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1. 发明申请

US20070250212A1 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US20070250212A1
公开(公告)日：2007-10-25
申请号：US11633883
申请日：2006-12-04
申请人： Michael Halloran , Jeffrey Mammen , Tony Campbell , Jason Walker , Paul Sandin , John Billington , Daniel Ozick
发明人： Michael Halloran , Jeffrey Mammen , Tony Campbell , Jason Walker , Paul Sandin , John Billington , Daniel Ozick
IPC分类号： G06F19/00
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.
摘要翻译：省电机器人系统包括至少一个外围设备和移动机器人。外围设备包括具有活动模式和休眠模式的控制器，以及能够在休眠模式下激活的无线通信组件。机器人的控制器具有激活例程，其通过无线通信与休眠模式通信并临时激活外围设备。另一方面，机器人系统包括网络数据桥和移动机器人。网络数据桥包括宽带网络接口，无线命令接口和数据桥组件。数据桥组件通过互联网协议提取经由宽带网络接口接收的串行命令，向其提供命令协议，并通过无线接口广播串行命令。移动机器人包括接收从网络数据桥发送的串行命令的无线命令通信组件。

2. 发明申请

US20070244610A1 Autonomous coverage robot navigation system 有权
标题翻译：自动覆盖机器人导航系统
公开(公告)号：US20070244610A1
公开(公告)日：2007-10-18
申请号：US11633869
申请日：2006-12-04
申请人： Daniel Ozick , Andrea Okerholm , Jeffrey Mammen , Michael Halloran , Paul Sandin , Chikyung Won
发明人： Daniel Ozick , Andrea Okerholm , Jeffrey Mammen , Michael Halloran , Paul Sandin , Chikyung Won
IPC分类号： G06F19/00 , G01C25/00
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.
摘要翻译：一种用于有界区域的自主移动机器人系统，包括导航信标和自动覆盖机器人。导航信标具有网关信标发射器，其布置成用设置在第一有界区域和相邻第二有界区域之间的网关内的导航信标发送网关标记发射。自动覆盖机器人包括响应于信标发射的信标发射传感器，以及驱动系统，被配置为在清洁模式中围绕第一有界区域操纵机器人，其中机器人响应于检测到网关标记发射被重定向。驱动系统还被配置为以迁移模式通过网关操纵机器人进入第二有界区域。

3. 发明申请

US20080109126A1 Lawn Care Robot 有权
标题翻译：草坪护理机器人
公开(公告)号：US20080109126A1
公开(公告)日：2008-05-08
申请号：US11688225
申请日：2007-03-19
申请人： Paul Sandin , Joseph Jones , Daniel Ozick , David Cohen , David Lewis , Clara Vu , Zivthan Dubrovsky , Joshua Preneta , Jeffrey Mammen , Duane Gilbert , Tony Campbell , John Bergman
发明人： Paul Sandin , Joseph Jones , Daniel Ozick , David Cohen , David Lewis , Clara Vu , Zivthan Dubrovsky , Joshua Preneta , Jeffrey Mammen , Duane Gilbert , Tony Campbell , John Bergman
IPC分类号： G05D1/02 , A01D34/00 , A01D43/00
CPC分类号： G05D1/0265 , 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 , G05D1/0261 , 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 includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.
摘要翻译：机器人割草机包括由身体携带的身体和驱动系统，并且被配置为通过草坪来操纵机器人。机器人还包括一个草切割器和一个条带边缘检测器，由身体携带。条带边缘检测器被配置为在切割和未切割草地之间检测条带边缘，而驱动系统在跟踪检测到的条纹边缘的同时在机器人上操纵机器人。条带边缘检测器包括校准器，其监测未切割的草以校准条边缘检测器。在一些示例中，校准器包括第二条边缘检测器。

4. 发明申请

US20080039974A1 Robot Confinement 有权
标题翻译：机器人限制
公开(公告)号：US20080039974A1
公开(公告)日：2008-02-14
申请号：US11688213
申请日：2007-03-19
申请人： Paul Sandin , Joseph Jones , Daniel Ozick , David Cohen , David Lewis , Clara Vu , Zivthan Dubrovsky , Joshua Preneta , Jeffrey Mammen , Duane Gilbert , Tony Campbell , John Bergman , Mark Chiappeita
发明人： Paul Sandin , Joseph Jones , Daniel Ozick , David Cohen , David Lewis , Clara Vu , Zivthan Dubrovsky , Joshua Preneta , Jeffrey Mammen , Duane Gilbert , Tony Campbell , John Bergman , Mark Chiappeita
IPC分类号： G06F19/00
CPC分类号： G05D1/0265 , 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 , G05D1/0261 , 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 includes an active boundary responder comprising a wire powered with a modulated current placed along a perimeter of a property, at least one passive boundary responder placed on a property interior circumscribed by the active boundary responder, and an autonomous coverage robot. The robot includes a drive system carried by a body and configured to maneuver the robot across the property interior. The robot includes a signal emitter emitting a signal, where the passive boundary responder is responsive to the signal and a boundary responder detection system carried by the body. The boundary responder detector is configured to redirect the robot both in response to the responder detection system detecting an active boundary responder and in response to detecting a passive boundary responder.
摘要翻译：自主覆盖机器人系统包括主动边界应答器，其包括由沿着属性的周界放置的调制电流供电的电线，至少一个被动边界响应器放置在由有源边界应答器限定的属性内部以及自主覆盖机器人上。机器人包括由身体携带的驱动系统，并被配置为通过物业内部操纵机器人。机器人包括发射信号的信号发射器，其中无源边界响应器响应于信号和身体承载的边界响应器检测系统。边界响应器检测器被配置为响应于响应者检测系统检测活动边界应答器并且响应于检测到被动边界应答器而重定向机器人。

