以通过一类实现有效清洁的轨迹来表征。 轨迹包括重复的步骤序列，序列包括前进和后退运动以及沿弓形路径的可选的左右运动。

    Mobile robot for cleaning
    5.
    发明申请
    Mobile robot for cleaning 有权
    移动机器人清洗

    公开(公告)号：US20110202175A1

    公开(公告)日：2011-08-18

    申请号：US12930260

    申请日：2010-12-30

    申请人： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

    发明人： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael Dooley

    IPC分类号： B25J5/00 ,  B25J13/08

    CPC分类号： B25J5/00 ,  A47L11/4011 ,  A47L11/4036 ,  A47L11/4066 ,  A47L11/4091 ,  A47L2201/00 ,  A47L2201/04 ,  B25J13/08 ,  G05D1/0219 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46

    摘要： 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.

    摘要翻译： 机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。 机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。

    Apparatus for holding a cleaning sheet in a cleaning implement
    8.
    发明授权
    Apparatus for holding a cleaning sheet in a cleaning implement 有权
    用于将清洁片保持在清洁工具中的装置

    公开(公告)号：US08316499B2

    公开(公告)日：2012-11-27

    申请号：US12985257

    申请日：2011-01-05

    申请人： Michael Dooley ,  Nikolai Romanov

    发明人： Michael Dooley ,  Nikolai Romanov

    IPC分类号： A47L11/40

    CPC分类号： A47L11/40 ,  A47L13/256 ,  Y10T29/4987

    摘要： Cleaning devices which use cleaning sheets affixed in traps are disclosed. The traps comprise first and second jaws, each comprising base and forward portions, each forward position having a forward surface. The forward portion of the second jaw is flexible in at least a first direction, such as towards a surface over which the device is configured to move. When the second jaw is relaxed, the forward portion of the second jaw is substantially coplanar with the forward portion of the first jaw and the forward surfaces are proximate or touching. When the second jaw is flexed in the first direction (e.g., by the application of a force from a user), the forward surface of the forward portion of the second jaw moves in the first direction, away from the forward surface of the first jaw. This opens a gap through which a portion of a sheet may be inserted.

    摘要翻译： 公开了使用固定在收集器中的清洁纸的清洁装置。 捕集器包括第一和第二夹爪，每个夹爪包括基部和前部，每个前部位置具有前表面。 第二钳口的前部在至少第一方向上是柔性的，例如朝向装置构造成移动的表面。 当第二钳口松弛时，第二钳口的前部基本上与第一钳夹的前部共面，并且前表面靠近或接触。 当第二钳口沿第一方向（例如，通过施加来自使用者的力）弯曲时，第二钳口的前部的前表面沿着第一方向移动，远离第一钳口的前表面 。 这打开了可以插​​入片材的一部分的间隙。

    APPARATUS FOR HOLDING A CLEANING SHEET IN A CLEANING IMPLEMENT
    9.
    发明申请
    APPARATUS FOR HOLDING A CLEANING SHEET IN A CLEANING IMPLEMENT 有权
    用于在清洁实施中保持清洁表的装置

    公开(公告)号：US20110162157A1

    公开(公告)日：2011-07-07

    申请号：US12985257

    申请日：2011-01-05

    申请人： Michael Dooley ,  Nikolai Romanov

    发明人： Michael Dooley ,  Nikolai Romanov

    IPC分类号： A47L11/40 ,  B23P11/02

    CPC分类号： A47L11/40 ,  A47L13/256 ,  Y10T29/4987

    摘要： Cleaning devices which use cleaning sheets affixed in traps are disclosed. The traps comprise first and second jaws, each comprising base and forward portions, each forward position having a forward surface. The forward portion of the second jaw is flexible in at least a first direction, such as towards a surface over which the device is configured to move. When the second jaw is relaxed, the forward portion of the second jaw is substantially coplanar with the forward portion of the first jaw and the forward surfaces are proximate or touching. When the second jaw is flexed in the first direction (e.g., by the application of a force from a user), the forward surface of the forward portion of the second jaw moves in the first direction, away from the forward surface of the first jaw. This opens a gap through which a portion of a sheet may be inserted.

    摘要翻译： 公开了使用固定在收集器中的清洁纸的清洁装置。 捕集器包括第一和第二夹爪，每个夹爪包括基部和前部，每个前部位置具有前表面。 第二钳口的前部在至少第一方向上是柔性的，例如朝向装置构造成移动的表面。 当第二钳口松弛时，第二钳口的前部基本上与第一钳夹的前部共面，并且前表面靠近或接触。 当第二钳口沿第一方向（例如，通过施加来自使用者的力）弯曲时，第二钳口的前部的前表面沿着第一方向移动，远离第一钳口的前表面 。 这打开了可以插​​入片材的一部分的间隙。

    Debris guard for a wheel assembly
    10.
    发明授权
    Debris guard for a wheel assembly 有权
    车轮组件的碎片防护装置

    公开(公告)号：US09010882B2

    公开(公告)日：2015-04-21

    申请号：US13455353

    申请日：2012-04-25

    申请人： Nikolai Romanov ,  Michael Dooley

    发明人： Nikolai Romanov ,  Michael Dooley

    IPC分类号： B62D25/16 ,  B62D55/088 ,  B60S1/68 ,  B60B33/00

    CPC分类号： B62D55/0882 ,  B60B33/00 ,  B60B2900/211 ,  B60B2900/721 ,  B60S1/68

    摘要： A wheel assembly with a debris guard is disclosed, the debris guard being configured to prevent hair and thread from winding around an axle and interfering with the operation of the wheel. The debris guard, which is mounted between the wheel and the robot chassis, comprises a spool and a plurality of tines. The spool is positioned between the wheel and chassis to collect debris that would otherwise wind around the axle. In the preferred embodiment, the tines are arrayed in proximity to a gap between the debris guard and the hub in order to inhibit debris from migrating to the axle exposed between the guard and wheel. The debris guard is intended for a wide variety of wheeled devices.

    摘要翻译： 公开了一种具有碎片防护装置的车轮组件，所述碎片防护装置构造成防止毛发和线缠绕在轴上并且妨碍车轮的操作。 安装在车轮和机器人机架之间的碎片防护罩包括一个阀芯和多个齿。 阀芯位于车轮和底盘之间以收集否则将缠绕在车轴上的碎屑。 在优选实施例中，叉被排列在碎片防护件和轮毂之间的间隙附近，以便防止碎屑迁移到暴露在护罩和轮之间的轴上。 碎片防护罩适用于各种轮式装置。