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1. 发明专利

JP2014030772A Cleaning apparatus with debris sensor 有权
标题翻译：清洁装置与DEBRIS传感器
公开(公告)号：JP2014030772A
公开(公告)日：2014-02-20
申请号：JP2013241021
申请日：2013-11-21
申请人： Irobot Corp , アイロボットコーポレイション , Gregg W Landry , ダブリュ. ランドリー,グレッグ , David A Cohen , エー. コヘン,デイビッド , Daniel Ozick , オジック,ダニエル
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL
IPC分类号： A47L9/28
摘要： PROBLEM TO BE SOLVED: To provide an autonomous cleaning apparatus capable of controlling an operation mode, a movement pattern or a behavior to respond to detected debris so as to immediately detect collision with debris on a floor surface as a cleaning target and drive the apparatus toward a "dirtier" zone.SOLUTION: An autonomous or non-autonomous cleaning apparatus using a piezoelectric debris sensor and its related signal processor for responding to the collision with debris senses presence of the debris and responds thereto, enabling selection of an operation mode, an operation condition, or a movement pattern such as a spot coverage. This configuration allows a use of plural sensor channels for enabling detection or generation of a differential left/right debris signal, thus enabling an autonomous apparatus to drive toward the debris. Further, positioning the debris sensor at a place where debris swept up by a brush assembly collides enables better detection of the collision with the debris.
摘要翻译：要解决的问题：提供一种能够控制操作模式，运动模式或响应于检测到的碎片的行为的自主清洁装置，以便立即检测与作为清洁目标的地板表面上的碎屑的碰撞，并将装置驱动一个“更脏”的区域。解决方案：使用压电碎片传感器及其相关信号处理器来响应与碎片的碰撞的自主或非自主的清洁装置感测碎屑的存在并响应于此，使得能够选择操作模式，操作条件，或点覆盖等动作模式。这种配置允许使用多个传感器通道来使得能够检测或产生差分左/右碎片信号，从而使自主设备能够朝向碎屑驱动。此外，将碎片传感器定位在由刷子组件碰撞的碎片的地方，能够更好地检测与碎屑的碰撞。