5. 发明申请

US20080091304A1 NAVIGATING AUTONOMOUS COVERAGE ROBOTS 有权
标题翻译：导航自动覆盖机器人
公开(公告)号：US20080091304A1
公开(公告)日：2008-04-17
申请号：US11758278
申请日：2007-06-05
申请人： Daniel Ozick , Andrea Okerholm , Jeffrey Mammen , Michael Halloran , Paul Sandin , Chik Won
发明人： Daniel Ozick , Andrea Okerholm , Jeffrey Mammen , Michael Halloran , Paul Sandin , Chik Won
IPC分类号： G05B19/4061
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.
摘要翻译：在有界区域之间导航自动覆盖机器人的方法包括将导航信标定位在相邻的第一和第二有界区域之间的网关中。该信标被配置为传送网关，通过网关标识发射。该方法还包括将覆盖机器人放置在第一有界区域内。机器人以清洁模式自主地穿过第一有界区域，并且当遇到网关中的网关标记发射时，机器人保持在第一有界区域中，从而避免机器人迁移到第二区域。在第一区域中的清洁模式结束时，机器人自主地启动迁移模式以通过网关移动通过信标，进入第二有界区域。

6. 发明申请

US20080058987A1 NAVIGATING AUTONOMOUS COVERAGE ROBOTS 有权
标题翻译：导航自动覆盖机器人
公开(公告)号：US20080058987A1
公开(公告)日：2008-03-06
申请号：US11773845
申请日：2007-07-05
申请人： Daniel Ozick , Andrea Okerholm , Jeffrey Mammen , Michael Halloran
发明人： Daniel Ozick , Andrea Okerholm , Jeffrey Mammen , Michael Halloran
IPC分类号： G05D1/02 , G06F19/00
CPC分类号： A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. In some example, the navigation beacon may also transmit a proximity emission laterally about the beacon, where the robot avoids cleaning the migration within the proximity emission. The method also includes placing the coverage robot within the first bounded areas. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.
摘要翻译：在有界区域之间导航自动覆盖机器人的方法包括将导航信标定位在相邻的第一和第二有界区域之间的网关中。该信标被配置为传送网关，通过网关标识发射。在一些示例中，导航信标还可以围绕信标横向传输邻近发射，其中机器人避免清洁邻近发射内的迁移。该方法还包括将覆盖机器人放置在第一有界区域内。机器人以清洁模式自主地穿过第一有界区域，并且当遇到网关中的网关标记发射时，机器人保持在第一有界区域中，从而避免机器人迁移到第二区域。在第一区域中的清洁模式结束时，机器人自主地启动迁移模式以通过网关移动通过信标，进入第二有界区域。

7. 发明申请

US20080091305A1 COVERAGE ROBOT MOBILITY 有权
标题翻译：覆盖机器人移动
公开(公告)号：US20080091305A1
公开(公告)日：2008-04-17
申请号：US11758289
申请日：2007-06-05
申请人： Selma Svendsen , Daniel Ozick , Christopher Casey , Deepak Kapoor , Tony Campbell , Chikyung Won , Christopher Morse , Scott Burnett
发明人： Selma Svendsen , Daniel Ozick , Christopher Casey , Deepak Kapoor , Tony Campbell , Chikyung Won , Christopher Morse , Scott Burnett
IPC分类号： G05B19/00 , G06F19/00
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to maneuver the robot according to a heading (turn) setting and a speed setting. The bump sensor is responsive to a collision of the robot with an obstacle in a forward direction. A method of navigating an autonomous coverage robot with respect to an object on a floor includes the robot autonomously traversing the floor in a cleaning mode at a full cleaning speed. Upon sensing a proximity of the object forward of the robot, the robot reduces the cleaning speed to a reduced cleaning speed while continuing towards the object until the robot detects a contact with the object. Upon sensing contact with the object, the robot turns with respect to the object and cleans next to the object, optionally substantially at the reduced cleaning speed.
摘要翻译：自动覆盖机器人包括驱动系统，凸块传感器和接近传感器。驱动系统被配置为根据标题（转）设置和速度设置来操纵机器人。碰撞传感器响应机器人与向前方向的障碍物的碰撞。相对于地板上的物体导航自主覆盖机器人的方法包括机器人以完全清洁速度以清洁模式自主地穿过地板。当感测到机器人向前的物体的接近度时，机器人将持续朝向物体的清洁速度降低到降低的清洁速度，直到机器人检测到与物体的接触。当感测到与物体的接触时，机器人相对于物体转动并且清除物体的旁边，可选地基本上以降低的清洁速度。

