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31. 发明申请

US20200242136A1 METHODS, SYSTEMS, AND DEVICES FOR MAPPING WIRELESS COMMUNICATION SIGNALS FOR MOBILE ROBOT GUIDE 审中-公开
公开(公告)号：US20200242136A1
公开(公告)日：2020-07-30
申请号：US16850263
申请日：2020-04-16
申请人： iRobot Corporation
发明人： Paul Chambers , Justin H. Kearns , Orjeta Taka , Michael J. Dooley , Nikolai Romanov , Gary Ellis Hall
IPC分类号： G06F16/29 , H04W24/08 , G05D1/02 , G06Q30/02 , H04W4/70
摘要： A method of operating a computing device includes receiving occupancy data for an operating environment of a mobile robot based on localization data detected by at least one localization sensor of the mobile robot responsive to navigation thereof in the operating environment, and receiving signal coverage data for the operating environment based on wireless communication signals acquired by at least one wireless receiver of the mobile robot responsive to navigation thereof in the operating environment. The wireless communication signals are transmitted by at least one electronic device that is local to the operating environment. The method further includes generating a map indicating coverage patterns of the wireless communication signals at respective locations in the operating environment by correlating the occupancy data and the signal coverage data. Related methods, mobile robots, and user terminals are also discussed.

32. 发明授权

US10458593B2 Mast systems for autonomous mobile robots 有权
公开(公告)号：US10458593B2
公开(公告)日：2019-10-29
申请号：US16106628
申请日：2018-08-21
申请人： iRobot Corporation
发明人： Patrick Chow , Nikolai Romanov
IPC分类号： F16M11/40 , B25J19/02 , B65H75/42 , B65H75/44 , A47L9/28 , A47L9/00 , G03B17/56 , F16M11/18 , B25J5/00 , B25J18/06 , G03B29/00 , E04C3/00 , F16M11/04 , F16M11/42 , F16M11/12 , F16M11/10
摘要： A protractible and retractable mast system for an autonomous mobile robot includes an elongate flexible member including a first lateral end and a second lateral end, and a fastener having a first portion extending along a length of the first lateral end and a second portion extending along a length of the second lateral end. The flexible member is configured to be at least partially coiled within a body of the robot, and a portion of the flexible member is vertically movable away from the body when the flexible member is being uncoiled. The fastener is configured to connect the first lateral end to the second lateral end when the flexible member is being uncoiled, and disconnect the first lateral end from the second lateral end when the flexible member is being coiled.

33. 发明申请

US20190231163A1 SYSTEM AND METHOD FOR AUTONOMOUS MOPPING OF A FLOOR SURFACE 审中-公开
公开(公告)号：US20190231163A1
公开(公告)日：2019-08-01
申请号：US16382864
申请日：2019-04-12
申请人： iRobot Corporation
发明人： Michael J. Dooley , James Philip Case , Nikolai Romanov
IPC分类号： A47L11/40 , G05D1/02 , B25J11/00 , A47L11/30
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.

34. 发明申请

US20180281189A1 TRANSFERABLE INTELLIGENT CONTROL DEVICE 审中-公开
公开(公告)号：US20180281189A1
公开(公告)日：2018-10-04
申请号：US15881162
申请日：2018-01-26
申请人： iRobot Corporation
发明人： Michael Dooley , Nikolai Romanov , Paolo Pirjanian
IPC分类号： B25J9/16 , G06N3/00 , B25J9/00
摘要： An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.

35. 发明申请

US20170300061A1 METHODS AND SYSTEMS FOR OBSTACLE DETECTION USING STRUCTURED LIGHT 审中-公开
公开(公告)号：US20170300061A1
公开(公告)日：2017-10-19
申请号：US15462155
申请日：2017-03-17
申请人： iRobot Corporation
发明人： Kevin Hickerson , Luis Goncalves , Paolo Pirjanian , Nikolai Romanov
IPC分类号： G05D1/02 , G01S17/89 , G05D1/00 , G01S17/02 , G01S17/93
CPC分类号： G05D1/0248 , G01S7/483 , G01S17/023 , G01S17/026 , G01S17/89 , G01S17/936 , G05D1/0038 , G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0209 , G05D2201/0211 , Y10S901/01
摘要： An obstacle detector for a mobile robot while the robot is in motion is disclosed. The detector preferably includes at least one light source configured to project pulsed light in the path of the robot; a visual sensor for capturing a plurality of images of light reflected from the path of the robot; a processing unit configured to extract the reflections from the images; and an obstacle detection unit configured to detect an obstacle in the path of the robot based on the extracted reflections. In the preferred embodiment, the reflections of the projected light are extracted by subtracting pairs of images in which each pair includes a first image captured with the at least one light source on and a second image captured with the at least one light source off, and then combining images of two or more extracted reflections to suppress the background.