2. 发明专利

JP2010188186A Debris sensor for cleaning device 有权
标题翻译：用于清洁装置的DEBRIS传感器
公开(公告)号：JP2010188186A
公开(公告)日：2010-09-02
申请号：JP2010130902
申请日：2010-06-08
申请人： David A Cohen , Irobot Corp , Gregg W Landry , Daniel Ozick , アイロボットコーポレイション , オジック,ダニエル , エー. コヘン,デイビッド , ダブリュ. ランドリー,グレッグ
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL
IPC分类号： A47L9/28
摘要： PROBLEM TO BE SOLVED: To provide an autonomous cleaning device which instantly detects collision of debris to be cleaned on a floor and can control its operation mode in response to the detected debris, moving pattern and actions, so that the device is operated toward a dirtier area. SOLUTION: By a piezoelectric debris sensor responding to the collision of the debris and a related signal processor, an autonomous or nonautonomous cleaning device detects presence of the debris, responds and allows selections of action modes like spot coverage, action conditions and moving patterns. Two or more sensor channels can be used to enable detection or generation of a difference in right/left debris signals and, therefore, the autonomous device can be guided in the direction of the debris. In addition, by locating the debris sensor at a position where the debris swept up by a brush assembly collides, the collision of the debris becomes more properly detected. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种自动清洁装置，其可以立即检测要在地板上清洁的碎屑的碰撞，并且可以响应于检测到的碎片，移动模式和动作来控制其操作模式，使得装置被操作朝向更脏的地方。解决方案：通过响应于碎片碰撞的压电碎片传感器和相关的信号处理器，自主或非自主的清洁装置检测碎片的存在，响应并允许选择动作模式，如点覆盖，动作条件和移动图案。可以使用两个或更多个传感器通道来检测或产生左/左碎片信号的差异，因此可以在碎片的方向上引导自主装置。此外，通过将碎片传感器定位在由刷子组件冲刷的碎片碰撞的位置，碎屑的碰撞变得更加适当地被检测到。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2012106080A Cleaning device equipped with debris sensor 有权
标题翻译：清洁装置配有DEBRIS传感器
公开(公告)号：JP2012106080A
公开(公告)日：2012-06-07
申请号：JP2012047075
申请日：2012-03-02
申请人： David A Cohen , Irobot Corp , Gregg W Landry , Daniel Ozick , アイロボットコーポレイション , オジック,ダニエル , エー. コヘン,デイビッド , ダブリュ. ランドリー,グレッグ
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL
IPC分类号： A47L9/28
摘要： PROBLEM TO BE SOLVED: To provide an autonomous type cleaning device, capable of controlling an action mode, a moving pattern, or an action to immediately detect collision of debris on a floor surface as a cleaning object, and respond to detected debris to move the device to a more contaminated area.SOLUTION: By means of a piezoelectric debris sensor which responds to the collision of debris, and related signal processors, the autonomous or non-autonomous cleaning device detects presence of debris, and responds to select an action mode, an action condition, or moving pattern such as spot coverage. A plurality of sensor channels are usable to enable detection or creation of differential right/left debris signals, so that the autonomous device is moved toward the debris. By positioning the debris sensor to a place where debris swept up by a brush assembly is colliding with each other, collision of the debris can be more properly detected.
摘要翻译：要解决的问题：提供一种能够控制动作模式，移动模式或立即检测作为清洁对象的地板表面上的碎屑的碰撞的自主型清洁装置，并且响应于检测到的碎屑将设备移动到更受污染的区域。解决方案：通过响应碎片碰撞的压电碎片传感器和相关的信号处理器，自主或非自主的清洁装置检测碎片的存在，并响应选择动作模式，动作条件，或移动图案，如现场报道。多个传感器通道可用于使得能够检测或创建差分右/左碎片信号，使得自主装置朝向碎片移动。通过将碎片传感器定位到由刷子组件扫过的碎片彼此碰撞的地方，可以更恰当地检测碎屑的碰撞。版权所有（C）2012，JPO＆INPIT

4. 发明专利

JP2012045433A Autonomous cleaning apparatus 有权
标题翻译：自动清洗装置
公开(公告)号：JP2012045433A
公开(公告)日：2012-03-08
申请号：JP2011268794
申请日：2011-12-08
申请人： David A Cohen , Irobot Corp , Gregg W Landry , Daniel Ozick , アイロボットコーポレイション , オジック,ダニエル , エー. コヘン,デイビッド , ダブリュ. ランドリー,グレッグ
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL
IPC分类号： A47L9/28
摘要： PROBLEM TO BE SOLVED: To provide an autonomous cleaning apparatus capable of controlling an operational mode, moving pattern or action that the unit agilely detects a collision with debris on a floor, or an object to be cleaned, and so responds to the detected debris that the unit operates upon "dirtier" areas.SOLUTION: The autonomous cleaning apparatus includes a drive system for moving the unit, a brush assembly for sweeping up the debris on the floor toward a cleaning route of the unit, a debris sensor for detecting the collision with the debris swept up by the brush assembly to generate a debris signal and a controller in response to the debris signal to control the drive system. The debris sensor inside the cleaning route is placed on a line extending in a direction that the debris are swept up by the brush assembly.
摘要翻译：要解决的问题：提供一种能够控制单元敏感地检测与地板上的碎屑或待清洁物体的碰撞的操作模式，移动模式或动作的自主清洁装置，并且因此响应于检测到该单元在“较脏”区域运行的碎片。解决方案：自主清洁设备包括用于移动该单元的驱动系统，用于将地板上的碎屑扫过该单元的清洁路线的刷组件，用于检测与被扫过的碎屑的碰撞的碎屑传感器刷组件产生碎片信号和控制器响应于碎片信号来控制驱动系统。清洁路线内的碎屑传感器被放置在沿着刷子组件将碎屑扫过的方向延伸的线上。版权所有（C）2012，JPO＆INPIT

