公开(公告)号：US10067232B2

公开(公告)日：2018-09-04

申请号：US15368894

申请日：2016-12-05

Applicant: iRobot Corporation

Inventor： Mike Halloran ,  Jamie Milliken ,  Travis Pierce ,  Eric Charles Peters

IPC: G01S17/48 ,  G05D1/02 ,  A01D34/00 ,  G01S7/481 ,  G01S17/06 ,  G01S17/93 ,  G01S13/46 ,  G01S17/42 ,  G01S7/486 ,  A01D101/00

CPC classification number: G01S17/48 ,  A01D34/008 ,  A01D2101/00 ,  G01S7/4813 ,  G01S7/4817 ,  G01S7/4868 ,  G01S13/46 ,  G01S17/06 ,  G01S17/42 ,  G01S17/936 ,  G05D1/0236 ,  G05D1/0259 ,  G05D2201/0208

Abstract: A location estimation system for use with an autonomous lawn mowing robot, comprises a plurality of synthetic surfaces positioned with respect to a mowable space in an environment, a radiation source coupled to the lawn mowing robot, a detector coupled to the lawn mowing robot and configured to detect radiation reflected by objects in the environment, and a controller configured to controllably direct radiation from the radiation source to scan the environment, and to vary at least one of an output power of the directed radiation and a scan rate of the directed radiation, as a function of detected radiation reflected from one or more of the synthetic surfaces.

公开(公告)号：US20200021122A1

公开(公告)日：2020-01-16

申请号：US16032761

申请日：2018-07-11

Applicant: iRobot Corporation

Inventor： Peter Lydon ,  Insun Hong ,  Andrew String ,  Jeffrey Curtis ,  Travis Pierce

IPC: H02J7/00 ,  G05D1/00 ,  G05D1/02 ,  B60L11/18

Abstract: A docking station for a robotic lawnmower includes a base, an electrical connector above the base and positioned along a longitudinal axis of the docking station, and a central guide member positioned on the base and along the longitudinal axis. The central guide member includes a right lateral surface extending away from the longitudinal axis and toward the electrical connector from a first end portion proximate the longitudinal axis to a second end portion, and a left lateral surface extending away from the longitudinal axis and toward the electrical connector from a first end portion proximate the longitudinal axis to a second end portion.

公开(公告)号：US10024964B2

公开(公告)日：2018-07-17

申请号：US14529815

申请日：2014-10-31

Applicant: iRobot Corporation

Inventor： Travis Pierce ,  Jamie Milliken ,  Marc Wilga

IPC: G01S17/06 ,  A01D34/00 ,  G01S1/70 ,  G01S17/89 ,  G01S17/42 ,  G01S7/481 ,  G01S17/10 ,  G01S17/36 ,  G01S7/497

Abstract: A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

公开(公告)号：US20150124242A1

公开(公告)日：2015-05-07

申请号：US14529815

申请日：2014-10-31

Applicant: iRobot Corporation

Inventor： Travis Pierce ,  Jamie Milliken ,  Marc Wilga

IPC: G01S17/06 ,  G01S17/89 ,  A01D34/00 ,  G01S1/70

CPC classification number: G01S17/06 ,  A01D34/008 ,  G01S1/70 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/497 ,  G01S17/10 ,  G01S17/36 ,  G01S17/42 ,  G01S17/89 ,  Y10S901/47

Abstract: A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

Abstract translation: 移动机器人中的扫描光学测距仪包括光发射器电路，非成像光学元件，光学检测器电路和测距电路。 非成像光学元件布置成响应于光发射器电路的操作而在其入口孔处接收光信号，并将光信号引导到其输出孔。 光检测器电路被配置为从非成像光学元件的输出孔接收光信号，并且基于相对于光发射器电路的相应输出的光信号的相位差产生检测信号。 测距电路被配置为根据由检测信号指示的相位差来计算目标的范围。 还讨论了相关设备和操作方法。

公开(公告)号：US10375880B2

公开(公告)日：2019-08-13

申请号：US15395865

申请日：2016-12-30

Applicant: iRobot Corporation

Inventor： Russell Walter Morin ,  Travis Pierce ,  Chris Bradley

IPC: A01D34/00 ,  B25J5/00

Abstract: In one aspect, a mobile robot includes a chassis, a shell moveably mounted on the chassis by a shell suspension system, and a sensor assembly configured to sense a distance and a direction of shell movement relative to the chassis. The sensor assembly includes a magnet disposed on an underside of the shell. The sensor assembly further includes three or more Hall effect sensors disposed on the chassis in a triangular pattern at fixed distances such that the three or more Hall effect sensors are positioned beneath the magnet when no force is applied to the shell, wherein relative motion between the magnet and the Hall effect sensors causes the sensors to produce differing output signals. The mobile robot also includes a controller configured to receive output signals from the Hall effect sensors and to determine a distance and a direction of movement of the shell relative to the chassis.

公开(公告)号：US20180184583A1

公开(公告)日：2018-07-05

申请号：US15395865

申请日：2016-12-30

Applicant: iRobot Corporation

Inventor： Russell Walter Morin ,  Travis Pierce ,  Chris Bradley

IPC: A01D34/00 ,  B25J5/00

CPC classification number: A01D34/008 ,  G05D2201/0208

Abstract: In one aspect, a mobile robot includes a chassis, a shell moveably mounted on the chassis by a shell suspension system, and a sensor assembly configured to sense a distance and a direction of shell movement relative to the chassis. The sensor assembly includes a magnet disposed on an underside of the shell. The sensor assembly further includes three or more Hall effect sensors disposed on the chassis in a triangular pattern at fixed distances such that the three or more Hall effect sensors are positioned beneath the magnet when no force is applied to the shell, wherein relative motion between the magnet and the Hall effect sensors causes the sensors to produce differing output signals. The mobile robot also includes a controller configured to receive output signals from the Hall effect sensors and to determine a distance and a direction of movement of the shell relative to the chassis.