36. 发明授权

US09442488B2 Proximity sensing on mobile robots 有权
标题翻译：移动机器人接近感知
公开(公告)号：US09442488B2
公开(公告)日：2016-09-13
申请号：US14279598
申请日：2014-05-16
申请人： iRobot Corporation
发明人： Steven V. Shamlian , Samuel Duffley , Nikolai Romanov , Dhiraj Goel , Frederic D. Hook , Mario E. Munich
IPC分类号： G05D1/02
CPC分类号： G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
摘要： A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
摘要翻译：接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。第一个传感器是发射器和接收器之一。第二个传感器是发射器和接收器中的另一个。第三传感器被布置为与第二传感器相邻，与第一传感器相对。如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。每个传感器相对于其他两个传感器定位成一定角度。每个传感器具有相应的视野。第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。

37. 发明申请

US20160242613A1 Cleaning Pad 审中-公开
公开(公告)号：US20160242613A1
公开(公告)日：2016-08-25
申请号：US15147661
申请日：2016-05-05
申请人： iRobot Corporation
发明人： Michael J. Dooley , Nikolai Romanov , Marcus Williams , Joseph M. Johnson
IPC分类号： A47L13/16 , B32B5/26 , A47L11/40
CPC分类号： A47L11/4011 , A47L11/12 , A47L11/125 , A47L11/284 , A47L11/4036 , A47L11/4066 , A47L11/4069 , A47L11/4072 , A47L11/408 , A47L11/4088 , A47L13/16 , A47L13/20 , A47L2201/00 , A47L2201/04 , A47L2201/06 , A61F13/36 , B32B3/04 , B32B5/022 , B32B5/26 , B32B7/12 , B32B25/14 , B32B29/002 , B32B2255/12 , B32B2262/04 , B32B2262/067 , B32B2262/14 , B32B2307/7145 , B32B2307/718 , B32B2307/726 , B32B2307/73 , B32B2432/00
摘要： A pad particularly adapted for surface cleaning. The pad includes an absorbent core having the ability to absorb and retain liquid material, and a liner layer in contact with and covering at least one side of the absorbent core. The liner layer has the ability to retain and wick liquid material through the liner layer. Cleaning apparatus containing such pads and methods of using such pads are also described.

38. 发明授权

US09370290B2 System and method for autonomous mopping of a floor surface 有权
公开(公告)号：US09370290B2
公开(公告)日：2016-06-21
申请号：US14877207
申请日：2015-10-07
申请人： iRobot Corporation
发明人： Michael Dooley , James Philip Case , Nikolai Romanov
IPC分类号： G06F19/00 , A47L11/40 , G05D1/02
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.

39. 发明申请

US20160144511A1 Systems and Methods for Use of Optical Odometry Sensors In a Mobile Robot 有权
标题翻译：在移动机器人中使用光学测距传感器的系统和方法
公开(公告)号：US20160144511A1
公开(公告)日：2016-05-26
申请号：US14856501
申请日：2015-09-16
申请人： iRobot Corporation
发明人： Nikolai Romanov , James Philip Case , Kenneth Griest , David O. Swett
IPC分类号： B25J9/16 , B25J9/00
CPC分类号： B25J9/1697 , G05B2219/50393 , G05D1/0253 , G05D1/027 , G05D2201/0203 , Y10S901/01 , Y10S901/47
摘要： Systems and methods for use of optical odometry sensor systems in a mobile robot. The optical odometry sensor system is positioned within a recessed structure on an underside of the mobile robot body and configured to output optical odometry data. The optical odometry sensor system includes an optical odometry camera that includes a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field that provides a range of viewing distances at which a tracking surface is captured in focus from a first distance within the recessed structure to a second distance below the underside of the mobile robot body.
摘要翻译：在移动机器人中使用光学测距传感器系统的系统和方法。光学测距传感器系统定位在移动机器人主体的下侧上的凹陷结构内，并被配置为输出光学测距数据。光学测距传感器系统包括光学测距照相机，其包括远心透镜，其被配置为捕获身体下方的跟踪表面的图像，并且具有提供观察距离范围的景深的距离，在该范围内跟踪表面被聚焦从焦点在凹陷结构内的第一距离到移动机器人主体的下侧之下的第二距离。

40. 发明授权

US09179813B2 System and method for autonomous mopping of a floor surface 有权
公开(公告)号：US09179813B2
公开(公告)日：2015-11-10
申请号：US14522445
申请日：2014-10-23
申请人： iRobot Corporation
发明人： Michael Dooley , James Philip Case , Nikolai Romanov
IPC分类号： G06F19/00 , A47L11/40 , G05D1/02
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.

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