5. 发明专利

JP2009254914A Debris sensor and method for operating cleaning apparatus 有权
标题翻译： DEBRIS传感器和操作清洁装置的方法
公开(公告)号：JP2009254914A
公开(公告)日：2009-11-05
申请号：JP2009187312
申请日：2009-08-12
申请人： David A Cohen , Irobot Corp , Gregg W Landry , Daniel Ozick , アイロボットコーポレイション , オジック,ダニエル , エー. コヘン,デイビッド , ダブリュ. ランドリー,グレッグ
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL
IPC分类号： A47L9/28
摘要： PROBLEM TO BE SOLVED: To provide a debris sensor, responding on instantaneously sensing a collision of a debris.
SOLUTION: The debris sensor for a cleaning apparatus includes a piezoelectric sensor element located adjacent to a cleaning path of the cleaning apparatus and adapted to generate a first signal indicating a collision with the debris in response to a collision with the debris, and a processor for processing the first signal and generating a second signal indicating the characteristic of the debris which the cleaning apparatus encounters, wherein the processor changes an operation mode of the cleaning apparatus to a spot coverage mode taking a region including debris as an object by controlling the motion of the cleaning apparatus according to a spiral moving pattern having a changing radius of rotation.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种碎片传感器，用于瞬时感测碎片的碰撞。解决方案：用于清洁设备的碎片传感器包括位于清洁设备的清洁路径附近的压电传感器元件，并适于响应于与碎屑的碰撞而产生指示与碎屑碰撞的第一信号，以及处理器，用于处理第一信号并产生指示清洁设备遇到的碎片的特性的第二信号，其中处理器将清洁设备的操作模式改变为点覆盖模式，通过控制将包括碎片的区域作为对象根据具有变化的旋转半径的螺旋移动图案的清洁装置的运动。版权所有（C）2010，JPO＆INPIT

6. 发明申请

WO2011014785A3 NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE 审中-公开
标题翻译：机器人导航控制系统
公开(公告)号：WO2011014785A3
公开(公告)日：2011-10-27
申请号：PCT/US2010043922
申请日：2010-07-30
申请人： IROBOT CORP , LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL N , CHIAPPETTA MARK J , JONES JOSEPH L
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL N , CHIAPPETTA MARK J , JONES JOSEPH L
IPC分类号： G05D1/02
CPC分类号： A47L11/4011 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0272 , G05D3/12 , G05D2201/0215
摘要： An autonomous cleaning apparatus (100) includes a chassis ( 102 ), a drive system (112) disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller (114) in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system (145) disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor (125) for generating a debris signal, a bump sensor (120) for generating a bump signal, and an obstacle following sensor (126) disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.
摘要翻译：自主清洁设备（100）包括底盘（102），设置在底盘上的驱动系统（112），其可操作以使清洁设备能够移动，以及与驱动系统通信的控制器（114）。控制器包括可操作以控制驱动系统以引导清洁设备的运动的处理器。自主清洁装置包括设置在底盘上的清洁头系统（145）和与控制器通信的传感器系统。传感器系统包括用于产生碎片信号的碎片传感器（125），用于产生凸起信号的凸块传感器（120）和设置在自动清洁装置的侧面上的障碍物跟随传感器（126），用于产生障碍物信号。处理器执行优先级仲裁方案，以基于从传感器系统接收的至少一个信号来识别和实现一个或多个显性行为模式。

7. 发明授权

US3440331A Ceiling fixture adapter 失效
标题翻译：天花板适配器
公开(公告)号：US3440331A
公开(公告)日：1969-04-22
申请号：US3440331D
申请日：1967-02-14
申请人： DAVID A COHEN
发明人： COHEN DAVID A
IPC分类号： H02G3/12 , H02G3/20 , H02B1/10
CPC分类号： H02G3/20 , H02G3/12

