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公开(公告)号：US09346426B2
公开(公告)日：2016-05-24
申请号：US14643438
申请日：2015-03-10
Applicant: iRobot Corporation
Inventor： Stephen A. Hickey , Andrew Pastore , Chikyung Won , Roger Dale Gamble , Andrew Beaulieu
CPC classification number: B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
Abstract: A robot bumper including a bumper body having a forward surface and a top surface angling away from the forward surface. The bumper body conforms to a shape of a received robot chassis. The robot bumper also includes a force absorbing layer disposed on the bumper body, a membrane switch layer comprising a plurality of electrical contacts arranged along the top surface of the bumper body, and a force transmission layer disposed between the force absorbing layer and the membrane switch layer. The force transmission layer includes a plurality of force transmitting elements configured to transmit force to the membrane switch layer.
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公开(公告)号：US09004553B2
公开(公告)日：2015-04-14
申请号：US14277270
申请日：2014-05-14
Applicant: iRobot Corporation
Inventor： Stephen A. Hickey , Andrew Pastore , Chikyung Won , Roger Dale Gamble , Andrew Beaulieu
CPC classification number: B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
Abstract: A robot bumper including a bumper body having a forward surface and a top surface angling away from the forward surface. The bumper body conforms to a shape of a received robot chassis. The robot bumper also includes a force absorbing layer disposed on the bumper body, a membrane switch layer comprising a plurality of electrical contacts arranged along the top surface of the bumper body, and a force transmission layer disposed between the force absorbing layer and the membrane switch layer. The force transmission layer includes a plurality of force transmitting elements configured to transmit force to the membrane switch layer.
Abstract translation: 一种机器人保险杠，包括具有前表面的保险杠主体和远离前表面的顶表面。 保险杠主体符合接收到的机器人底盘的形状。 机器人保险杠还包括设置在保险杠主体上的力吸收层，膜开关层，包括沿着保险杠主体的顶表面布置的多个电触头，以及设置在力吸收层和膜开关之间的力传递层 层。 力传递层包括多个力传递元件，其被配置为将力传递到膜开关层。
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公开(公告)号：US20140124004A1
公开(公告)日：2014-05-08
申请号：US13790867
申请日：2013-03-08
Applicant: IROBOT CORPORATION
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
IPC: A47L11/40
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes a robot body supported by a drive system configured to maneuver the robot over a floor surface. The robot also includes a cleaning system supported by the robot body, an imaging sensor disposed on the robot body, and a controller in communicates with the drive system and the imaging sensor. The controller receives a sequence of images of the floor surface; each image has an array of pixels. For each image, the controller segments the image into color blobs by color quantizing pixels of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations; and for each image color, identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location of the color blobs with respect to the imaging sensor across the sequence of images.
Abstract translation: 移动式地板清洁机器人包括由驱动系统支撑的机器人主体，所述驱动系统被配置为在所述地板表面上操纵所述机器人。 机器人还包括由机器人主体支撑的清洁系统，设置在机器人主体上的成像传感器，以及与驱动系统和成像传感器通信的控制器。 控制器接收地板表面的一系列图像; 每个图像都有一个像素阵列。 对于每个图像，控制器通过对图像的像素进行颜色量化来将图像分割成彩色块，基于相应的像素位置确定图像的每种颜色的空间分布; 并且对于每个图像颜色，识别具有该颜色的阈值空间分布的图像的区域。 然后，控制器在整个图像序列上跟踪相对于成像传感器的彩色斑点的位置。
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公开(公告)号：US09408515B2
公开(公告)日：2016-08-09
申请号：US14587723
申请日：2014-12-31
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.
Abstract translation: 移动地板清洁机器人包括使用控制器识别远离机器人的地板表面上的物体的位置，以及从控制器向机器人的驱动系统发出第一驱动命令以将机器人驱动穿过地板表面 以清理物体的识别位置处的地板表面。 该方法还包括确定对象是否持续在地板表面上，并且当对象持续时，穿过地板表面驱动在物体的识别位置处重新清洁地板表面。
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公开(公告)号：US20130241217A1
公开(公告)日：2013-09-19
申请号：US13803617
申请日：2013-03-14
Applicant: IROBOT CORPORATION
Inventor： Stephen A. Hickey , Andrew Pastore , Chikyung Won , Roger Dale Gamble
IPC: B60R19/48
CPC classification number: B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
Abstract: A robot bumper assembly includes a bumper body, a first sensor array, and a second sensor array. The first sensor array is disposed along and contoured to the periphery of a forward facing portion of the bumper body and senses contact with an external environment at positions along the contour of the periphery forward facing portion of the bumper body. The second sensor array is disposed along and contoured to the periphery of a top portion of the forward facing portion of the robot body. The top portion is angled, ramping up. The second sensor array senses contact with an external environment at positions along the periphery of the angled top portion of the bumper body.
Abstract translation: 机器人保险杠组件包括保险杠主体，第一传感器阵列和第二传感器阵列。 第一传感器阵列沿保险杠主体的前面部分的周边布置并且轮廓形成，并且在沿着保险杠主体的周边前部的轮廓的位置处感测到与外部环境的接触。 第二传感器阵列沿机器人主体的向前部分的顶部的周边设置并且轮廓化。 顶部是倾斜的，上升。 第二传感器阵列在保险杠主体的倾斜顶部的周边的位置处感测与外部环境的接触。
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Patent Agency Ranking
公开(公告)号：US20150120128A1
公开(公告)日：2015-04-30
申请号：US14587723
申请日：2014-12-31
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.
