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公开(公告)号：US10766132B2
公开(公告)日：2020-09-08
申请号：US14627823
申请日：2015-02-20
Applicant: iRobot Corporation
Inventor： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
Abstract: A method of cleaning a floor near a vertical surface with a mobile robot. The robot includes a cleaning assembly and a drive assembly having a first wheel and a second wheel. The method includes aligning the robot such that the first wheel and second wheel are configured to roll in a direction substantially parallel to the surface. The method includes driving the robot forward in a direction substantially parallel to the surface. The method further includes: i) turning the first wheel, proximate to the surface, with a first angular velocity, and ii) turning the second wheel, further from the surface, with a second angular velocity. The second angular velocity is greater than the first angular velocity. The robot pushes against the surface while sliding along the same surface.
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公开(公告)号：US09308643B2
公开(公告)日：2016-04-12
申请号：US14255880
申请日：2014-04-17
Applicant: iRobot Corporation
Inventor： Michael Dooley , Nikolai Romanov , Paolo Pirjanian
CPC classification number: B25J9/1658 , B25J9/0084 , G05B2219/40304 , G05B2219/40306 , G05B2219/40397 , G06N3/004
Abstract: An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.
Abstract translation: 集成智能系统包括第一智能电子设备，第二智能电子设备，可转移智能控制设备（TICD）和交叉产品总线。 第一智能电子装置执行第一功能，第二智能电子装置执行第二功能。 交叉产品总线将第一智能电子设备耦合到可转移智能控制设备。 TICD通过将交叉产品总线上的命令发送到第一智能电子设备部分地控制智能电子设备的行为，并且TICD部分地控制第二智能电子设备执行第二功能的行为。 首先将TICD连接到第一智能电子设备，以部分地控制第一电子设备的行为，然后从第一电子设备分离，然后连接到第二智能电子设备以执行第二功能。
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公开(公告)号：US20150040332A1
公开(公告)日：2015-02-12
申请号：US14522445
申请日：2014-10-23
Applicant: iRobot Corporation
Inventor： Michael Dooley , James Philip Case , Nikolai Romanov
IPC: A47L11/40
CPC classification number: A47L11/4011 , A47L11/30 , A47L11/4036 , A47L11/4061 , A47L11/4066 , A47L11/4088 , A47L2201/04 , B25J11/0085 , G05D1/0219 , G05D2201/0203
Abstract: A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.
Abstract translation: 公开了一种移动机器人，其被配置为在用清洁垫和清洁溶剂清洁表面的同时穿过住宅地板或其他表面。 机器人包括用于管理机器人的运动以及用清洁溶剂处理表面的控制器。 机器人的运动可以通过一类实现有效清洁的轨迹来表征。 轨迹包括重复的步骤序列，序列包括前进和后退运动以及沿弓形路径的可选的左右运动。
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公开(公告)号：US09427127B2
公开(公告)日：2016-08-30
申请号：US14077296
申请日：2013-11-12
Applicant: iRobot Corporation
Inventor： Michael Dooley , Nikolai Romanov , James Phillip Case
CPC classification number: A47L11/284 , A47L11/125 , A47L11/34 , A47L11/4005 , A47L11/4008 , A47L11/4011 , A47L11/4036 , A47L11/4066 , A47L11/408 , A47L11/4083 , A47L11/4088 , A47L2201/00 , A47L2201/04 , A47L2201/06
Abstract: A mobile floor cleaning robot includes a body defining a forward drive direction, a drive system, a cleaning system, and a controller. The cleaning system includes a pad holder, a reservoir, a sprayer, and a cleaning system. The pad holder has a bottom surface for receiving a cleaning pad. The reservoir holds a volume of fluid, and the sprayer sprays the fluid forward the pad holder. The controller is in communication with the drive and cleaning systems. The controller executes a cleaning routine that includes driving in the forward direction a first distance to a first location, then driving in a reverse drive direction a second distance to a second location. From the second location, the robot sprays fluid in the forward drive direction but rearward the first location. The robot then drives in alternating forward and reverse drive directions while smearing the cleaning pad along the floor surface.
Abstract translation: 移动地板清洁机器人包括限定正向驱动方向的主体，驱动系统，清洁系统和控制器。 清洁系统包括垫座，储存器，喷雾器和清洁系统。 焊盘支架具有用于接收清洁垫的底面。 储存器容纳一定体积的流体，喷雾器将流体向前喷射到垫架上。 控制器与驱动器和清洁系统通信。 控制器执行清洁程序，其包括在向前方向上驱动第一距离到第一位置，然后以反向驱动方向驱动第二距离到第二位置。 从第二位置开始，机器人向前驱动方向喷射流体，但在第一位置向后喷射流体。 然后机器人沿着地板表面涂抹清洁垫，驱动交替的正向和反向驱动方向。
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5.发明授权公开(公告)号：US09188983B2
公开(公告)日：2015-11-17
申请号：US14251390
申请日：2014-04-11
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
CPC classification number: B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
Abstract translation: 一种被配置为导航表面的机器人，所述机器人包括移动机构; 表示关于表面的数据和将位置与在导航期间观察到的一个或多个属性相关联的逻辑图; 初始化模块，被配置为建立包括初始位置和初始取向的初始姿势; 区域覆盖模块，被配置为使所述机器人移动以覆盖区域; 边缘跟随模块被配置为使机器人跟随未追随的边缘; 控制模块，被配置为调用覆盖在至少部分地基于初始姿态的至少一部分定义的第一区域上的区域，以调用覆盖至少一个附加区域的区域，以调用边缘跟随，并且调用区域覆盖导致映射 模块来标记跟随的边缘，并且使得覆盖在边缘跟随期间发现的区域的第三区域。
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Patent Agency Ranking
公开(公告)号：US20150158174A1
公开(公告)日：2015-06-11
申请号：US14627823
申请日：2015-02-20
Applicant: iRobot Corporation
Inventor： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.
Abstract translation: 机器人清洁器包括用于清洁表面的清洁组件和主机器人主体。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且清洁组件的宽度大于主机器人主体的宽度。 机器人清洁系统包括主机器人主体和用于清洁表面的多个清洁组件。 主要机器人机体容纳驱动系统以引起机器人清洁器和微控制器的移动，以控制机器人清洁器的移动。 清洁组件位于驱动系统的前面，并且每个清洁组件可从主机器人主体拆卸，并且每个清洁组件具有独特的清洁功能。
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公开(公告)号：US20220126444A1
公开(公告)日：2022-04-28
申请号：US17570772
申请日：2022-01-07
Applicant: iRobot Corporation
Inventor： Michael Dooley , Nikolai Romanov , Paolo Pirjanian
Abstract: An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.
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公开(公告)号：US11220005B2
公开(公告)日：2022-01-11
申请号：US15881162
申请日：2018-01-26
Applicant: iRobot Corporation
Inventor： Michael Dooley , Nikolai Romanov , Paolo Pirjanian
Abstract: An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.
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公开(公告)号：US10583562B2
公开(公告)日：2020-03-10
申请号：US15461106
申请日：2017-03-16
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
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公开(公告)号：US09895808B2
公开(公告)日：2018-02-20
申请号：US14880610
申请日：2015-10-12
Applicant: iRobot Corporation
Inventor： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
CPC classification number: B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
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