8. 发明专利

JP2007149115A Docking method of autonomous robot 有权
标题翻译：自动机器人的锁定方法
公开(公告)号：JP2007149115A
公开(公告)日：2007-06-14
申请号：JP2007010829
申请日：2007-01-19
申请人： Irobot Corp , アイロボットコーポレーション
发明人： COHEN DAVID A , OZICK DANIEL , VU CLARA , LYNCH JAMES , MASS PHILLIP R
IPC分类号： G05D1/02 , G01S1/16 , G01S5/00 , G04D1/02 , H02J7/00
CPC分类号： B25J9/1664 , A47L9/0063 , A47L9/009 , A47L9/2805 , A47L9/2852 , A47L9/2857 , A47L9/2873 , A47L9/2889 , A47L9/2894 , A47L2201/02 , A47L2201/022 , A47L2201/04 , B25J5/00 , B25J11/0085 , B25J19/005 , B60L11/1816 , G01S1/16 , G01S1/70 , G05D1/0219 , G05D1/0225 , G05D1/0227 , G05D1/0242 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , H02J7/0026 , H02J7/0036 , H02J7/0044 , H02J7/0045 , H02J7/0052 , H02J7/045 , Y10S901/01
摘要： PROBLEM TO BE SOLVED: To provide a robot and a base station which can be appropriately and accurately joined regardless of the position of the base station. SOLUTION: The method for docking a robot device and the base station includes the steps of: detecting a low energy level in an on-board battery; matching the direction of the robot to an overlap detected between two infrared beams radiated by the station; detecting contact between charging terminals of the robot and the base station; charging the on-board battery; and restarting a task of the robot such as vacuum cleaning. A system for irradiating an avoidance signal for preventing contact due to carelessness between the robot and the base station, and a system for irradiating a return signal for accurately docking the robot device to the base station are also disclosed. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种机器人和基站，无论基站的位置如何，都能适当且准确地接合。解决方案：用于对接机器人装置和基站的方法包括以下步骤：检测车载电池中的低能级; 将机器人的方向与车站辐射的两个红外线之间检测到的重叠相匹配; 检测机器人的充电端子与基站之间的接触; 对车载电池充电; 并重新启动机器人的任务，如真空清洁。还公开了一种用于照射避免信号以避免机器人与基站之间的粗心的接触的系统，以及用于照射返回信号以将机器人装置精确对接到基站的系统。版权所有（C）2007，JPO＆INPIT

9. 发明申请

WO2007109624A3 ROBOT CONFINEMENT 审中-公开
标题翻译：机器人约束
公开(公告)号：WO2007109624A3
公开(公告)日：2008-07-31
申请号：PCT/US2007064323
申请日：2007-03-19
申请人： IROBOT CORP , SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS JR DAVID M , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
发明人： SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS JR DAVID M , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
IPC分类号： G05D1/02
CPC分类号： A01D34/008 , B60L3/0023 , B60L11/126 , B60L11/1803 , B60L11/1805 , B60L11/1816 , B60L11/1861 , B60L11/1877 , B60L2200/40 , B60L2210/30 , B60L2210/40 , B60L2240/36 , B60L2240/425 , B60L2240/662 , B60L2250/16 , B60L2260/32 , B60L2270/145 , G05D1/0225 , G05D1/0255 , G05D1/0259 , G05D1/0265 , G05D1/028 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02T10/6217 , Y02T10/642 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/7072 , Y02T10/7077 , Y02T10/7094 , Y02T10/7241 , Y02T10/7291 , Y02T90/127 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/09
摘要： An autonomous coverage robot system (5) includes an active boundary responder (600, 6012) comprising a wire (600, 6012) powered with a modulated current placed along a perimeter (1006A, 1006B) of a property (1001), at least one. passive boundary responder (600, 6001, 6010) placed on a property interior (1001A) circumscribed by the active boundary responder (600, 6012), and an autonomous coverage robot (10- 19). The robot (10 - 19) includes drive system (400) carried by a body (100) and configured to maneuver the robot (10 - 19) across the property interior (1001A). A signal emitter (1510) emits a signal, where the passive boundary responder responsive to the signal. A boundary' responder detection system (1500, 1520) is carried by the body (100) and configured to detect both the active (600, 6012) and passive boundary responders. The drive system (400) is configured to redirect the robot' both in response to the responder detection system (1500, 1520) detecting an active boundary responder (600, 6012) and in response to detecting a passive boundary responder.
摘要翻译：自动覆盖机器人系统（5）包括主动边界应答器（600,60612），该有源边界应答器包括由沿属性（1001）的周边（1006A，1006B）放置的调制电流供电的电线（600,61212），至少一个。被动边界响应器（600,6001,6010）放置在由主动边界应答器（600,6012）限定的属性内部（1001A）和自动覆盖机器人（10-19）上。机器人（10-19）包括由主体（100）承载并被构造成通过物业内部（1001A）操纵机器人（10-19）的驱动系统（400）。信号发射器（1510）发射信号，其中无源边界响应器响应信号。边界应答器检测系统（1500,1520）由主体（100）承载并且被配置为检测活动（600,6012）和被动边界应答器。驱动系统（400）被配置为响应于检测活动边界应答器（600,6012）的响应器检测系统（1500,1520）以及响应于检测到被动边界应答器而重定向机器人。

