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公开(公告)号：US11110595B2
公开(公告)日：2021-09-07
申请号：US16216386
申请日：2018-12-11
申请人： iRobot Corporation
发明人： Patrick Chow , Irene Lee , Kenneth Holm, Jr. , Frederic D. Hook , Patrick Petrossian , Fred Alibozek
摘要： An autonomous mobile robot includes a flexible member including a polymer layer extending along an entire length of the flexible member, and an end portion vertically movable away from a body of the robot. A first portion of a fastening mechanism extends along a first lateral edge of the polymer layer and a second portion of the fastening mechanism extends along a second lateral edge of the polymer layer. The first portion of the fastening mechanism is attached to the second portion of the fastening mechanism and forms a conduit to support the image capture device. The conduit includes an inner surface and an outer surface, and the outer surface of the conduit is at least partially defined by the polymer layer. An image capture device is mounted to an end portion of the flexible member.
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公开(公告)号：US20190383887A1
公开(公告)日：2019-12-19
申请号：US16538737
申请日：2019-08-12
申请人： iRobot Corporation
摘要： A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
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公开(公告)号：US20200183413A1
公开(公告)日：2020-06-11
申请号：US16707840
申请日：2019-12-09
申请人： iRobot Corporation
发明人： Frederic D. Hook , Nikolai Romanov , Matthew Mercaldo , Peter Teulings , Kenneth Holm, JR. , Juan Oxoby
摘要： An autonomous mobile robot includes a drive system to maneuver the autonomous mobile robot about an environment, a first magnetic field antenna system responsive to a magnetic field pulse to generate a first signal, and a second magnetic field antenna system responsive to the magnetic field pulse to generate a second signal. The magnetic field pulse is emitted by a magnetic field emitter system in the environment. The autonomous mobile robot further includes a controller to execute instructions to perform operations including reorienting the autonomous mobile robot based on the first signal and the second signal.
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公开(公告)号：US20160377688A1
公开(公告)日：2016-12-29
申请号：US14799319
申请日：2015-07-14
申请人： iRobot Corporation
CPC分类号： G01R33/0035 , A01D34/008 , B25J9/1694 , G01B7/30 , G01S1/00 , G05D1/0261 , G05D2201/0208 , Y10S901/01 , Y10S901/30 , Y10S901/46
摘要： A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
摘要翻译： 移动机器人包括可在环境中的表面上移动的主体，承载在身体上并被配置为产生校准磁场的校准线圈，承载在身体上并响应于校准磁场的传感器电路，以及控制器 身体和与传感器电路通信。 传感器电路被配置为基于校准磁场产生校准信号。 控制器被配置为根据校准信号来校准传感器电路，从而导致校准的传感器电路被配置为检测环境内的发射器磁场并且基于发射机磁场产生检测信号。 控制器被配置为根据检测信号来估计移动机器人的姿态。
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公开(公告)号：US10429851B2
公开(公告)日：2019-10-01
申请号：US15244603
申请日：2016-08-23
申请人： iRobot Corporation
发明人： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC分类号： G05D1/02
摘要： A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
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公开(公告)号：US20170031366A1
公开(公告)日：2017-02-02
申请号：US15244603
申请日：2016-08-23
申请人： iRobot Corporation
发明人： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC分类号： G05D1/02
CPC分类号： G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
摘要： A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
摘要翻译： 接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。 第一个传感器是发射器和接收器之一。 第二个传感器是发射器和接收器中的另一个。 第三传感器被布置为与第二传感器相邻，与第一传感器相对。 如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。 每个传感器相对于其他两个传感器定位成一定角度。 每个传感器具有相应的视野。 第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。 第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。
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公开(公告)号：US20140257622A1
公开(公告)日：2014-09-11
申请号：US14279598
申请日：2014-05-16
申请人： iRobot Corporation
发明人： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC分类号： G05D1/02
CPC分类号： G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
摘要： A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
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公开(公告)号：US11635476B2
公开(公告)日：2023-04-25
申请号：US16538737
申请日：2019-08-12
申请人： iRobot Corporation
摘要： A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
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公开(公告)号：US11320835B2
公开(公告)日：2022-05-03
申请号：US16707840
申请日：2019-12-09
申请人： iRobot Corporation
发明人： Frederic D. Hook , Nikolai Romanov , Matthew Mercaldo , Peter Teulings , Kenneth Holm, Jr. , Juan Oxoby
摘要： An autonomous mobile robot includes a drive system to maneuver the autonomous mobile robot about an environment, a first magnetic field antenna system responsive to a magnetic field pulse to generate a first signal, and a second magnetic field antenna system responsive to the magnetic field pulse to generate a second signal. The magnetic field pulse is emitted by a magnetic field emitter system in the environment. The autonomous mobile robot further includes a controller to execute instructions to perform operations including reorienting the autonomous mobile robot based on the first signal and the second signal.
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公开(公告)号：US10379172B2
公开(公告)日：2019-08-13
申请号：US14799319
申请日：2015-07-14
申请人： iRobot Corporation
摘要： A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
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