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1. 发明授权

US08961695B2 Mobile robot for cleaning 有权
标题翻译：移动机器人清洗
公开(公告)号：US08961695B2
公开(公告)日：2015-02-24
申请号：US12930260
申请日：2010-12-30
申请人： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
发明人： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
IPC分类号： B08B7/04 , B08B5/04 , E01H1/08 , B25J5/00 , G05B19/416 , A47L11/40 , G05D1/02
CPC分类号： B25J5/00 , A47L11/4011 , A47L11/4036 , A47L11/4066 , A47L11/4091 , A47L2201/00 , A47L2201/04 , B25J13/08 , G05D1/0219 , G05D2201/0203 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： 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.
摘要翻译：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。

2. 发明授权

US08892251B1 System and method for autonomous mopping of a floor surface 有权
标题翻译：自动拖地板表面的系统和方法
公开(公告)号：US08892251B1
公开(公告)日：2014-11-18
申请号：US12928965
申请日：2010-12-23
申请人： Michael Dooley , James Philip Case , Nikolai Romanov
发明人： Michael Dooley , James Philip Case , Nikolai Romanov
IPC分类号： G06F19/00 , G06F19/24
CPC分类号： A47L11/4011 , A47L11/30 , A47L11/4036 , A47L11/4061 , A47L11/4066 , A47L11/4088 , A47L2201/04 , B25J11/0085 , G05D1/0219 , G05D2201/0203
摘要： 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.
摘要翻译：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。

3. 发明授权

US09310806B2 System for localization and obstacle detection using a common receiver 有权
标题翻译：使用普通接收机进行定位和障碍物检测的系统
公开(公告)号：US09310806B2
公开(公告)日：2016-04-12
申请号：US12985194
申请日：2011-01-05
申请人： Nikolai Romanov , James Philip Case , Michael Dooley
发明人： Nikolai Romanov , James Philip Case , Michael Dooley
IPC分类号： G01S5/16 , G05D1/02
CPC分类号： G05D1/0242 , G01S5/16 , G05D2201/0203
摘要： A localization and obstacle detection system includes a first signal projector configured to project a first signal into an environment and a robot configured to move in the environment. The robot includes a second signal projector configured to project a second signal into the environment; a signal receiver configured to receive the first signal and the second signal; a localizer configured to determine a location of the robot in the environment based at least in part on the received first signal; and a detector configured to determine the presence of an obstacle in the environment based at least in part on the intensity and bearing of the received second signal and without touching the obstacle; wherein the second signal is distinct from the first signal in at least one characteristic.
摘要翻译：本地化和障碍物检测系统包括被配置为将第一信号投影到环境中的第一信号投影仪和被配置为在环境中移动的机器人。机器人包括配置成将第二信号投射到环境中的第二信号投影仪; 信号接收器，被配置为接收第一信号和第二信号; 定位器，其被配置为至少部分地基于所接收的第一信号来确定所述机器人在所述环境中的位置; 以及检测器，被配置为至少部分地基于接收的第二信号的强度和方位确定环境中的障碍物的存在并且不接触障碍物; 其中所述第二信号在至少一个特征中与所述第一信号不同。

4. 发明申请

US20110166707A1 SYSTEM FOR LOCALIZATION AND OBSTACLE DETECTION USING A COMMON RECEIVER 有权
标题翻译：使用普通接收机进行本地化和异常检测的系统
公开(公告)号：US20110166707A1
公开(公告)日：2011-07-07
申请号：US12985194
申请日：2011-01-05
申请人： Nikolai Romanov , James Philip Case , Michael Dooley
发明人： Nikolai Romanov , James Philip Case , Michael Dooley
IPC分类号： B25J13/08
CPC分类号： G05D1/0242 , G01S5/16 , G05D2201/0203
摘要： A localization and obstacle detection system comprising a first signal projector configured to project a first signal into an environment and a robot configured to move in the environment. The robot comprises a second signal projector configured to project a second signal into the environment; a signal receiver configured to receive the first signal and the second signal; a localizer configured to determine a location of the robot in the environment based at least in part on the received first signal; and a detector configured to determine the presence of an obstacle in the environment based at least in part on the intensity and bearing of the received second signal and without touching the obstacle; wherein the second signal is distinct from the first signal in at least one characteristic.
摘要翻译：一种定位和障碍物检测系统，包括配置成将第一信号投影到环境中的第一信号投影仪和被配置为在环境中移动的机器人。机器人包括被配置为将第二信号投射到环境中的第二信号投影仪; 信号接收器，被配置为接收第一信号和第二信号; 定位器，其被配置为至少部分地基于所接收的第一信号来确定所述机器人在所述环境中的位置; 以及检测器，被配置为至少部分地基于接收的第二信号的强度和方位确定环境中的障碍物的存在并且不接触障碍物; 其中所述第二信号在至少一个特征中与所述第一信号不同。

5. 发明授权

US09026302B2 Methods and systems for complete coverage of a surface by an autonomous robot 有权
公开(公告)号：US09026302B2
公开(公告)日：2015-05-05
申请号：US12940871
申请日：2010-11-05
申请人： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
发明人： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
IPC分类号： B08B7/00 , G05D1/02 , G05D1/00 , G05D3/12
CPC分类号： 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
摘要： 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.

6. 发明申请

US20110167574A1 METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT 有权
标题翻译：自动机器人表面完整覆盖的方法和系统
公开(公告)号：US20110167574A1
公开(公告)日：2011-07-14
申请号：US12940871
申请日：2010-11-05
申请人： MICHAEL S. STOUT , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
发明人： MICHAEL S. STOUT , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
IPC分类号： B08B7/00 , G05D1/00 , G05D3/12
CPC分类号： 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
摘要： 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.
摘要翻译：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，使得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。

7. 发明申请

US20110202175A1 Mobile robot for cleaning 有权
标题翻译：移动机器人清洗
公开(公告)号：US20110202175A1
公开(公告)日：2011-08-18
申请号：US12930260
申请日：2010-12-30
申请人： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
发明人： Nikolai Romanov , Collin Eugene Johnson , James Philip Case , Dhiraj Goel , Steffen Gutmann , Michael Dooley
IPC分类号： B25J5/00 , B25J13/08
CPC分类号： B25J5/00 , A47L11/4011 , A47L11/4036 , A47L11/4066 , A47L11/4091 , A47L2201/00 , A47L2201/04 , B25J13/08 , G05D1/0219 , G05D2201/0203 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： 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.
摘要翻译：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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