10. 发明申请

WO2007109627A2 LAWN CARE ROBOT 审中-公开
标题翻译：护理机器人
公开(公告)号：WO2007109627A2
公开(公告)日：2007-09-27
申请号：PCT/US2007064326
申请日：2007-03-19
申请人： IROBOT CORP , SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS DAVID M JR , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
发明人： SANDIN PAUL E , JONES JOSEPH L , OZICK DANIEL N , COHEN DAVID A , LEWIS DAVID M JR , VU CLARA , DUBROVSKY ZIVTHAN A , PRENETA JOSHUA B , MAMMEN JEFFRY W , GILBERT DUANE L , CAMPBELL TONY L , BERGMAN JOHN
CPC分类号： A01D34/008 , B60L3/0023 , B60L11/126 , B60L11/1803 , B60L11/1805 , B60L11/1816 , B60L11/1861 , B60L11/1877 , B60L2200/40 , B60L2210/30 , B60L2210/40 , B60L2240/36 , B60L2240/425 , B60L2240/662 , B60L2250/16 , B60L2260/32 , B60L2270/145 , G05D1/0225 , G05D1/0255 , G05D1/0259 , G05D1/0265 , G05D1/028 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02T10/6217 , Y02T10/642 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y02T10/7072 , Y02T10/7077 , Y02T10/7094 , Y02T10/7241 , Y02T10/7291 , Y02T90/127 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/09
摘要： A robot lawnmower (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) includes a drive system (400) carried by a body (100) and configured to maneuver the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) across a lawn (20, 1020). The robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) includes a grass cutter (200, 200A, 200B, 2000A, 2050, 2100, 2200) carried by the body (100) and a swath edge detector (310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I) carried by the body (100) and configured to detect a swath edge (26) between cut grass (24) and uncut grass (22) while the drive system (400) maneuvers the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) across the lawn (20, 1020) while following a detected swath edge (26). The swath edge detector (310, 310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I) includes a calibrator (320, 320A, 320B) that monitors uncut grass (22) adjacent the swath edge (26) for calibration of the swath edge detector (310, 310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I).
摘要翻译：机器人割草机（10,11,12,13,14,15,16,17,18,19）包括由主体（100）承载并被构造成操纵机器人（10,11,12）的驱动系统（400），13,14,15,16,17,18,19）穿过草坪（20,1020）。机器人（10,11,12,13,14,15,16,17,18,19）包括由本体（100）承载的割草机（200,200A，200B，2000A，2050,2100,2200）和由所述主体（100）承载并被配置为检测切割草（24）和未切割草（24）之间的条带边缘（26）的条带边缘检测器（310A，310B，310C，310D，310E，310F，310G，310H， 22），同时驱动系统（400）在沿着检测到的条带边缘（26）的同时操纵跨越草坪（20,1020）的机器人（10,11,12,13,14,15,16,17,18,19）。所述条带边缘检测器（310,310A，310B，310C，310D，310E，310F，310C，310D，310E，310F，310G，310H，310I）包括校准器（320,320A，320B），其监测与所述条边缘（26）相邻的未切割草条边缘检测器（310,310A，310B，310C，310D，310E，310F，310G，310H，310I）的校准。

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