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：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：US08661605B2

公开(公告)日：2014-03-04

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

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：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：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：US08271129B2

公开(公告)日：2012-09-18

申请号：US11633883

申请日：2006-12-04

申请人： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, Jr. ,  Daniel N. Ozick

发明人： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, Jr. ,  Daniel N. Ozick

IPC分类号： G06F19/00

摘要： A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

公开(公告)号：US20110077802A1

公开(公告)日：2011-03-31

申请号：US12959879

申请日：2010-12-03

申请人： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, JR. ,  Daniel N. Ozick

发明人： Michael J. Halloran ,  Jeffrey W. Mammen ,  Tony L. Campbell ,  Jason S. Walker ,  Paul E. Sandin ,  John N. Billington, JR. ,  Daniel N. Ozick

IPC分类号： G05D1/00

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 ,  B60L15/2036 ,  B60L50/52 ,  B60L53/14 ,  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： A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

摘要翻译： 省电机器人系统包括至少一个外围设备和移动机器人。 外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。 机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。 另一方面，机器人系统包括网络数据桥和移动机器人。 网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。 数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。 移动机器人包括接收从网络数据桥发送的串行命令的无线命令通信组件。

公开(公告)号：US08781627B2

公开(公告)日：2014-07-15

申请号：US12488094

申请日：2009-06-19

申请人： Paul E. Sandin ,  Joseph L. Jones ,  Daniel N. Ozick ,  David A. Cohen ,  David M. Lewis, Jr. ,  Clara Vu ,  Zivthan A. Dubrovsky ,  Joshua B. Preneta ,  Jeffrey W. Mammen ,  Duane L. Gilbert, Jr. ,  Tony L. Campbell ,  John Bergman ,  Mark J. Chiappetta

发明人： Paul E. Sandin ,  Joseph L. Jones ,  Daniel N. Ozick ,  David A. Cohen ,  David M. Lewis, Jr. ,  Clara Vu ,  Zivthan A. Dubrovsky ,  Joshua B. Preneta ,  Jeffrey W. Mammen ,  Duane L. Gilbert, Jr. ,  Tony L. Campbell ,  John Bergman ,  Mark J. Chiappetta

IPC分类号： A01D101/00 ,  G05D1/02 ,  A01D34/00

CPC分类号： G05D1/0265 ,  A01D34/008 ,  B60L3/0023 ,  B60L11/126 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/40 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/36 ,  B60L2240/425 ,  B60L2240/662 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/6217 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7094 ,  Y02T10/7241 ,  Y02T10/7291 ,  Y02T90/127 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/09

摘要： A robot lawmnower includes a body, a drive system carried by the body, at least one caster wheel supporting the body, a grass cutter carried by the body, a controller in communication with the drive system, and a bump sensor in communication with the controller. The controller is configured to maneuver the robot to turn in place and to redirect the robot in response to the bump sensor sensing contact with an obstacle. The drive system is configured to maneuver the robot across a lawn and includes differentially driven right and left drive wheels positioned rearward of a transverse center axis defined by the body. The at least one caster wheel is positioned substantially forward of the right and left drive wheels, and the grass cutter is positioned at least partially forward of the right and left drive wheels and at least partially behind the at least one caster wheel.

摘要翻译： 机器人割草机包括主体，由主体承载的驱动系统，至少一个支撑主体的脚轮，由主体承载的割草机，与驱动系统连通的控制器以及与控制器通信的凸块传感器 。 控制器被配置为操纵机器人转向就位并且响应于碰撞传感器感测到与障碍物的接触而重定向机器人。 驱动系统被配置为通过草坪操纵机器人，并且包括位于由身体限定的横向中心轴线后方的差动驱动的左右驱动轮。 所述至少一个脚轮基本上位于所述左右驱动轮的前方，并且所述草刀位于所述左右驱动轮的至少部分的前方，并且至少部分地位于所述至少一个脚轮之后。