公开(公告)号：US09483055B2

公开(公告)日：2016-11-01

申请号：US13729894

申请日：2012-12-28

Applicant: iRobot Corporation

Inventor： Joseph M Johnson ,  Christopher Morse ,  Marcus R Williams

IPC: G06F17/00 ,  A47L9/00 ,  G05D1/02 ,  G05D1/00

CPC classification number: G05D1/024 ,  A47L2201/04 ,  G05D1/0027 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  Y10S901/01

Abstract: A mobile robot that includes a robot body having a forward drive direction, a drive system supporting the robot body above a cleaning surface for maneuvering the robot across the cleaning surface, and a robot controller in communication with the drive system. The robot also includes a bumper movably supported by a forward portion of the robot body and a obstacle sensor system disposed on the bumper. The obstacle sensor system includes at least one contact sensor disposed on the bumper, at least one proximity sensor disposed on the bumper and a auxiliary circuit board disposed on the bumper and in communication with the at least one contact sensor, the at least one proximity sensor, and the robot controller.

Abstract translation: 一种移动机器人，其包括具有向前驱动方向的机器人主体，将清洁表面上的机器人主体支撑以使机器人横过清洁表面操纵的驱动系统，以及与驱动系统通信的机器人控制器。 机器人还包括由机器人主体的前部可移动地支撑的保险杠和设置在保险杠上的障碍物传感器系统。 所述障碍物传感器系统包括布置在所述保险杠上的至少一个接触传感器，设置在所述保险杠上的至少一个接近传感器和设置在所述保险杠上并与所述至少一个接触传感器连通的辅助电路板，所述至少一个接近传感器 ，和机器人控制器。