公开(公告)号：US20160100521A1

公开(公告)日：2016-04-14

申请号：US14512013

申请日：2014-10-10

Applicant: iRobot Corporation

Inventor： Mike Halloran ,  Jamie Miliken ,  Travis Pierce ,  Eric Charles Peters

IPC: A01D34/00 ,  G01S7/481 ,  G05D1/02 ,  G01S17/06

CPC classification number: G01S17/48 ,  A01D34/008 ,  A01D2101/00 ,  G01S7/4813 ,  G01S7/4817 ,  G01S7/4868 ,  G01S13/46 ,  G01S17/06 ,  G01S17/42 ,  G01S17/936 ,  G05D1/0236 ,  G05D1/0259 ,  G05D2201/0208

Abstract: A location estimation system for use with an autonomous lawn mowing robot, comprises a plurality of synthetic surfaces positioned with respect to a mowable space in an environment, a radiation source coupled to the lawn mowing robot, a detector coupled to the lawn mowing robot and configured to detect radiation reflected by objects in the environment, and a controller configured to controllably direct radiation from the radiation source to scan the environment, and to vary at least one of an output power of the directed radiation and a scan rate of the directed radiation, as a function of detected radiation reflected from one or more of the synthetic surfaces.

Abstract translation: 一种与自主割草机器人一起使用的位置估计系统，包括相对于环境中的可转动空间定位的多个合成表面，耦合到草坪割草机器人的辐射源，耦合到草坪割草机器人的检测器， 以检测由环境中的物体反射的辐射;以及控制器，被配置为可控制地引导来自辐射源的辐射来扫描环境，并且改变定向辐射的输出功率和定向辐射的扫描速率中的至少一个， 作为从一个或多个合成表面反射的检测到的辐射的函数。

公开(公告)号：US20180299550A1

公开(公告)日：2018-10-18

申请号：US16012097

申请日：2018-06-19

Applicant: iRobot Corporation

Inventor： Travis Pierce ,  Jamie Milliken ,  Marc Wilga

IPC: G01S17/06 ,  G01S7/497 ,  G01S17/36 ,  G01S17/10 ,  G01S7/481 ,  G01S1/70 ,  A01D34/00 ,  G01S17/89 ,  G01S17/42

Abstract: A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

公开(公告)号：US20170146654A1

公开(公告)日：2017-05-25

申请号：US15368894

申请日：2016-12-05

Applicant: iRobot Corporation

Inventor： Mike Halloran ,  Jamie Milliken ,  Travis Pierce ,  Eric Charles Peters

IPC: G01S17/48 ,  B25J19/00 ,  G01S7/481 ,  A01D34/00 ,  G01S17/93 ,  B25J5/00 ,  G05D1/02

CPC classification number: G01S17/48 ,  A01D34/008 ,  A01D2101/00 ,  G01S7/4813 ,  G01S7/4817 ,  G01S7/4868 ,  G01S13/46 ,  G01S17/06 ,  G01S17/42 ,  G01S17/936 ,  G05D1/0236 ,  G05D1/0259 ,  G05D2201/0208

Abstract: A location estimation system for use with an autonomous lawn mowing robot, comprises a plurality of synthetic surfaces positioned with respect to a mowable space in an environment, a radiation source coupled to the lawn mowing robot, a detector coupled to the lawn mowing robot and configured to detect radiation reflected by objects in the environment, and a controller configured to controllably direct radiation from the radiation source to scan the environment, and to vary at least one of an output power of the directed radiation and a scan rate of the directed radiation, as a function of detected radiation reflected from one or more of the synthetic surfaces.

公开(公告)号：US09510505B2

公开(公告)日：2016-12-06

申请号：US14512013

申请日：2014-10-10

Applicant: iRobot Corporation

Inventor： Michael J. Halloran ,  Jamie Milliken ,  Travis Pierce ,  Eric Charles Peters

IPC: G01S17/06 ,  A01D34/00 ,  G05D1/02 ,  G01S7/481 ,  G01S17/48 ,  G01S17/93 ,  G01S13/46

CPC classification number: G01S17/48 ,  A01D34/008 ,  A01D2101/00 ,  G01S7/4813 ,  G01S7/4817 ,  G01S7/4868 ,  G01S13/46 ,  G01S17/06 ,  G01S17/42 ,  G01S17/936 ,  G05D1/0236 ,  G05D1/0259 ,  G05D2201/0208

Abstract: A location estimation system for use with an autonomous lawn mowing robot, comprises a plurality of synthetic surfaces positioned with respect to a mowable space in an environment, a radiation source coupled to the lawn mowing robot, a detector coupled to the lawn mowing robot and configured to detect radiation reflected by objects in the environment, and a controller configured to controllably direct radiation from the radiation source to scan the environment, and to vary at least one of an output power of the directed radiation and a scan rate of the directed radiation, as a function of detected radiation reflected from one or more of the synthetic surfaces.

Abstract translation: 一种与自主割草机器人一起使用的位置估计系统，包括相对于环境中的可转动空间定位的多个合成表面，耦合到草坪割草机器人的辐射源，耦合到草坪割草机器人的检测器， 以检测由环境中的物体反射的辐射;以及控制器，被配置为可控制地引导来自辐射源的辐射来扫描环境，并且改变定向辐射的输出功率和定向辐射的扫描速率中的至少一个， 作为从一个或多个合成表面反射的检测到的辐射的函数。