公开(公告)号：US09043953B2

公开(公告)日：2015-06-02

申请号：US14104538

申请日：2013-12-12

Applicant: iRobot Corporation

Inventor： 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 ,  Tony L. Campbell ,  John Bergman

IPC: G05D1/02 ,  A01D34/00

CPC classification number: 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

Abstract: A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.

公开(公告)号：US08954193B2

公开(公告)日：2015-02-10

申请号：US14104390

申请日：2013-12-12

Applicant: iRobot Corporation

Inventor： 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 ,  Tony L. Campbell ,  John Bergman

IPC: A01D34/00 ,  G05D1/02

CPC classification number: 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

Abstract: A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.

公开(公告)号：US11194342B2

公开(公告)日：2021-12-07

申请号：US16047414

申请日：2018-07-27

Applicant: iRobot Corporation

Inventor： 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

IPC: G05D1/02 ,  A01D34/00 ,  B60L3/00 ,  B60L50/62 ,  B60L53/14 ,  B60L50/51 ,  B60L50/60 ,  B60L50/52

Abstract: A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.

公开(公告)号：US09713302B2

公开(公告)日：2017-07-25

申请号：US14489847

申请日：2014-09-18

Applicant: iRobot Corporation

Inventor： 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: G05D1/02 ,  A01D34/00 ,  B60L3/00 ,  B60L11/12 ,  B60L11/18

CPC classification number: 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

Abstract: An autonomous coverage robot system includes an active boundary responder comprising a wire powered with a modulated current placed along a perimeter of a property, at least one passive boundary responder placed on a property interior circumscribed by the active boundary responder, and an autonomous coverage robot. The robot includes a drive system carried by a body and configured to maneuver the robot across the property interior. The robot includes a signal emitter emitting a signal, where the passive boundary responder is responsive to the signal and a boundary responder detection system carried by the body. The boundary responder detector is configured to redirect the robot both in response to the responder detection system detecting an active boundary responder and in response to detecting a passive boundary responder.

公开(公告)号：US10037038B2

公开(公告)日：2018-07-31

申请号：US14698461

申请日：2015-04-28

Applicant: iRobot Corporation

Inventor： 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

IPC: G05D1/02 ,  A01D34/00

CPC classification number: G05D1/0265 ,  A01D34/008 ,  B60L3/0023 ,  B60L50/51 ,  B60L50/52 ,  B60L50/62 ,  B60L50/66 ,  B60L53/14 ,  B60L58/12 ,  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

Abstract: A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.

公开(公告)号：US09043952B2

公开(公告)日：2015-06-02

申请号：US14104285

申请日：2013-12-12

Applicant: iRobot Corporation

Inventor： 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 ,  Tony L. Campbell ,  John Bergman

IPC: G05D1/02 ,  A01D34/00

CPC classification number: 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

Abstract: A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.

Abstract translation: 机器人割草机包括由身体携带的身体和驱动系统，并且被配置为通过草坪来操纵机器人。 机器人还包括一个草切割器和一个条带边缘检测器，由身体携带。 条带边缘检测器被配置为在切割和未切割草地之间检测条带边缘，而驱动系统在跟踪检测到的条纹边缘的同时在机器人上操纵机器人。 条带边缘检测器包括校准器，其监测未切割的草以校准条边缘检测器。 在一些示例中，校准器包括第二条边缘检测器。