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    Mobile Robot for Cleaning
    1.
    发明申请
    Mobile Robot for Cleaning 有权

    公开(公告)号：US20210053207A1

    公开(公告)日：2021-02-25

    申请号：US17011689

    申请日：2020-09-03

    Applicant: iRobot Corporation

    Inventor： Nikolai Romanov ,  Collin Eugene Johnson ,  James Philip Case ,  Dhiraj Goel ,  Steffen Gutmann ,  Michael J. Dooley

    IPC: B25J5/00 ,  A47L11/40 ,  G05D1/02 ,  B25J13/08

    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.

    Mobile robot for cleaning
    2.
    发明授权
    Mobile robot for cleaning 有权

    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

    IPC: B25J5/00 ,  B25J13/08 ,  A47L11/40 ,  G05D1/02

    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.

    Localization by Learning of Wave-Signal Distributions
    4.
    发明申请
    Localization by Learning of Wave-Signal Distributions 有权
    通过学习波信号分布进行本地化

    公开(公告)号：US20170050318A1

    公开(公告)日：2017-02-23

    申请号：US15248352

    申请日：2016-08-26

    Applicant: iRobot Corporation

    Inventor： Steffen Gutmann ,  Ethan Eade ,  Philip Fong ,  Mario Munich

    IPC: B25J9/16 ,  G05D1/02

    CPC classification number: B25J9/1664 ,  B25J9/1694 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0208 ,  G05D2201/0211 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

    Abstract: A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.

    Abstract translation: 具有被配置为测量信号的信号传感器的机器人，被配置为测量姿态的相对变化的运动传感器，配置成将信号与包括机器人的机器人的局部区域中的机器人的位置和/或取向相关联的局部相关分量 当前位置以及定位组件，其被配置为至少基于由运动传感器报告的位置，由信号传感器检测到的信号和由本地预测的信号来应用滤波器来估计机器人的位置和可选的姿态 相关分量。 局部相关分量和/或定位分量可以考虑信号传感器的旋转可变性以及与信号和运动传感器执行的时间和姿势相关的可变性相关的其它参数。 每个估计姿态可用于为机器人制定新的或更新的导航或操作指令。

    MOBILE ROBOT FOR CLEANING
    5.
    发明申请
    MOBILE ROBOT FOR CLEANING 审中-公开
    移动机器人清洁

    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

    IPC: B25J5/00 ,  B25J13/08

    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。

    Localization by Learning of Wave-Signal Distributions
    7.
    发明申请
    Localization by Learning of Wave-Signal Distributions 有权
    通过学习波信号分布进行本地化

    公开(公告)号：US20150197011A1

    公开(公告)日：2015-07-16

    申请号：US14589429

    申请日：2015-01-05

    Applicant: iRobot Corporation

    Inventor： Steffen Gutmann ,  Ethan Eade ,  Philip Fong ,  Mario Munich

    IPC: B25J9/16

    CPC classification number: B25J9/1664 ,  B25J9/1694 ,  G05D1/0234 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0206 ,  G05D2201/0208 ,  G05D2201/0211 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

    Abstract: A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.

    Abstract translation: 具有被配置为测量信号的信号传感器的机器人，被配置为测量姿态的相对变化的运动传感器，配置成将信号与包括机器人的机器人的局部区域中的机器人的位置和/或取向相关联的局部相关分量 当前位置以及定位组件，其被配置为至少基于由运动传感器报告的位置，由信号传感器检测到的信号和由本地预测的信号来应用滤波器来估计机器人的位置和可选的姿态 相关分量。 局部相关分量和/或定位分量可以考虑信号传感器的旋转可变性以及与信号和运动传感器执行的时间和姿势相关的可变性相关的其它参数。 每个估计姿态可用于为机器人制定新的或更新的导航或操作指令。

    ROBOT MANAGEMENT SYSTEMS FOR DETERMINING DOCKING STATION POSE INCLUDING MOBILE ROBOTS AND METHODS USING SAME
    8.
    发明申请
    ROBOT MANAGEMENT SYSTEMS FOR DETERMINING DOCKING STATION POSE INCLUDING MOBILE ROBOTS AND METHODS USING SAME 有权
    用于确定包含移动机器人的锁定站的机器人管理系统及其使用方法

    公开(公告)号：US20140100693A1

    公开(公告)日：2014-04-10

    申请号：US14046941

    申请日：2013-10-05

    Applicant: iRobot Corporation

    Inventor： Philip Fong ,  Jason Meltzer ,  Steffen Gutmann ,  Vazgen Karapetyan ,  Mario E. Munich

    IPC: G05D1/02

    CPC classification number: A47L9/2873 ,  A47L9/2894 ,  A47L9/30 ,  A47L2201/02 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1697 ,  B25J11/0085 ,  B25J13/006 ,  B25J19/005 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0215 ,  H02J7/0045 ,  Y10S901/01

    Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.

    Abstract translation: 提供了一种移动机器人系统，其包括具有至少两个姿势限定基准标记的对接站。 姿势定义基准标记在对接站上相对于彼此和/或参考点具有预定的空间关系，使得可以根据至少两个姿势的一个或多个观察来确定到基站的对接路径 确定基准标记。 系统中的移动机器人包括姿态传感器组件。 控制器位于机箱上，并被配置为分析来自姿态传感器组件的输出信号。 控制器被配置为确定对接站姿态，以将对接站姿态定位在由移动机器人穿过的表面的地图上，并且路径规划对接轨迹。

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