Abstract translation: 移动地板清洁机器人包括使用控制器识别远离机器人的地板表面上的物体的位置，以及从控制器向机器人的驱动系统发出第一驱动命令以将机器人驱动穿过地板表面 以清理物体的识别位置处的地板表面。 该方法还包括确定对象是否持续在地板表面上，并且当对象持续时，穿过地板表面驱动在物体的识别位置处重新清洁地板表面。
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公开(公告)号：US08950792B2
公开(公告)日：2015-02-10
申请号：US13803617
申请日：2013-03-14
Applicant: iRobot Corporation
Inventor： Stephen A. Hickey , Andrew Pastore , Chikyung Won , Roger Dale Gamble , Andrew Beaulieu
CPC classification number: B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
Abstract: A robot bumper assembly includes a bumper body, a first sensor array, and a second sensor array. The first sensor array is disposed along and contoured to the periphery of a forward facing portion of the bumper body and senses contact with an external environment at positions along the contour of the periphery forward facing portion of the bumper body. The second sensor array is disposed along and contoured to the periphery of a top portion of the forward facing portion of the robot body. The top portion is angled, ramping up. The second sensor array senses contact with an external environment at positions along the periphery of the angled top portion of the bumper body.
Abstract translation: 机器人保险杠组件包括保险杠主体，第一传感器阵列和第二传感器阵列。 第一传感器阵列沿保险杠主体的前面部分的周边布置并且轮廓形成，并且在沿着保险杠主体的周边前部的轮廓的位置处感测到与外部环境的接触。 第二传感器阵列沿机器人主体的向前部分的顶部的周边设置并且轮廓化。 顶部是倾斜的，上升。 第二传感器阵列在保险杠主体的倾斜顶部的周边的位置处感测与外部环境的接触。
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公开(公告)号：US20150183389A1
公开(公告)日：2015-07-02
申请号：US14643438
申请日：2015-03-10
Applicant: iRobot Corporation
Inventor： Stephen A. Hickey , Andrew Pastore , Chikyung Won , Roger Dale Gamble , Andrew Beaulieu
CPC classification number: B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
Abstract: A robot bumper including a bumper body having a forward surface and a top surface angling away from the forward surface. The bumper body conforms to a shape of a received robot chassis. The robot bumper also includes a force absorbing layer disposed on the bumper body, a membrane switch layer comprising a plurality of electrical contacts arranged along the top surface of the bumper body, and a force transmission layer disposed between the force absorbing layer and the membrane switch layer. The force transmission layer includes a plurality of force transmitting elements configured to transmit force to the membrane switch layer.
Abstract translation: 一种机器人保险杠，包括具有前表面的保险杠主体和远离前表面的顶表面。 保险杠主体符合接收到的机器人底盘的形状。 机器人保险杠还包括设置在保险杠主体上的力吸收层，膜开关层，包括沿着保险杠主体的顶表面布置的多个电触头，以及设置在力吸收层和膜开关之间的力传递层 层。 力传递层包括多个力传递元件，其被配置为将力传递到膜开关层。
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公开(公告)号：US08972061B2
公开(公告)日：2015-03-03
申请号：US13790867
申请日：2013-03-08
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes a robot body supported by a drive system configured to maneuver the robot over a floor surface. The robot also includes a cleaning system supported by the robot body, an imaging sensor disposed on the robot body, and a controller in communicates with the drive system and the imaging sensor. The controller receives a sequence of images of the floor surface; each image has an array of pixels. For each image, the controller segments the image into color blobs by color quantizing pixels of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations; and for each image color, identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location of the color blobs with respect to the imaging sensor across the sequence of images.
Abstract translation: 移动式地板清洁机器人包括由驱动系统支撑的机器人主体，所述驱动系统被配置为在所述地板表面上操纵所述机器人。 机器人还包括由机器人主体支撑的清洁系统，设置在机器人主体上的成像传感器，以及与驱动系统和成像传感器通信的控制器。 控制器接收地板表面的一系列图像; 每个图像都有一个像素阵列。 对于每个图像，控制器通过对图像的像素进行颜色量化来将图像分割成彩色块，基于相应的像素位置确定图像的每种颜色的空间分布; 并且对于每个图像颜色，识别具有该颜色的阈值空间分布的图像的区域。 然后，控制器在整个图像序列上跟踪相对于成像传感器的彩色斑点的位置。
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公开(公告)号：US20140246874A1
公开(公告)日：2014-09-04
申请号：US14277270
申请日：2014-05-14
Applicant: iRobot Corporation
Inventor： Stephen A. Hickey , Andrew Pastore , Chikyung Won , Roger Dale Gamble
CPC classification number: B60R19/483 , A47L11/4011 , A47L11/4061 , A47L2201/04 , B25J19/0091 , G05D1/021 , G05D1/0227 , G05D1/0238 , G05D2201/0215 , Y10S901/46
Abstract: A robot bumper including a bumper body having a forward surface and a top surface angling away from the forward surface. The bumper body conforms to a shape of a received robot chassis. The robot bumper also includes a force absorbing layer disposed on the bumper body, a membrane switch layer comprising a plurality of electrical contacts arranged along the top surface of the bumper body, and a force transmission layer disposed between the force absorbing layer and the membrane switch layer. The force transmission layer includes a plurality of force transmitting elements configured to transmit force to the membrane switch layer.
Abstract translation: 一种机器人保险杠，包括具有前表面的保险杠主体和远离前表面的顶表面。 保险杠主体符合接收到的机器人底盘的形状。 机器人保险杠还包括设置在保险杠主体上的力吸收层，膜开关层，包括沿着保险杠主体的顶表面布置的多个电触头，以及设置在力吸收层和膜开关之间的力传递层 层。 力传递层包括多个力传递元件，其被配置为将力传递到膜开关层。
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