8. 发明申请

US20070234492A1 Coverage robot mobility 有权
标题翻译：覆盖机器人移动性
公开(公告)号：US20070234492A1
公开(公告)日：2007-10-11
申请号：US11633885
申请日：2006-12-04
申请人： Selma Svendsen , Daniel Ozick , Christopher Casey , Deepak Kapoor , Tony Campbell , Chikyung Won , Christopher Morse , Scott Burnett
发明人： Selma Svendsen , Daniel Ozick , Christopher Casey , Deepak Kapoor , Tony Campbell , Chikyung Won , Christopher Morse , Scott Burnett
IPC分类号： A47L11/24
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous coverage robot includes a chassis, a drive system to maneuver the robot, an edge cleaning head carried, and a controller. The controller is configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, an autonomous coverage robot includes a drive system, a bump sensor, and a proximity sensor. The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor indicating contact with an obstacle.
摘要翻译：自动覆盖机器人包括底盘，用于操纵机器人的驱动系统，承载的边缘清洁头和控制器。控制器被配置为监测与边缘清洁头相关联的电动机电流，并且响应于升高的电动机电流而反向偏置边缘清洁头电动机，同时继续机器人操纵地板。另一方面，自主覆盖机器人包括驱动系统，凸块传感器和接近传感器。所述驱动系统被配置为响应于来自所述接近传感器的信号来降低速度设置，所述信号指示在向前方向上检测到潜在障碍物，同时根据标题设置继续前进所述机器人。此外，驱动系统被配置为响应于从凸块传感器接收的指示与障碍物的接触而改变标题设置。

9. 发明申请

US20090045766A1 OBSTACLE FOLLOWING SENSOR SCHEME FOR A MOBILE ROBOT 有权
标题翻译：以下是移动机器人的传感器方案
公开(公告)号：US20090045766A1
公开(公告)日：2009-02-19
申请号：US12145184
申请日：2008-06-24
申请人： Christopher Casey , Matthew Cross , Daniel Ozick , Joseph L. Jones
发明人： Christopher Casey , Matthew Cross , Daniel Ozick , Joseph L. Jones
IPC分类号： B25J19/02
CPC分类号： B25J9/1697 , A47L2201/04 , G01S15/931 , G01S17/93 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y02P90/265 , Y10S901/01 , Y10S901/47
摘要： A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of ah event.
摘要翻译：一种机器人障碍物检测系统，包括相对于表面导航的机器人壳体和用于检测表面的表面的传感器子系统。传感器子系统包括发射具有发射场的信号的发射器和具有与区域上的发射场相交的视场的光子检测器。子系统检测邻近移动机器人的对象的存在并且确定与对象相对应的信号的值。它将该值与预定值进行比较，响应比较移动移动机器人，并且在发生ah事件时更新预定值。

10. 发明申请

US20080065265A1 DETECTING ROBOT STASIS 有权
标题翻译：检测机器人运动
公开(公告)号：US20080065265A1
公开(公告)日：2008-03-13
申请号：US11756262
申请日：2007-05-31
申请人： Daniel Ozick , Duane Gilbert
发明人： Daniel Ozick , Duane Gilbert
IPC分类号： B25J13/08
CPC分类号： G05D1/0231 , A47L9/009 , A47L9/2826 , A47L2201/00 , A47L2201/04 , G05D1/0227 , G05D2201/0203
摘要： A coverage robot includes a drive configured to maneuver the robot as directed by a controller, a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, and a suspension supporting the wheel. The stasis indication wheel defines a first reflective portion and a second reflective portion. The second reflective portion is substantially less reflective than the first reflective portion. The suspension permits movement of the wheel in a direction other than rotation about the first axis. A signal emitter is disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel. A signal receiver is positioned to receive the reflected signal by the rotating wheel. Communication between the emitter and the receiver is affected by rolling transitions between the first and second reflective portions during permitted movement of the wheel.
摘要翻译：覆盖机器人包括驱动器，其被配置为根据控制器的指示来操纵机器人，可围绕垂直于向前行进的方向的第一轴线旋转的停滞指示轮以及支撑车轮的悬架。停滞指示轮限定第一反射部分和第二反射部分。第二反射部分比第一反射部分反射性好。悬架允许车轮沿除了围绕第一轴线旋转的方向移动。信号发射器远离车轮设置并定位成引导顺序地被车轮的第一和第二反射部分拦截的信号。信号接收器被定位成通过旋转轮接收反射信号。在允许的车轮移动期间，发射器和接收器之间的通信受到第一和第二反射部分之间的滚动过渡的影响。

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