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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

7. 发明专利

AU2012200539A1 Debris sensor for cleaning apparatus 未知
公开(公告)号：AU2012200539A1
公开(公告)日：2012-02-23
申请号：AU2012200539
申请日：2012-01-31
申请人： IROBOT CORP
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL
IPC分类号： B62D1/24 , A47L9/28 , G05D1/00 , G05D1/02
摘要： A piezoelectric debris sensor (125L, 125R) and associated signal processor (135) responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (125, 125R) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris. CN c N ww ww U0 QD z 00 a.,C C a,: W:Z co C ,'c

8. 发明专利

AU2010212297A1 Method of docking an autonomous robot 未知
公开(公告)号：AU2010212297A1
公开(公告)日：2010-09-02
申请号：AU2010212297
申请日：2010-08-12
申请人： IROBOT CORP
发明人： COHEN DAVID , OZICK DANIEL , VU CLARA , LYNCH JAMES , MASS PHILLIP R
IPC分类号： G01S5/00 , G01S1/16 , G04D1/02 , G05D1/02 , H02J7/00
摘要： A method of docking a robotic device with a base station includes the steps of detecting a low energy level in an on-board battery, orienting the robot in relation to a detected overlap between two infrared beams emitted by the station, detecting contact between the charging terminals on the robot and on the base station, charging the on-board battery and resuming a robot's task, such as vacuuming. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting horning signals to allow the robot device to accurately dock with the base station.

9. 发明专利

AU2015200044B2 Debris sensor for cleaning apparatus 未知
公开(公告)号：AU2015200044B2
公开(公告)日：2016-09-01
申请号：AU2015200044
申请日：2015-01-07
申请人： IROBOT CORP
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL
IPC分类号： B62D1/24 , A47L9/28 , G05D1/00 , G05D1/02
摘要： A piezoelectric debris sensor (125L, 125R) and associated signal processor (135) responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (125, 125R) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

10. 发明专利

AT545898T 未知
公开(公告)号：AT545898T
公开(公告)日：2012-03-15
申请号：AT06839009
申请日：2006-12-04
申请人： IROBOT CORP
发明人： HALLORAN MICHAEL , MAMMEN JEFFRY , CAMPBELL TONY , WALKER JASON , SANDIN PAUL , BILLINGTON JOHN , OZICK DANIEL
IPC分类号： G05D1/02

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